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ABB ACSM1 Manual

Other manuals for ACSM1: Hardware Manual
Manual is about: Motion control system

Summary of ACSM1

  • Page 1

    Abb motion control drives firmware manual acsm1 motion control program.

  • Page 2

    List of related manuals * ) a multilingual quick installation guide is included with the delivery. You can find manuals and other product documents in pdf format on the internet. See section document library on the internet on the inside of the back cover. For manuals not available in the document l...

  • Page 3: Firmware Manual

    Acsm1 motion control program firmware manual 3afe68848270 rev h en effective: 2015-06-26 2015 abb oy. All rights reserved..

  • Page 5: Table of Contents

    Table of contents 5 table of contents table of contents introduction to the manual what this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....

  • Page 6

    Table of contents 6 drive control chain for positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 motor control features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 scala...

  • Page 7

    Table of contents 7 group 11 start/stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 start/stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 group 12 digital ...

  • Page 8

    Table of contents 8 group 51 fba settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209 group 52 fba data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 group 53 ...

  • Page 9

    Table of contents 9 fault tracing what this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303 safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

  • Page 10

    Table of contents 10 ge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349 gt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....

  • Page 11

    Table of contents 11 filt1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392 parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

  • Page 12

    Table of contents 12 appendix b – drive-to-drive link what this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431 general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....

  • Page 13: Introduction to The Manual

    Introduction to the manual 13 introduction to the manual what this chapter contains the chapter includes a description of the contents of the manual. In addition it contains information about the compatibility, safety and intended audience. Compatibility the manual is compatible with acsm1 motion co...

  • Page 14: Contents

    Introduction to the manual 14 contents the manual consists of the following chapters: • start-up instructs in setting up the control program and how to control the drive through the i/o interface. • drive programming using pc tools introduces programming via pc tool (drivestudio and/or drivespc). • ...

  • Page 15: Start-Up

    Start-up 15 start-up what this chapter contains this chapter describes the basic start-up procedure of the drive and instructs in how to control the drive through the i/o interface. How to start up the drive the drive can be operated: • locally from pc tool or control panel • externally via i/o conn...

  • Page 16

    Start-up 16 safety the start-up may only be carried out by a qualified electrician. The safety instructions must be followed during the start-up procedure. See the safety instructions on the first pages of the appropriate hardware manual. Check the installation. See the installation checklist in the...

  • Page 17

    Start-up 17 motor data entering open the parameter and signal list by selecting the parameter browser of the appropriate drive. Select the language. Parameters are set as follows: select the parameter group (in this case 99 start-up data) by double-clicking it. Select the appropriate parameter by do...

  • Page 18

    Start-up 18 - motor nominal current allowed range: approximately 1/6 · i 2n … 2 · i 2n of the drive (0…2 · i 2nd if parameter 99.05 motor ctrl mode = (1) scalar ). With multimotor drives, see section multimotor drives on page 19 . 99.06 mot nom current - motor nominal voltage allowed range: 1/6 · u ...

  • Page 19

    Start-up 19 multimotor drives ie, more than one motor is connected to one drive. Check that the motors have the same relative slip (only for asynchronous motors), nominal voltage and number of poles. If the manufacturer motor data is insufficient, use the following formulas to calculate the slip and...

  • Page 20

    Start-up 20 id run (motor identification run) warning! With normal or reduced id run the motor will run at up to approximately 50…100% of the nominal speed during the motor id run. Ensure that it is safe to run the motor before performing the motor id run! Note: ensure that possible safe torque off ...

  • Page 21

    Start-up 21 select the motor identification method by parameter 99.13 idrun mode . During the motor id run, the drive will identify the characteristics of the motor for optimum motor control. The motor id run is performed at the next start of the drive. Note: the motor shaft must not be locked and t...

  • Page 22

    Start-up 22 start the motor to activate the motor id run. Note: run enable must be active. 10.09 run enable motor id run is indicated by alarm id-run and by a rotating display on the 7-segment display. Alarm: id-run 7-segment display: if the motor id run is not successfully completed, fault id-run f...

  • Page 23

    Start-up 23 if the direction of rotation is selected as forward, check that the actual speed ( 1.08 encoder 1 speed / 1.10 encoder 2 speed ) is positive: • if the actual direction of rotation is forward and the actual speed negative, the phasing of the pulse encoder wires is reversed. • if the actua...

  • Page 24

    Start-up 24 safe torque off the safe torque off function disables the control voltage of the power semiconductors of the drive output stage, thus preventing the inverter from generating the voltage required to rotate the motor. For safe torque off wiring, see the appropriate hardware manual and appl...

  • Page 25

    Start-up 25 start function select the start function. Setting 11.01 start mode to (2) automatic selects a general- purpose start function. This setting also makes flying start (starting to a rotating motor) possible. The highest possible starting torque is achieved when 11.01 start mode is set to (0...

  • Page 26

    Start-up 26 speed filtering the measured speed always has a small ripple because of electrical and mechanical interferences, couplings and encoder resolution (i.E. Small pulse number). A small ripple is acceptable as long as it does not affect the speed control chain. The interferences in the speed ...

  • Page 27

    Start-up 27 fieldbus control follow these instructions when the drive is controlled from a fieldbus control system via fieldbus adapter fxxx. The adapter is installed in drive slot 3. Enable the communication between the drive and fieldbus adapter. 50.01 fba enable connect the fieldbus control syste...

  • Page 28

    Start-up 28 how to control the drive through the i/o interface the table below instructs how to operate the drive through the digital and analogue inputs, when the default parameter settings are valid. Preliminary settings ensure the control connections are wired according to the connection diagram ...

  • Page 29: What This Chapter Contains

    Drive programming using pc tools 29 drive programming using pc tools what this chapter contains this chapter introduces the drive programming using the drivestudio and drivespc applications. For more information, see drivestudio user manual [3afe68749026 (english)] and drivespc user manual [3afe6883...

  • Page 30: Programming Via Parameters

    Drive programming using pc tools 30 the following picture presents a view from drivespc. The application program template visible through drivespc is presented in chapter application program template (page 407 ). Programming via parameters parameters can be set via drivestudio, drive control panel (...

  • Page 31: Application Programming

    Drive programming using pc tools 31 application programming application programs are created with the drivespc pc tool. The normal delivery of the drive does not include an application program. The user can create an application program with the standard and firmware function blocks. Abb also offers...

  • Page 32

    Drive programming using pc tools 32 program execution the application program is loaded to the permanent (non-volatile) memory of the memory unit (jmu). When the loading finishes, the drive control board is automatically reset, and the downloaded program started. The program is executed in real time...

  • Page 33

    Drive programming using pc tools 33 operation modes the drivespc tool offers the following operation modes: off-line when the off-line mode is used without a drive connection, the user can • open a application program file (if exists). • modify and save the application program. • print the program p...

  • Page 34

    Drive programming using pc tools 34.

  • Page 35: Drive Control and Features

    Drive control and features 35 drive control and features what this chapter contains this chapter describes the control locations and operation modes of the drive, and the features of the application program. Local control vs. External control the drive has two main control locations: external and lo...

  • Page 36: Operating Modes of The Drive

    Drive control and features 36 local control is mainly used during commissioning and maintenance. The control panel always overrides the external control signal sources when used in local control. Changing the control location to local can be disabled by parameter 16.01 local lock . The user can sele...

  • Page 37

    Drive control and features 37 !" # # $ % &&' (& ) # *+ , -# ) . ) (/ 0 . 1 2 )3 ) ) 0 1 4 )5 2 2 2 ) 3 0 3 " * " & 5 1 - #* + # & 1 1 ##/ # 6 ##/ 7 drive control cha in for spee d and to rqu e control.

  • Page 38

    Drive control and features 38 position control in position control, the load is positioned along a single axis from the start position to the defined target position. A position reference is given to the drive to indicate the target position. The path to the target position is calculated by the posi...

  • Page 39

    Drive control and features 39 homing control homing establishes a correspondence between the actual position of the driven machinery and the drive internal zero position. An encoder must always be used in homing control. See section position correction on page 68 . Note: homing control is not availa...

  • Page 40

    Drive control and features 40 5 8 0 1 4 0 0) 6 '" # # # " # 6 # # 6 # 1 0 0 ##/ 6 ** 6 # * 6 '" 9 "# ##/ 6 ** 6 # * 6 '" 9 "# #(/ ##/ 5 : ##/ # 6 ##/ 7 ( ; ; # *+ !(* = (6 $ ! >3 > 1 6' "# # 6' "# # ' # "/ 1 ! 1" *- = 6 '" # # ' ' ( # 6? 8 0 5 9( * # 6 ' !" # ##/ # 6 @ 8 0 drive co ntro l chain for ...

  • Page 41: Motor Control Features

    Drive control and features 41 motor control features scalar motor control it is possible to select scalar control as the motor control method instead of direct torque control (dtc). In scalar control mode, the drive is controlled with a frequency reference. However, the performance of dtc is not ach...

  • Page 42

    Drive control and features 42 autophasing autophasing is an automatic measurement routine to determine the angular position of the magnetic flux of a permanent magnet synchronous motor or the magnetic axis of a synchronous reluctance motor. The motor control requires the absolute position of the rot...

  • Page 43

    Drive control and features 43 note: the same parameter is used by the autophasing routine which always writes its result to parameter 97.20 pos offset user . Autophasing id run results are updated even if the user mode is not enabled (see parameter 97.01 use given params ). Several autophasing modes...

  • Page 44

    Drive control and features 44 flux braking the drive can provide greater deceleration by raising the level of magnetization in the motor. By increasing the motor flux with 40.10 flux braking , the energy generated by the motor during braking can be converted to motor thermal energy. The drive monito...

  • Page 45

    Drive control and features 45 thermal motor protection model the drive calculates the temperature of the motor on the basis of the following assumptions: 1) when power is applied to the drive for the first time, the motor is at ambient temperature (defined by parameter 45.05 ambient temp ). After th...

  • Page 46

    Drive control and features 46 the figure below shows typical kty84 sensor resistance values as a function of the motor operating temperature. It is possible to adjust the motor temperature supervision limits and select how the drive reacts when overtemperature is detected. Warning! As the thermistor...

  • Page 47: Dc Voltage Control Features

    Drive control and features 47 for encoder interface module fen-xx connection, see the user’s manual of the appropriate encoder interface module. Dc voltage control features overvoltage control overvoltage control of the intermediate dc link is needed with two-quadrant line-side converters when the m...

  • Page 48

    Drive control and features 48 automatic identification of the supply voltage is performed every time the drive is powered. Automatic identification can be disabled by parameter 47.03 supplvoltauto-id ; the user can define the voltage manually at parameter 47.04 supply voltage . The intermediate dc c...

  • Page 49

    Drive control and features 49 the value of parameter 47.08 ext pu supply or its source should be set to 1 (true) when a supply below 270 v dc – such as a battery – is used. In such a configuration, an additional dc power supply (jpo-01) is needed to power the main circuit electronics. With an ac sup...

  • Page 50: Speed Control Features

    Drive control and features 50 speed control features jogging jogging is typically used during servicing or commissioning to control the machinery locally. It involves rotating the motor in small increments until the desired load position is achieved. Two jogging functions (1 or 2) are available. Whe...

  • Page 51

    Drive control and features 51 notes: • jogging is not operational when the drive start command is on, or when the drive is in local control. • normal start is inhibited when jog enable is active. • the ramp shape time is set to zero during jogging. Speed controller tuning the speed controller of the...

  • Page 52

    Drive control and features 52 the figure below illustrates the motor speed and torque behaviour during an autotuning routine. The prerequisites for performing the autotune routine are: • the motor id run has been successfully completed • speed, torque, current and acceleration limits (parameter grou...

  • Page 53

    Drive control and features 53 the figure below shows speed responses at a speed reference step (typically 1…20%). The figure below is a simplified block diagram of the speed controller. The controller output is the reference for the torque controller. For more information on the use of the autotune ...

  • Page 54: Motor Feedback Features

    Drive control and features 54 motor feedback features motor encoder gear function the drive provides motor encoder gear function for compensating of mechanical gears between the motor shaft, the encoder and the load. Motor encoder gear application example: the motor encoder gear parameters 22.03 mot...

  • Page 55: Mechanical Brake Control

    Drive control and features 55 mechanical brake control the program supports the use of a mechanical brake to hold the motor and load at zero speed when the drive is stopped or not powered. Mechanical brake control (with or without acknowledgement) is activated by parameter 35.01 brake control . The ...

  • Page 56

    Drive control and features 56 mechanical brake state diagram close brake from any state 0/1/1/0 1/1/1/1 1) 2) 3) 6) 7) 11) 12) 13) 5) 0/0/1/1 8) state (symbol ) - nn: state name - w/x/y/z: state outputs/operations w: 1 = brake open command is active. 0 = brake close command is active. (controlled th...

  • Page 57

    Drive control and features 57 operation time scheme the simplified time scheme below illustrates the operation of the brake control function. Example the figure below shows a brake control application example. Warning! Make sure that the machinery into which the drive with brake control function is ...

  • Page 58

    Drive control and features 58 motor m 230 vac jcu unit mechanical brake brake control hardware emergency brake x2 1 ro1 2 ro1 3 ro1 x3 11 di5 13 +24 v the brake on/off is controlled via signal 3.15 brake command . The source for the brake supervision is selected by parameter 35.02 brake acknowl . Th...

  • Page 59

    Drive control and features 59 position/synchron control features position calculation the actual position of the drive is measured using a position feedback device. During normal operation, the actual position is calculated by keeping track of the position change between the current time and the las...

  • Page 60

    Drive control and features 60 with absolute encoders and resolvers, there is often a need to change the position calculation zero permanently without physically rotating the motor. This is possible by using parameter 62.20 pos act offset . The value of the parameter is added to the position feedback...

  • Page 61

    Drive control and features 61 load encoder gear function positioning uses the measured speed and position of the load. The load encoder gear function calculates the actual load position on the basis of the measured motor shaft position. Load encoder gear application examples: the load encoder gear p...

  • Page 62

    Drive control and features 62 because the drive speed control uses motor speed, a gear function between position control (load side) and speed control (motor side) is needed. This gear function is formed from the motor gear function and inverted load gear function. The gear function is applied to th...

  • Page 63

    Drive control and features 63 drive firmware position control position ref. Speed control gear ratio 71.07 / 71.08 speed ref. Speed act. N1:n2 position act. 1:1 load gear 60.03 / 60.04 n1:n2 motor gear 22.03 / 22.04 n2:n1 m mechanical set-up drive hardware drive firmware position control position re...

  • Page 64

    Drive control and features 64 position profile generator the position profile generator moves the position reference to the selected target position, taking the positioning speed acceleration/deceleration into account. The generator continuously calculates the speed from which the drive can decelera...

  • Page 65

    Drive control and features 65 parameters 66.05 pos enable and 65.03 pos start 1 / 65.11 pos start 2 control the operation of the position profile generator. The following figure shows the positioning commands and signals when parameter 65.24 pos start mode is set to (0) normal . The following figure...

  • Page 66

    Drive control and features 66 position reference sets the user can define two different position reference sets. Each reference set consists of • position reference • positioning speed reference • positioning acceleration reference • positioning deceleration reference • positioning reference filter ...

  • Page 67

    Drive control and features 67 start: linear axis, absolute synchronisation used when the master and the follower are to be driven equal distances. 60.02 pos axis mode is set to (0) linear . 68.07 synchron mode is set (0) absolute . To catch the master position, the follower accelerates up to its max...

  • Page 68

    Drive control and features 68 position correction homing normally, before first homing, the actual position of the driven machinery does not correspond to the internal zero position in the drive position control (for example, with an incremental encoder after each power-up). Homing establishes a cor...

  • Page 69

    Drive control and features 69 the following table presents homing methods 1…35. For more detailed descriptions, see appendix c – homing methods . Note : homing methods 1…14, 33 and 34 do not work with an absolute encoder or position estimation. Homing methods 17…30 work with position estimation as w...

  • Page 70

    Drive control and features 70 preset functions preset functions are used to set the position system according to a parameter value (preset position) or actual position. The physical position of the driven machinery is not changed, but the new position value is used as home position. Preset functions...

  • Page 71

    Drive control and features 71 cyclic position correction cyclic position correction functions are used to change or correct the system position continuously according to data measured by external probe signals, for example, if there is play in the machinery. The cyclic position correction functions ...

  • Page 72

    Drive control and features 72 actual position correction the purpose of the actual position correction is to compare the difference between 62.16 probe1 pos and the actual encoder position at the moment when the triggering conditions are fulfilled. If there is a deviation, a corresponding correction...

  • Page 73

    Drive control and features 73 t 1 : rising edge of encoder digital input di1 signal (proximity switch signal) is detected when the load position should be 90°. The actual position of the encoder is 120° (stored to signal 4.03 probe1 pos meas ). Distance between the load position and the actual posit...

  • Page 74

    Drive control and features 74 t 1 : rising edge of encoder digital input di1 signal (proximity switch signal) is detected when the master (motor) position should be 60°. The used position reference is 90° (stored to signal 4.03 probe1 pos meas ). The master reference correction function calculates t...

  • Page 75

    Drive control and features 75 master/follower distance correction the purpose of the master/follower distance correction is to measure the distance between the two probe positions and compare it with the distance between reference positions 62.16 probe1 pos and 62.18 probe2 pos . If there is a devia...

  • Page 76

    Drive control and features 76 t 1 : rising edge of encoder di2 signal (proximity switch signal) is detected when the master position is 0°. The follower position is -130° (stored to signal 4.04 probe2 pos meas ). T 2 : rising edge of encoder di1 signal (proximity switch signal) is detected when the ...

  • Page 77

    Drive control and features 77 example 2: linear axis application two conveyer systems are synchronised using two encoders. The follower is in synchron control and follows the master encoder 2 position. Note: in linear axis applications, only the difference between the master and follower positions i...

  • Page 78

    Drive control and features 78 t 1 : rising edge of encoder digital input di1 signal (proximity switch signal) is detected. The actual position is 20 mm (stored to signal 4.04 probe2 pos meas ). The distance between the follower position and the actual position is 15 mm - 20 mm = - 5 mm t 2 : rising ...

  • Page 79

    Drive control and features 79 distance correction with one probe the purpose is to measure the distance between two consecutive latches from one probe and compare it with the distance of the reference positions 62.16 probe1 pos and 62.18 probe2 pos . If there is a deviation, a corresponding correcti...

  • Page 80

    Drive control and features 80 • rising edge of encoder di1 (proximity switch signal) is detected at the first mark of the belt. Position 0 mm is stored to signal 4.03 probe1 pos meas . • next rising edge of encoder di1 (proximity switch signal) is detected at the second mark of the belt. Position 30...

  • Page 81

    Drive control and features 81 distance correction with two probes the purpose is to measure the distance between two consecutive latches from two probes and compare it with the distance between the reference positions 62.16 probe1 pos and 62.18 probe2 pos . If there is a deviation, a corresponding c...

  • Page 82: Emergency Stop

    Drive control and features 82 • rising edge of encoder di1 (proximity switch signal) is detected at the first mark of the belt. Position 0 mm is stored to signal 4.03 probe1 pos meas . • falling edge of encoder di2 (proximity switch signal) is detected at the second mark of the belt. Position 40 mm ...

  • Page 83: Miscellaneous Features

    Drive control and features 83 miscellaneous features backup and restore of drive contents general the drive offers a possibility of backing up numerous settings and configurations to external storage such as a pc file (using the drivestudio tool) and the internal memory of the control panel. These s...

  • Page 84

    Drive control and features 84 for example, retaining the existing motor id run results in the drive will make a new motor id run unnecessary. Restore of individual parameters can fail for the following reasons: • the restored value does not fall within the minimum and maximum limits of the drive par...

  • Page 85

    Drive control and features 85 fan control logic the fan operation can be controlled via parameter 46.13 fan ctrl mode . The parameter provides the following four operation modes: normal, force off, force on and advanced. The control logic (normal or advanced) can be overridden by forcing the fan on ...

  • Page 86

    Drive control and features 86.

  • Page 87: What This Chapter Contains

    Default connections of the control unit 87 default connections of the control unit what this chapter contains this chapter shows the default control connections of the jcu control unit. More information on the connectivity of the jcu is given in the hardware manual of the drive..

  • Page 88

    Default connections of the control unit 88 notes: *total maximum current: 200 ma 1) selected by par. 12.01 dio1 conf. 2) selected by par. 12.02 dio2 conf. 3) selected by par. 12.03 dio3 conf. 4) selected by jumper j1. 5) selected by jumper j2. X1 external power input 24 v dc, 1.6 a +24vi 1 gnd 2 x2 ...

  • Page 89: What This Chapter Contains

    Parameters and firmware blocks 89 parameters and firmware blocks what this chapter contains this chapter lists and describes the parameters provided by the firmware. Types of parameters parameters are user-adjustable operation instructions of the drive (groups 10…99). There are four basic types of p...

  • Page 90: Firmware Blocks

    Parameters and firmware blocks 90 note: pointing to a non-existing bit will be interpreted as 0 (false). For additional parameter data, eg, update cycles and fieldbus equivalents, see chapter parameter data . Firmware blocks firmware blocks accessible from the drivespc pc tool are described in the p...

  • Page 91: Group

    Parameters and firmware blocks 91 group 01 actual values this group contains basic actual signals for monitoring the drive. 01 firmware block: actual values (1) 1.01 speed act fw block: speed feedback (page 149 ) filtered actual speed in rpm. Used speed feedback is defined by parameter 22.01 speed f...

  • Page 92

    Parameters and firmware blocks 92 1.10 encoder 2 speed fw block: encoder (page 256 ) encoder 2 speed in rpm. 1.11 encoder 2 pos fw block: encoder (page 256 ) actual position of encoder 2 within one revolution. 1.12 pos act fw block: pos feedback (page 219 ) actual position of the encoder. The unit d...

  • Page 93

    Parameters and firmware blocks 93 1.27 run time counter fw block: actual values (see above) motor run time counter. The counter run when the drive modulates. The counter can be reset using the drivestudio tool. 1.28 fan on-time fw block: actual values (see above) running time of the drive cooling fa...

  • Page 94: Group

    Parameters and firmware blocks 94 group 02 i/o values this group contains information on the i/os of the drive. 02 2.01 di status fw block: di (page 131 ) status word of the digital inputs. Example: 000001 = di1 is on, di2 to di6 are off. 2.02 ro status fw block: ro (page 131 ) status of relay outpu...

  • Page 95

    Parameters and firmware blocks 95 2.12 fba main cw fw block: fieldbus (page 205 ) control word for fieldbus communication. Log. = logical combination (ie, bit and/or selection parameter). Par. = selection parameter. See state diagram on page 429. Bit name val. Information log. Par. 0 stop* 1 stop ac...

  • Page 96

    Parameters and firmware blocks 96 2.12 fba main cw (continued from previous page) bit name val. Information log. Par. 10 jogging 2 1 activate jogging function 2. See section jogging on page 50 . Or 10.14 0 jogging function 2 disabled 11 remote cmd 1 fieldbus control enabled - - 0 fieldbus control di...

  • Page 97

    Parameters and firmware blocks 97 2.12 fba main cw (continued from previous page) bit name val. Information log. Par. 21 position- ing ena 1 enable position profile generator. Or 66.05 0 disable position profile generator. 22 po ref lim ena 1 enable position reference. Or 70.03 0 disable position re...

  • Page 98

    Parameters and firmware blocks 98 2.13 fba main sw fw block: fieldbus (page 205 ) status word for fieldbus communication. See state diagram on page 429. Bit name value information 0 ready 1 drive is ready to receive start command. 0 drive is not ready. 1 enabled 1 external run enable signal is recei...

  • Page 99

    Parameters and firmware blocks 99 2.13 fba main sw (continued from previous page) 2.14 fba main ref1 fw block: fieldbus (page 205 ) scaled fieldbus reference 1. See parameter 50.04 fba ref1 modesel . 2.15 fba main ref2 fw block: fieldbus (page 205 ) scaled fieldbus reference 2. See parameter 50.05 f...

  • Page 100

    Parameters and firmware blocks 100 2.17 d2d main cw fw block: d2d communication (page 214 ) drive-to-drive control word received through the drive-to-drive link. See also actual signal 2.18 below. 2.18 d2d follower cw fw block: drive logic (page 120 ) drive-to-drive control word sent to the follower...

  • Page 101: Group

    Parameters and firmware blocks 101 group 03 control values 03 3.01 speed ref1 fw block: speed ref sel (page 155 ) speed reference 1 in rpm. 3.02 speed ref2 fw block: speed ref sel (page 155 ) speed reference 2 in rpm. 3.03 speedref ramp in fw block: speed ref mod (page 156 ) used speed reference ram...

  • Page 102

    Parameters and firmware blocks 102 3.15 brake command fw block: mech brake ctrl (page 186 ) brake on/off command. 0 = close. 1 = open. For brake on/off control, connect this signal to a relay output (or a digital output). See section mechanical brake control on page 55 . 3.16 flux ref used fw block:...

  • Page 103: Group

    Parameters and firmware blocks 103 group 04 pos ctrl values 04 4.01 speed ref pos fw block: pos control (page 253 ) position controller output (speed reference) for the speed controller in rpm. 4.02 speed act load fw block: pos feedback (page 219 ) filtered actual speed of the load. The unit depends...

  • Page 104

    Parameters and firmware blocks 104 4.12 pos end speed fw block: profile ref sel (page 234 ) positioning speed used after the target has been reached.The unit depends on parameter 60.05 pos unit and 60.10 pos speed unit selections. 4.13 pos ref ipo fw block: profile generator (page 242 ) position ref...

  • Page 105: Group

    Parameters and firmware blocks 105 group 06 drive status 06 6.01 status word 1 fw block: drive logic (page 120 ) status word 1. Bit name val. Information 0 ready 1 drive is ready to receive start command. 0 drive is not ready. 1 enabled 1 external run enable signal is received. 0 no external run ena...

  • Page 106

    Parameters and firmware blocks 106 6.02 status word 2 fw block: drive logic (page 120 ) status word 2. Bit name val. Information 0 start act 1 drive start command is active. 0 drive start command is inactive. 1 stop act 1 drive stop command is active. 0 drive stop command is inactive. 2 ready relay ...

  • Page 107

    Parameters and firmware blocks 107 6.03 speed ctrl stat fw block: drive logic (page 120 ) speed control status word. 6.05 limit word 1 fw block: drive logic (page 120 ) limit word 1. Bit name val. Information 0 speed act neg 1 actual speed is negative. 1 zero speed 1 actual speed has reached the zer...

  • Page 108

    Parameters and firmware blocks 108 6.07 torq lim status fw block: drive logic (page 120 ) torque controller limitation status word. Bit name val. Information 0 undervoltage 1 intermediate circuit dc undervoltage * 1 overvoltage 1 intermediate circuit dc overvoltage * 2 minimum torque 1 torque refere...

  • Page 109

    Parameters and firmware blocks 109 6.09 pos ctrl status fw block: drive logic (page 120 ) position control status word. Bit name val. Information 0 in position 1 position reference generator has reached the used position reference. 0 position reference generator is active, ie, calculating the positi...

  • Page 110

    Parameters and firmware blocks 110 6.10 pos ctrl status2 fw block: drive logic (page 120 ) additional position control status word. Bit name val. Information 0* in sync pos 1 position profile generator distance to target is below the absolute value of the synchron error limit, ie, value of 4.14 dist...

  • Page 111

    Parameters and firmware blocks 111 6.11 pos corr status fw block: drive logic (page 120 ) position correction status word. Bit name val. Information 0 homing start 1 homing start is active. Source for the homing start is selected by parameter 62.03 homing start . 0 homing start is inactive. 1 homing...

  • Page 112

    Parameters and firmware blocks 112 6.12 op mode ack fw block: reference ctrl (page 183 ) operation mode acknowledge: 0 = stopped, 1 = speed, 2 = torque, 3 = min, 4 = max, 5 = add, 6 = position, 7 = synchron, 8 = homing, 9 = prof vel, 10 = scalar, 11 = forced magn (ie, dc hold). 6.14 superv status fw...

  • Page 113: Group

    Parameters and firmware blocks 113 group 08 alarms & faults 08 8.01 active fault fw block: fault functions (page 196 ) fault code of the latest (active) fault. 8.02 last fault fw block: fault functions (page 196 ) fault code of the 2nd latest fault. 8.03 fault time hi fw block: fault functions (page...

  • Page 114

    Parameters and firmware blocks 114 8.06 alarm logger 2 fw block: fault functions (page 196 ) alarm logger 2. For possible causes and remedies, see chapter fault tracing . Can be reset by entering a 0. 8.07 alarm logger 3 fw block: fault functions (page 196 ) alarm logger 3. For possible causes and r...

  • Page 115

    Parameters and firmware blocks 115 8.08 alarm logger 4 fw block: fault functions (page 196 ) alarm logger 4. For possible causes and remedies, see chapter fault tracing . Can be reset by entering a 0. 8.09 alarm logger 5 fw block: fault functions (page 196 ) alarm logger 5. For possible causes and r...

  • Page 116

    Parameters and firmware blocks 116 8.15 alarm word 1 fw block: fault functions (page 196 ) alarm word 1. For possible causes and remedies, see chapter fault tracing . This alarm word is refreshed, ie, when the alarm goes off, the corresponding alarm bit is cleared from the signal. 8.16 alarm word 2 ...

  • Page 117

    Parameters and firmware blocks 117 8.17 alarm word 3 fw block: fault functions (page 196 ) alarm word 3. For possible causes and remedies, see chapter fault tracing . This alarm word is refreshed, ie, when the alarm goes off, the corresponding alarm bit is cleared from the signal. 8.18 alarm word 4 ...

  • Page 118: Group

    Parameters and firmware blocks 118 group 09 system info 09 9.01 drive type fw block: none displays the drive application type. (2) acsm1 motion: motion control application 9.02 drive rating id fw block: none displays the inverter type of the drive. (0) unconfigured, (1) acsm1-xxax-02a5-4, (2) acsm1-...

  • Page 119

    Parameters and firmware blocks 119 9.20 option slot 1 fw block: none displays the type of the optional module in option slot 1. (0) no option, (1) no comm, (2) unknown, (3) fen-01, (4) fen-11, (5) fen-21, (6) fio-01, (7) fio-11, (8) fpba-01, (9) fpba-02, (10) fcan-01, (11) fdna-01, (12) fena-01, (13...

  • Page 120: Group

    Parameters and firmware blocks 120 group 10 start/stop settings for • selecting start/stop/direction signal sources for external control locations ext1 and ext2 • selecting sources for external fault reset, run enable and start enable signals • selecting sources for emergency stop (off1 and off3) • ...

  • Page 121

    Parameters and firmware blocks 121 block outputs located in other parameter groups 2.18 d2d follower cw (page 100 ) 6.01 status word 1 (page 105 ) 6.02 status word 2 (page 106 ) 6.03 speed ctrl stat (page 107 ) 6.05 limit word 1 (page 107 ) 6.07 torq lim status (page 108 ) 6.09 pos ctrl status (page...

  • Page 122

    Parameters and firmware blocks 122 10.02 ext1 start in1 fw block: drive logic (see above) selects the source 1 for the start and stop commands in external control location ext1. See parameter 10.01 ext1 start func selections (1) in1 and (2) 3-wire . Note: this parameter cannot be changed while the d...

  • Page 123

    Parameters and firmware blocks 123 (6) in1s in2dir the source selected by 10.05 ext2 start in1 is the start signal (0 = stop, 1 = start), the source selected by 10.06 ext2 start in2 is the direction signal (0 = forward, 1 = reverse). 10.05 ext2 start in1 fw block: drive logic (see above) selects the...

  • Page 124

    Parameters and firmware blocks 124 bit pointer: group, index and bit 10.11 em stop off1 fw block: drive logic (see above) selects the source for the emergency stop off1. 0 = off1 active: the drive is stopped with the active deceleration time. Emergency stop can also be activated through fieldbus ( 2...

  • Page 125

    Parameters and firmware blocks 125 10.16 d2d cw used fw block: drive logic (see above) selects the source for the control word for drive-to-drive communication. By default, the source is parameter 2.17 d2d main cw . Value pointer: group and index 10.17 start enable fw block: drive logic (see above) ...

  • Page 126: Group

    Parameters and firmware blocks 126 group 11 start/stop mode these parameters select the start and stop functions as well as the autophasing mode, define the dc magnetising time of the motor, and configure the dc hold function. 11 firmware block: start/stop mode (11) 11.01 start mode fw block: start/...

  • Page 127

    Parameters and firmware blocks 127 11.02 dc magn time fw block: start/stop mode (see above) defines the constant dc magnetising time. See parameter 11.01 start mode . After the start command, the drive automatically premagnetises the motor the set time. To ensure full magnetising, set this value to ...

  • Page 128

    Parameters and firmware blocks 128 11.06 dc hold fw block: start/stop mode (see above) enables the dc hold function. The function makes it possible to lock the rotor at zero speed. When both the reference and the speed drop below the value of parameter 11.04 dc hold speed , the drive will stop gener...

  • Page 129: Group

    Parameters and firmware blocks 129 group 12 digital io settings for the digital inputs and outputs, and the relay output. 12 firmware block: dio1 (6) selects whether dio1 is used as a digital input or as a digital output and connects an actual signal to the digital output. The block also shows the d...

  • Page 130

    Parameters and firmware blocks 130 12.02 dio2 conf fw block: dio2 (see above) selects whether dio2 is used as a digital input, as a digital output or as a frequency input. (0) output dio2 is used as a digital output. (1) input dio2 is used as a digital input. (2) freq input dio2 is used as a frequen...

  • Page 131

    Parameters and firmware blocks 131 12.10 dio3 f max scale fw block: dio3 (see above) when 12.03 dio3 conf is set to (2) freq output , defines the real value of the signal (selected by parameter 12.07 dio3 f out ptr ) that corresponds to the maximum dio3 frequency output value (defined by parameter 1...

  • Page 132

    Parameters and firmware blocks 132 12.13 di invert mask fw block: di (see above) inverts status of digital inputs as reported by 2.01 di status . For example, a value of 0b000100 inverts the status of di3 in the signal. 0b000000…0b111111 di status inversion mask. 12.14 dio2 f max fw block: dio2 (see...

  • Page 133: Group

    Parameters and firmware blocks 133 group 13 analogue inputs settings for the analogue inputs. The drive offers two programmable analogue inputs, ai1 and ai2. Both inputs can be used either as a voltage or a current input (-11…11 v or -22…22 ma). The input type is selected with jumpers j1 and j2 resp...

  • Page 134

    Parameters and firmware blocks 134 13.03 ai1 min fw block: ai1 (see above) defines the minimum value for analogue input ai1. The type is selected with jumper j1 on the jcu control unit. -11…11 v / -22…22 ma minimum ai1 input value. 13.04 ai1 max scale fw block: ai1 (see above) defines the real value...

  • Page 135

    Parameters and firmware blocks 135 13.07 ai2 max fw block: ai2 (see above) defines the maximum value for analogue input ai2. The type is selected with jumper j2 on the jcu control unit. -11…11 v / -22…22 ma maximum ai2 input value. 13.08 ai2 min fw block: ai2 (see above) defines the minimum value fo...

  • Page 136

    Parameters and firmware blocks 136 (3) ai2 min tune current analogue input ai2 signal value is set as minimum value for ai2, parameter 13.08 ai2 min . The value reverts back to (0) no action automatically. (4) ai2 max tune current analogue input ai2 signal value is set as maximum value for ai2, para...

  • Page 137: Group

    Parameters and firmware blocks 137 group 15 analogue outputs settings for the analogue outputs. The drive offers two programmable analogue outputs: one current output ao1 (0…20 ma) and one voltage output ao2 (-10…10 v). The resolution of the analogue outputs is 11 bits (+ sign) and the inaccuracy is...

  • Page 138

    Parameters and firmware blocks 138 15.04 ao1 min fw block: ao1 (see above) defines the minimum value for analogue output ao1. 0…22.7 ma minimum ao1 output value. 15.05 ao1 max scale fw block: ao1 (see above) defines the real value that corresponds to the maximum analogue output value defined by para...

  • Page 139

    Parameters and firmware blocks 139 15.09 ao2 max fw block: ao2 (see above) defines the maximum value for analogue output ao2. -10…10 v maximum ao2 output value. 15.10 ao2 min fw block: ao2 (see above) defines the minimum value for analogue output ao2. -10…10 v minimum ao2 output value. 15.11 ao2 max...

  • Page 140: Group

    Parameters and firmware blocks 140 group 16 system local control and parameter access settings, restoration of default parameter values, save of parameters into permanent memory. 16 16.01 local lock fw block: none selects the source for disabling local control (take/release button on the pc tool, lo...

  • Page 141

    Parameters and firmware blocks 141 16.09 user set sel fw block: none enables the save and restoration of up to four custom sets of parameter settings. The set that was in use before powering down the drive is in use after the next power-up. Note: any parameter changes made after loading a user set a...

  • Page 142

    Parameters and firmware blocks 142 16.11 user io set lo fw block: none together with parameter 16.12 user io set hi , selects the user parameter set when parameter 16.09 user set sel is set to (10) io mode . The status of the source defined by this parameter and parameter 16.12 select the user param...

  • Page 143: Group

    Parameters and firmware blocks 143 group 17 panel display selection of signals for panel display. 17 17.01 signal1 param fw block: none selects the first signal to be displayed on the control panel. The default signal is 1.03 frequency . Value pointer: group and index 17.02 signal2 param fw block: n...

  • Page 144

    Parameters and firmware blocks 144 17.06 signal3 mode fw block: none defines the way the signal selected by parameter 17.01 signal1 param is displayed on the optional control panel. (-1) disabled signal not displayed. Any other signals that are not disabled are shown together with their respective s...

  • Page 145: Group

    Parameters and firmware blocks 145 group 20 limits definition of drive operation limits. 20 firmware block: limits (20) adjusts the drive speed, current and torque limits, selects the source for the positive/negative speed reference enable command and enables the thermal current limitation. Block ou...

  • Page 146

    Parameters and firmware blocks 146 20.03 pos speed ena fw block: limits (see above) selects the source of the positive speed reference enable command. 1 = positive speed reference is enabled. 0 = positive speed reference is interpreted as zero speed reference (in the figure below 3.03 speedref ramp ...

  • Page 147

    Parameters and firmware blocks 147 20.08 therm curr lim fw block: none enables the thermal current limitation. Thermal current limit is calculated by the inverter thermal protection function. (0) disable the calculated thermal limit is not used. If the inverter output current is excessive, alarm igb...

  • Page 148: Group

    Parameters and firmware blocks 148 group 22 speed feedback settings for • selection of speed feedback used in drive control • filtering disturbances in measured speed signal • motor encoder gear function • zero speed limit for stop function • delay for zero speed delay function • definition of limit...

  • Page 149

    Parameters and firmware blocks 149 22 firmware block: speed feedback (22) block outputs located in other parameter groups 1.01 speed act (page 91 ) 22.01 speed fb sel fw block: speed feedback (see above) selects the speed feedback value used in control. (0) estimated calculated speed estimate. (1) e...

  • Page 150

    Parameters and firmware blocks 150 22.03 motor gear mul fw block: speed feedback (see above) defines the motor gear numerator for the motor encoder gear function. Where input speed is encoder 1/2 speed ( 1.08 encoder 1 speed / 1.10 encoder 2 speed ) or speed estimate ( 1.14 speed estimated ). Note: ...

  • Page 151

    Parameters and firmware blocks 151 22.06 zero speed delay fw block: speed feedback (see above) defines the delay for the zero speed delay function. The function is useful in applications where a smooth and quick restarting is essential. During the delay the drive knows accurately the rotor position....

  • Page 152

    Parameters and firmware blocks 152 22.08 speed tripmargin fw block: speed feedback (see above) defines, together with 20.01 maximum speed and 20.02 minimum speed , the maximum allowed speed of the motor (overspeed protection). If the actual speed ( 1.01 speed act ) exceeds the speed limit defined by...

  • Page 153

    Parameters and firmware blocks 153 22.10 spd superv est fw block: fault functions (see page 196 ) defines the activation level for encoder supervision. The drive reacts according to 22.09 speed fb fault when: • the estimated speed ( 1.14 speed estimated ) is greater than 22.10 spd superv est and • t...

  • Page 154: Group

    Parameters and firmware blocks 154 group 24 speed ref mod settings for • speed reference selection • speed reference modification (scaling and inversion) • constant speed and jogging references • definition of absolute minimum speed reference. Depending on user selection, either speed reference 1 or...

  • Page 155

    Parameters and firmware blocks 155 24 firmware block: speed ref sel (23) selects the sources for two speed references, ref1 or ref2, from a selection list. Also shows the values of both speed references. The sources can alternatively be selected with value pointer parameters. See firmware block spee...

  • Page 156

    Parameters and firmware blocks 156 (6) d2d ref2 drive to drive reference 2. (7) enc1 speed encoder 1 ( 1.08 encoder 1 speed ). (8) enc2 speed encoder 2 ( 1.10 encoder 2 speed ). 24.02 speed ref2 sel fw block: speed ref sel (see above) selects the source for speed reference 2 ( 3.02 speed ref2 ). See...

  • Page 157

    Parameters and firmware blocks 157 -8…8 scaling factor for speed reference 1/2. 24.07 speedref neg ena fw block: speed ref mod (see above) selects the source for the speed reference inversion. 1 = sign of the speed reference is changed (inversion active). Bit pointer: group, index and bit 24.08 cons...

  • Page 158: Group

    Parameters and firmware blocks 158 group 25 speed ref ramp speed reference ramp settings such as • selection of source for speed ramp input • acceleration and deceleration times (also for jogging) • acceleration and deceleration ramp shapes • emergency stop off3 ramp time • the speed reference balan...

  • Page 159

    Parameters and firmware blocks 159 25 firmware block: speed ref ramp (25) this block • selects the source for the speed ramp input • adjusts acceleration and deceleration times (also for jogging) • adjusts acceleration/deceleration ramp shapes • adjusts ramp time for emergency stop off3 • forces the...

  • Page 160

    Parameters and firmware blocks 160 25.04 dec time fw block: speed ref ramp (see above) defines the deceleration time, ie, the time required for the speed to change from the speed value defined by parameter 25.02 speed scaling to zero. If the speed reference decreases slower than the set deceleration...

  • Page 161

    Parameters and firmware blocks 161 25.08 shape time dec2 fw block: speed ref ramp (see above) selects the shape of the deceleration ramp at the end of the deceleration. See parameter 25.05 shape time acc1 . 0…1000 s ramp shape at end of deceleration. 25.09 acc time jogging fw block: speed ref ramp (...

  • Page 162: Group

    Parameters and firmware blocks 162 group 26 speed error speed error is determined by comparing the speed reference and speed feedback. The error can be filtered using a first-order low-pass filter if the feedback and reference have disturbances. In addition, a torque boost can be applied to compensa...

  • Page 163

    Parameters and firmware blocks 163 26 firmware block: speed error (26) this block • selects the source for speed error calculation (speed reference - actual speed) in different control modes • selects the sources for speed reference and speed reference feedforward • defines the speed error filtering...

  • Page 164

    Parameters and firmware blocks 164 value pointer: group and index 26.05 speed step fw block: speed error (see above) defines an additional speed step given to the input of the speed controller (added to the speed error value). -30000…30000 rpm speed step. 26.06 spd err ftime fw block: speed error (s...

  • Page 165

    Parameters and firmware blocks 165 26.08 acc comp dertime fw block: speed error (see above) defines the derivation time for acceleration (deceleration) compensation. Used to improve the speed control dynamic reference change. In order to compensate inertia during acceleration, a derivative of the sp...

  • Page 166

    Parameters and firmware blocks 166 (1) absolute speed error window control active. The boundaries defined by parameters 26.11 and 26.12 are absolute. (2) relative speed error window control active. The boundaries defined by parameters 26.11 and 26.12 are relative to speed reference. 26.11 speed win ...

  • Page 167: Group

    Parameters and firmware blocks 167 group 28 speed control speed controller settings such as • selection of source for speed error • adjustment of pid-type speed controller variables • limitation of speed controller output torque • selection of source for acceleration compensation torque • forcing an...

  • Page 168

    Parameters and firmware blocks 168 28 firmware block: speed control (28) this block • selects the source for speed error • adjusts pid-type speed controller variables • defines limits for speed controller output torque • selects the source for acceleration compensation torque • configures the balanc...

  • Page 169

    Parameters and firmware blocks 169 28.03 integration time fw block: speed control (see above) defines the integration time of the speed controller. The integration time defines the rate at which the controller output changes when the error value is constant and the proportional gain of the speed con...

  • Page 170

    Parameters and firmware blocks 170 28.04 derivation time fw block: speed control (see above) defines the derivation time of the speed controller. Derivative action boosts the controller output if the error value changes. The longer the derivation time, the more the speed controller output is boosted...

  • Page 171

    Parameters and firmware blocks 171 28.07 drooping rate fw block: speed control (see above) defines the droop rate (in percent of the motor nominal speed). The drooping slightly decreases the drive speed as the drive load increases. The actual speed decrease at a certain operating point depends on th...

  • Page 172

    Parameters and firmware blocks 172 28.12 pi adapt max spd fw block: speed control (see above) maximum actual speed for speed controller adaptation. Speed controller gain and integration time can be adapted according to actual speed. This is done by multiplying the gain ( 28.02 proport gain ) and int...

  • Page 173

    Parameters and firmware blocks 173 28.16 pi tune mode fw block: none activates the speed controller autotune function. The autotune will automatically set parameters 28.02 proport gain and 28.03 integration time , as well as 1.31 mech time const . If the user autotune mode is chosen, also 26.06 spd ...

  • Page 174: Group

    Parameters and firmware blocks 174 group 32 torque reference reference settings for torque control. In torque control, the drive speed is limited between the defined minimum and maximum limits. Speed-related torque limits are calculated and the input torque reference is limited according to these li...

  • Page 175

    Parameters and firmware blocks 175 32 firmware block: torq ref sel (32) selects the source for torque reference 1 (from a parameter selection list) and the source for torque reference addition (used, eg, for compensating mechanical interferences). Also shows the torque reference and reference additi...

  • Page 176

    Parameters and firmware blocks 176 firmware block: torq ref mod (33) this block • selects the source for the torque reference • scales the input torque reference according to the defined load share factor • defines limits for the torque reference • defines ramp-up and ramp-down times for the torque ...

  • Page 177

    Parameters and firmware blocks 177 32.08 torq ramp down fw block: torq ref mod (see above) defines the torque reference ramp-down time, ie, the time for the reference to decrease from the nominal motor torque to zero. 0…60 s torque reference ramp-down time. 32.09 rush ctrl gain fw block: torq ref mo...

  • Page 178: Group

    Parameters and firmware blocks 178 group 33 supervision configuration of signal supervision. 33 firmware block: supervision (17) block outputs located in other parameter groups 6.14 superv status (page 112 ) 33.01 superv1 func fw block: supervision (see above) selects the mode of supervision 1. (0) ...

  • Page 179

    Parameters and firmware blocks 179 33.03 superv1 lim hi fw block: supervision (see above) sets the upper limit for supervision 1. See parameter 33.01 superv1 func . -32768…32768 upper limit for supervision 1. 33.04 superv1 lim lo fw block: supervision (see above) sets the lower limit for supervision...

  • Page 180

    Parameters and firmware blocks 180 33.09 superv3 func fw block: supervision (see above) selects the mode of supervision 3. (0) disabled supervision 3 not in use. (1) low when the signal selected by parameter 33.10 superv3 act falls below the value of parameter 33.12 superv3 lim lo , bit 2 of 6.14 su...

  • Page 181

    Parameters and firmware blocks 181 di4 digital input di4 (as indicated by 2.01 di status , bit 3). Di5 digital input di5 (as indicated by 2.01 di status , bit 4). Di6 digital input di6 (as indicated by 2.01 di status , bit 5). Ro1 relay output ro1 (as indicated by 2.02 ro status , bit 0). Ro2 relay ...

  • Page 182: Group

    Parameters and firmware blocks 182 group 34 reference ctrl reference source and type selection. Using the parameters in this group, it is possible to select whether external control location ext1 or ext2 is used (either one is active at a time). These parameters also select the control mode (speed/t...

  • Page 183

    Parameters and firmware blocks 183 34 firmware block: reference ctrl (34) this block • defines the selection method between external control locations ext1 and ext2 • configures control mode (speed/ torque/min/max/add) selection • selects the torque reference used in local and external control • sho...

  • Page 184

    Parameters and firmware blocks 184 (2) torque torque control. Torque reference is 3.11 torq ref rushlim , which is the output of the torq ref mod firmware block. Torque reference source can be changed by parameter 34.09 tref torq src . (3) min combination of selections (1) speed and (2) torque : tor...

  • Page 185

    Parameters and firmware blocks 185 34.07 local ctrl mode fw block: reference ctrl (see above) selects the control mode for local control. Note: this parameter cannot be changed while the drive is running. (1) speed speed control. Torque reference is 3.08 torq ref sp ctrl , which is the output of the...

  • Page 186: Group

    Parameters and firmware blocks 186 group 35 mech brake ctrl settings for the control of a mechanical brake. See also section mechanical brake control on page 55 . 35 firmware block: mech brake ctrl (35) block outputs located in other parameter groups 3.14 brake torq mem (page 101 ) 3.15 brake comman...

  • Page 187

    Parameters and firmware blocks 187 35.03 brake open delay fw block: mech brake ctrl (see above) defines the brake open delay (= the delay between the internal open brake command and the release of the motor speed control). The delay counter starts when the drive has magnetised the motor and risen th...

  • Page 188

    Parameters and firmware blocks 188 35.09 brake fault func fw block: mech brake ctrl (see above) defines how the drive reacts in case of mechanical brake control error. If brake control supervision has not been activated by parameter 35.01 brake control , this parameter is disabled. (0) fault the dri...

  • Page 189: Group

    Parameters and firmware blocks 189 group 40 motor control motor control settings, such as • flux reference • drive switching frequency • motor slip compensation • voltage reserve • flux optimisation • ir compensation for scalar control mode. Flux optimisation flux optimisation reduces the total ener...

  • Page 190

    Parameters and firmware blocks 190 40.03 slip gain fw block: motor control (see above) defines the slip gain which is used to improve the estimated motor slip. 100% means full slip gain; 0% means no slip gain. The default value is 100%. Other values can be used if a static speed error is detected de...

  • Page 191

    Parameters and firmware blocks 191 40.07 ir compensation fw block: motor control (see above) defines the relative output voltage boost at zero speed (ir compensation). The function is useful in applications with high break-away torque when no dtc motor can be applied. This parameter is only effectiv...

  • Page 192: Group

    Parameters and firmware blocks 192 group 45 mot therm prot settings for thermal protection of the motor. See also section thermal motor protection on page 44 . 45 firmware block: mot therm prot (45) configures motor overtemperature protection and temperature measurement. Also shows the estimated and...

  • Page 193

    Parameters and firmware blocks 193 (1) kty jcu the temperature is supervised using a kty84 sensor connected to drive thermistor input th. (2) kty 1st fen the temperature is supervised using a kty84 sensor connected to encoder interface module fen-xx installed in drive slot 1/2. If two encoder interf...

  • Page 194

    Parameters and firmware blocks 194 45.06 mot load curve fw block: mot therm prot (see above) defines the load curve together with parameters 45.07 zero speed load and 45.08 break point . The value is given in percent of nominal motor current. When the parameter is set to 100%, the maximum load is eq...

  • Page 195

    Parameters and firmware blocks 195 45.09 motnom temp rise fw block: mot therm prot (see above) defines the temperature rise of the motor when the motor is loaded with nominal current. See the motor manufacturer's recommendations. The temperature rise value is used by the motor thermal protection mod...

  • Page 196: Group

    Parameters and firmware blocks 196 group 46 fault functions definition of drive behaviour upon a fault situation. An alarm or a fault message indicates abnormal drive status. For the possible causes and remedies, see chapter fault tracing . 46 firmware block: fault functions (46) this block • config...

  • Page 197

    Parameters and firmware blocks 197 46.01 external fault fw block: fault functions (see above) selects an interface for an external fault signal. 0 = external fault trip. 1 = no external fault. Bit pointer: group, index and bit 46.02 speed ref safe fw block: fault functions (see above) defines the fa...

  • Page 198

    Parameters and firmware blocks 198 46.06 suppl phs loss fw block: fault functions (see above) selects how the drive reacts when a supply phase loss is detected. This parameter is only used with an ac supply. (0) no no reaction. (1) fault drive trips on supply phase fault. 46.07 sto diagnostic fw blo...

  • Page 199

    Parameters and firmware blocks 199 46.09 stall function fw block: fault functions (see above) selects how the drive reacts to a motor stall condition. A stall condition is defined as follows: • the drive is at stall current limit ( 46.10 stall curr lim ), and • the output frequency is below the leve...

  • Page 200

    Parameters and firmware blocks 200 (0) coast stop by cutting off the motor power supply. The motor coasts to stop. (1) emergency ramp stop the drive is stopped along the emergency stop ramp time, 25.11 em stop time ..

  • Page 201: Group

    Parameters and firmware blocks 201 group 47 voltage ctrl settings for overvoltage and undervoltage control, and supply voltage. 47 firmware block: voltage ctrl (47) this block • enables/disables overvoltage and undervoltage control • enables/disables automatic identification of supply voltage • prov...

  • Page 202

    Parameters and firmware blocks 202 47.03 supplvoltauto-id fw block: voltage ctrl (see above) enables the auto-identification of the supply voltage. See also section voltage control and trip limits on page 47 . (0) disable auto-identification of supply voltage disabled. The drive sets the voltage con...

  • Page 203: Group

    Parameters and firmware blocks 203 group 48 brake chopper configuration of an internal braking chopper. 48 firmware block: brake chopper (48) this block configures the braking chopper control and supervision. 48.01 bc enable fw block: brake chopper (see above) enables the braking chopper control. No...

  • Page 204

    Parameters and firmware blocks 204 48.05 r br fw block: brake chopper (see above) defines the resistance value of the braking resistor. The value is used for braking chopper protection. 0.1…1000 ohm resistance. 48.06 br temp faultlim fw block: brake chopper (see above) selects the fault limit for th...

  • Page 205: Group

    Parameters and firmware blocks 205 group 50 fieldbus basic settings for fieldbus communication. See also appendix a – fieldbus control on page 423 . 50 firmware block: fieldbus (50) this block • initialises the fieldbus communication • selects communication supervision method • defines scaling of th...

  • Page 206

    Parameters and firmware blocks 206 (3) last speed communication break detection active. Upon a communication break, the drive generates alarm fieldbus comm and freezes the speed to the level the drive was operating at. The speed is determined by the average speed over the previous 10 seconds. Warnin...

  • Page 207

    Parameters and firmware blocks 207 50.06 fba act1 tr src fw block: fieldbus (see above) selects the source for fieldbus actual value 1 when parameter 50.04 fba ref1 modesel / 50.05 fba ref2 modesel is set to (0) raw data . Value pointer: group and index 50.07 fba act2 tr src fw block: fieldbus (see ...

  • Page 208

    Parameters and firmware blocks 208 50.12 fba cycle time fw block: fieldbus (see above) selects the fieldbus communication speed. The default selection is (2) fast . Lowering the speed reduces the cpu load. The table below shows the read/write intervals for cyclic and cyclic low data with each parame...

  • Page 209: Group

    Parameters and firmware blocks 209 group 51 fba settings further fieldbus communication configuration. These parameters need to be set only if a fieldbus adapter module is installed. See also appendix a – fieldbus control on page 423 . Notes: • this parameter group is presented in the user’s manual ...

  • Page 210

    Parameters and firmware blocks 210 51.30 mapping file ver fw block: none displays the fieldbus adapter module mapping file revision stored in the memory of the drive. In hexadecimal format. Example: 0x107 = revision 1.07. 51.31 d2fba comm sta fw block: none displays the status of the fieldbus adapte...

  • Page 211: Group

    Parameters and firmware blocks 211 group 52 fba data in these parameters select the data to be sent by the drive to the fieldbus controller, and need to be set only if a fieldbus adapter module is installed. See also appendix a – fieldbus control on page 423 . Notes: • this parameter group is presen...

  • Page 212: Group

    Parameters and firmware blocks 212 group 53 fba data out these parameters select the data to be sent by the fieldbus controller to the drive, and need to be set only if a fieldbus adapter module is installed. See also appendix a – fieldbus control on page 423 . Notes: • this parameter group is prese...

  • Page 213: Group

    Parameters and firmware blocks 213 group 55 communication tool settings for an rs-485 network implemented using optional jpc-01 network communication adapters. The network enables the use of a single pc or control panel to control multiple drives. For more information, see the jpc-01 network communi...

  • Page 214: Group

    Parameters and firmware blocks 214 group 57 d2d communication drive-to-drive communication settings. See appendix b – drive-to-drive link on page 431 . 57 firmware block: d2d communication (57) this block sets up the drive-to-drive communication. It also shows the main drive-to-drive control word an...

  • Page 215

    Parameters and firmware blocks 215 57.03 node address fw block: d2d communication (see above) sets the node address for a follower drive. Each follower must have a dedicated node address. Note: if the drive is set to be the master on the drive-to-drive link, this parameter has no effect (the master ...

  • Page 216

    Parameters and firmware blocks 216 57.09 kernel sync mode fw block: d2d communication (see above) determines which signal the time levels of the drive are synchronised with. An offset can be defined by parameter 57.10 kernel sync offs if desired. (0) nosync no synchronisation. (1) d2dsync if the dri...

  • Page 217

    Parameters and firmware blocks 217 57.12 ref1 mc group fw block: d2d communication (see above) selects the multicast group the drive belongs to. See parameter 57.11 ref 1 msg type . 0…62 multicast group (0 = none). 57.13 next ref1 mc grp fw block: d2d communication (see above) specifies the next mul...

  • Page 218: Group

    Parameters and firmware blocks 218 group 60 pos feedback configuration of drive position feedback including • feedback source • load gear ratio • axis type • positioning unit • scalings for fieldbus • scaling between rotational and translational systems • resolution of internal position calculation ...

  • Page 219

    Parameters and firmware blocks 219 60 firmware block: pos feedback (60) this block • selects the source for measured actual position value (encoder 1, encoder 2 or estimated position) • selects whether positioning is executed along linear or rollover axis • configures the load encoder gear function ...

  • Page 220

    Parameters and firmware blocks 220 60.03 load gear mul fw block: pos feedback (see above) defines the numerator for the load encoder gear function. See also section load encoder gear function on page 61 . Note: when load encoder gear function is set, the gear function defined by parameters 71.07 gea...

  • Page 221

    Parameters and firmware blocks 221 60.07 feed const den fw block: pos feedback (see above) defines, together with parameter 60.06 feed const num , the feed constant for the position calculation. 1… 2 31 -1 feed constant denominator. 60.08 pos2int scale fw block: pos feedback (see above) scales posit...

  • Page 222

    Parameters and firmware blocks 222 60.12 pos speed scale fw block: pos feedback (see above) defines an additional scaling for internal positioning speed, acceleration and deceleration values. Can be used, eg, to improve calculation accuracy at low and high speeds. Example: if parameter value is set ...

  • Page 223: Group

    Parameters and firmware blocks 223 group 62 pos correction settings for position correction functions (homing, presets, and cyclic corrections). With these functions, the user can define the relationship between the actual position of the drive positioning system and the driven machinery. Some of th...

  • Page 224

    Parameters and firmware blocks 224 62.01 homing method fw block: homing (see above) selects the homing method. Note: for cyclic corrections to work, this parameter must be set to (0) no method . For more information, see • section homing on page 68 • appendix c – homing methods on page 443 • cia sta...

  • Page 225

    Parameters and firmware blocks 225 62.06 pos limit switch fw block: homing (see above) selects the source for the positive limit switch signal (ie, external latch signal source for the maximum position). Used to prevent movement beyond a certain maximum position (drive stopped along emergency stop r...

  • Page 226

    Parameters and firmware blocks 226 62.11 preset mode fw block: preset (see above) selects the preset mode. Presets are used to set the position system to a parameter value (preset position) or actual position. The physical position of the driven machinery is not changed, but the new position value i...

  • Page 227

    Parameters and firmware blocks 227 62.13 preset position fw block: preset (see above) defines the preset position. The unit depends on parameter 60.05 pos unit selection. -32768…32768 preset position. Firmware block: cyclic correction (64) this block • selects the cyclic correction mode • defines th...

  • Page 228

    Parameters and firmware blocks 228 (3) enc1 di2 _– encoder 1 position rising edge of di2 (4) enc1 di2 –_ encoder 1 position falling edge of di2 (5) reserved. (6) enc1 zerop encoder 1 position zero pulse (7) enc1 di1_– z encoder 1 position first zero pulse after rising edge of di1 (8) enc1 di1–_ z en...

  • Page 229

    Parameters and firmware blocks 229 (28) enc2 di2=0 z encoder 2 position first zero pulse when di2 = 0 (29) probe1 sw encoder 1 position the trigger signal is selected by parameter 62.22 trig probe1 sw . (30) probe2 sw encoder 1 position the trigger signal is selected by parameter 62.23 trig probe2 s...

  • Page 230

    Parameters and firmware blocks 230 62.21 pos cor mode fw block: homing (see above) determines if the position change made in homing or in preset mode 2 or 3 is forced permanently into the drive memory by saving it to parameter 62.20 pos act offset , or only until the next power- down. (0) normal the...

  • Page 231

    Parameters and firmware blocks 231 62.26 z-pulse source 2 fw block: homing (see above) selects which zero pulse is used for probe 2 latching when a zero pulse dependent triggering condition is selected by parameter 62.17 trig probe2 . (0) probepossrc the source of the zero pulse is the same as the s...

  • Page 232

    Parameters and firmware blocks 232 62.30 probe trig filt fw block: homing (see above) to avoid false latch events due to signal disturbances, latchings are verified on the basis of a low-pass filtered signal. The signal is filtered using the time constant ( τ ) defined by this parameter. In effect, ...

  • Page 233: Group

    Parameters and firmware blocks 233 group 65 profile reference positioning profile and start command settings. The shape of the profile are defined by position reference, speed, acceleration, deceleration, filtering time, style, and end speed. The position reference can be taken from an analogue inpu...

  • Page 234

    Parameters and firmware blocks 234 65 firmware block: profile ref sel (65) this block • selects the source for position reference • selects the source for position reference set 1/2 selection • defines the position reference sets 1 and 2 • selects the source for an additional position reference • se...

  • Page 235

    Parameters and firmware blocks 235 65.02 prof set sel fw block: profile ref sel (see above) selects the source for position reference set 1 or 2 selection. 0 = position reference set 1, 1 = position reference set 2. See parameters 65.04 pos ref 1 sel and 65.12 pos ref 2 sel . Bit pointer: group, ind...

  • Page 236

    Parameters and firmware blocks 236 0…1000 ms position reference filter time for position reference set 1. 65.09 pos style 1 fw block: profile ref sel (see above) determines the behaviour of the position profile generator when position reference set 1 is used. The figures below display the behaviour ...

  • Page 237

    Parameters and firmware blocks 237 bit 2 1 = positioning to the target position along the shortest path, regardless of bit 0 and 1 values. 0 = positioning to the target position according to bits 0 and 1. Bit 3 1 = before the positioning is started, the position system is reset. 0 = the position sys...

  • Page 238

    Parameters and firmware blocks 238 bit 7 effective only when bit 4 = 1 and bit 2 = 0. 1 = when positioning is started by the rising edge of 65.03 pos start 1 , the motor rotates one revolution exactly according to bits 0 and 1. This feature is provided in the roll-over mode only. 0 = one revolution ...

  • Page 239

    Parameters and firmware blocks 239 65.18 pos end speed 2 fw block: profile ref sel (see above) defines the positioning speed when target is reached when position reference set 1 is used. The unit depends on parameter 60.05 pos unit and 60.10 pos speed unit selections. -32768…32768 positioning speed ...

  • Page 240

    Parameters and firmware blocks 240 65.22 prof vel ref sel fw block: profile ref sel (see above) selects the source for the speed reference in profile velocity mode. The profile velocity mode is activated by parameter 34.03 , 34.04 or 34.05 , depending on the control location used. (0) zero zero refe...

  • Page 241: Group

    Parameters and firmware blocks 241 group 66 profile generator position profile generator settings. With these settings, the user can change the positioning speed during positioning, define positioning speed limits (for example, because of limited power), and set the window for target position. See a...

  • Page 242

    Parameters and firmware blocks 242 66 firmware block: profile generator (66) this block • selects the source for position profile generator input position reference • defines the online positioning speed multiplier • defines a positioning speed value above which the acceleration/ deceleration time i...

  • Page 243

    Parameters and firmware blocks 243 66.03 prof acc weak sp fw block: profile generator (see above) defines a positioning speed value (for the profile generator), above which acceleration/deceleration is slowed down. Because the drive power depends on the torque and angular velocity, this parameter de...

  • Page 244: Group

    Parameters and firmware blocks 244 group 67 sync ref sel synchronisation reference source selection that is used in synchron control mode. Synchron reference can be smoothed with fine interpolation if the reference is updated too slowly or changes drastically because of missing data. If the referenc...

  • Page 245

    Parameters and firmware blocks 245 67.01 sync ref sel fw block: sync ref sel (see above) selects the source for the position reference in synchron control. (0) zero zero position reference. (1) ai1 analogue input 1. (2) ai2 analogue input 2. (3) fba ref1 fieldbus reference 1. (4) fba ref2 fieldbus r...

  • Page 246

    Parameters and firmware blocks 246 67.03 interpolat mode fw block: sync ref sel (see above) selects whether the synchronisation reference selected by parameter 67.01 sync ref sel is interpolated or not. This function can be used to smooth out short breaks in the reference. (0) none interpolation is ...

  • Page 247: Group

    Parameters and firmware blocks 247 group 68 sync ref mod synchronisation reference modification settings that are used to select between absolute or relative synchronisation, to set an electrical gear ratio between the synchronisation reference and the drive positioning system, and to filter the ref...

  • Page 248

    Parameters and firmware blocks 248 68.02 sync gear mul fw block: sync ref mod (see above) defines the numerator for the synchron gear function. The gear function modifies the position alterations of the synchron position reference value in order to obtain a certain ratio between the master and follo...

  • Page 249: Group

    Parameters and firmware blocks 249 group 70 pos ref limit position reference (dynamic) limiter and synchronisation error supervision settings. The limiter adds the reference changes from the profile reference generator ( 4.13 pos ref ipo ) and synchron reference ( 4.16 sync ref geared ). The limiter...

  • Page 250

    Parameters and firmware blocks 250 70 firmware block: pos ref lim (70) this block • selects the sources for the dynamic limiter inputs • selects the source for the position reference enable command • selects the positioning speed, acceleration rate and deceleration limits • defines the synchron erro...

  • Page 251

    Parameters and firmware blocks 251 70.05 pos accel lim fw block: pos ref lim (see above) limits the positioning acceleration rate. An active limitation is indicated by 6.09 pos ctrl status , bit 13. The unit depends on parameter 60.05 pos unit and 60.10 pos speed unit selections. 0…32768 positioning...

  • Page 252: Group

    Parameters and firmware blocks 252 group 71 position ctrl settings for the position controller. The position controller calculates a speed reference that is used to minimise the difference between position reference and actual values. The user can set the controller gain, the feed forward value and ...

  • Page 253

    Parameters and firmware blocks 253 71 firmware block: pos control (71) this block • selects the sources for the actual and reference position inputs of the position controller • defines the position control loop gain and the speed feed forward gain • defines a delay for the position reference • conf...

  • Page 254

    Parameters and firmware blocks 254 71.04 p ctrl feed gain fw block: pos control (see above) defines the speed feed forward gain. The default gain value is suitable for most applications. In some cases the gain can be used to compensate the difference between the reference position and actual positio...

  • Page 255: Group

    Parameters and firmware blocks 255 group 90 enc module sel settings for encoder activation, emulation, ttl echo, and encoder cable fault detection. The firmware supports two encoders, encoder 1 and 2 (but only one fen-21 resolver interface module). Revolution counting is only supported for encoder 1...

  • Page 256

    Parameters and firmware blocks 256 90 firmware block: encoder (3) this block • activates the communication to encoder interface 1/2 • enables encoder emulation/echo • shows encoder 1/2 speed and actual position. Block inputs located in other parameter groups 93.21 emul pulse nr (page 269 ) 93.22 emu...

  • Page 257

    Parameters and firmware blocks 257 (7) fen-31 htl communication active. Module type: fen-31 htl encoder interface. Input: htl encoder input (x82). See parameter group 93 . 90.02 encoder 2 sel fw block: encoder (see above) activates the communication to the optional encoder/resolver interface 2. For ...

  • Page 258

    Parameters and firmware blocks 258 (7) fen-21 swref module type: fen-21 resolver interface. Emulation: drive software position (source selected by par. 93.22 emul pos ref ) is emulated to fen-21 ttl output. (8) fen-21 res module type: fen-21 resolver interface. Emulation: fen-21 resolver input (x52)...

  • Page 259

    Parameters and firmware blocks 259 90.05 enc cable fault fw block: encoder (see above) selects the action in case an encoder cable fault is detected by the fen-xx encoder interface. Notes: • this functionality is only available with the absolute encoder input of the fen-11 based on sine/ cosine incr...

  • Page 260: Group

    Parameters and firmware blocks 260 group 91 absol enc conf absolute encoder configuration; used when parameter 90.01 encoder 1 sel / 90.02 encoder 2 sel is set to (3) fen-11 abs . The optional fen-11 absolute encoder interface module supports the following encoders: • incremental sin/cos encoders wi...

  • Page 261

    Parameters and firmware blocks 261 91.01 sine cosine nr fw block: absol enc conf (see above) defines the number of sine/cosine wave cycles within one revolution. Note: this parameter does not need to be set when endat or ssi encoders are used in continuous mode. See parameter 91.25 ssi mode / 91.30 ...

  • Page 262

    Parameters and firmware blocks 262 91.06 abs pos tracking fw block: absol enc conf (see above) enables position tracking, which counts the number of absolute encoder overflows (single and multiturn encoder and resolver) in order to determine the actual position uniquely and clearly after a power-up ...

  • Page 263

    Parameters and firmware blocks 263 91.21 ssi position msb fw block: absol enc conf (see above) defines the location of the msb (main significant bit) of the position data within a ssi message. Used with ssi encoders, ie, when parameter 91.02 abs enc interf is set to (4) ssi . 1…126 position data msb...

  • Page 264

    Parameters and firmware blocks 264 91.26 ssi transmit cyc fw block: absol enc conf (see above) selects the transmission cycle for ssi encoder. Note: this parameter needs to be set only when an ssi encoder is used in continuous mode, ie, ssi encoder without incremental sin/cos signals (supported only...

  • Page 265

    Parameters and firmware blocks 265 (1) 100 us 100 µs. (2) 1 ms 1 ms. (3) 50 ms 50 ms..

  • Page 266: Group

    Parameters and firmware blocks 266 group 92 resolver conf resolver configuration; used when parameter 90.01 encoder 1 sel / 90.02 encoder 2 sel is set to (5) fen-21 res . The optional fen-21 resolver interface module is compatible with resolvers which are excited by sinusoidal voltage (to the rotor ...

  • Page 267: Group

    Parameters and firmware blocks 267 group 93 pulse enc conf ttl/htl input and ttl output configuration. See also parameter group 90 on page 256 , and the appropriate encoder extension module manual. Parameters 93.01 … 93.06 are used when a ttl/htl encoder is used as encoder 1 (see parameter 90.01 enc...

  • Page 268

    Parameters and firmware blocks 268 (0) a&b all channels a and b: rising and falling edges are used for speed calculation. Channel b: defines the direction of rotation. * note: when single track mode has been selected by parameter 93.02 enc1 type , setting 0 acts like setting 1. (1) a all channel a: ...

  • Page 269

    Parameters and firmware blocks 269 93.11 enc2 pulse nr fw block: pulse enc conf (see above) defines the pulse number per revolution for encoder 2. 0…65535 pulses per revolution for encoder 2. 93.12 enc2 type fw block: pulse enc conf (see above) selects the type of encoder 2. For selections, see para...

  • Page 270: Group

    Parameters and firmware blocks 270 group 95 hw configuration miscellaneous hardware-related settings. 95 95.01 ctrl unit supply fw block: none defines the manner in which the drive control unit is powered. (0) internal 24v the drive control unit is powered from the drive power unit it is mounted on....

  • Page 271: Group

    Parameters and firmware blocks 271 group 97 user motor par user adjustment of motor model values estimated during motor id run. The values can be entered in either “per unit” or si. 97 97.01 use given params fw block: none activates the motor model parameters 97.02 … 97.14 and the rotor angle offset...

  • Page 272

    Parameters and firmware blocks 272 97.07 lq user fw block: none defines the quadrature axis (synchronous) inductance. Note: this parameter is valid only for permanent magnet motors. 0…10 p.U. (per unit) quadrature axis (synchronous) inductance. 97.08 pm flux user fw block: none defines the permanent...

  • Page 273

    Parameters and firmware blocks 273 97.18 signal injection fw block: none enables signal injection. A high frequency alternating signal is injected to the motor at the low speed region to improve the stability of torque control. Signal injection can be enabled with different amplitude levels. Note: u...

  • Page 274: Group

    Parameters and firmware blocks 274 group 98 motor calc values calculated motor values. 98 98.01 torq nom scale fw block: none nominal torque in n•m which corresponds to 100%. Note: this parameter is copied from parameter 99.12 mot nom torque if given. Otherwise the value is calculated. 0…2147483 nm ...

  • Page 275: Group

    Parameters and firmware blocks 275 group 99 start-up data start-up settings such as language, motor data and motor control mode. The nominal motor values must be set before the drive is started; for detailed instructions, see chapter start-up on page 15 . With dtc motor control mode, parameters 99.0...

  • Page 276

    Parameters and firmware blocks 276 99.05 motor ctrl mode fw block: none selects the motor control mode. Dtc (direct torque control) mode is suitable for most applications. Scalar control is suitable for special cases where dtc cannot be applied. In scalar control, the drive is controlled with a freq...

  • Page 277

    Parameters and firmware blocks 277 99.08 mot nom freq fw block: none defines the nominal motor frequency. Note: this parameter cannot be changed while the drive is running. 5…500 hz nominal motor frequency. 99.09 mot nom speed fw block: none defines the nominal motor speed. Must be equal to the valu...

  • Page 278

    Parameters and firmware blocks 278 99.13 idrun mode fw block: none selects the type of the motor identification performed at the next start of the drive in dtc mode. During the identification, the drive will identify the characteristics of the motor for optimum motor control. After the motor id run,...

  • Page 279

    Parameters and firmware blocks 279 (2) reduced reduced id run. This mode should be selected instead of the normal id run • if mechanical losses are higher than 20% (ie, the motor cannot be de-coupled from the driven equipment), or • if flux reduction is not allowed while the motor is running (ie, in...

  • Page 280

    Parameters and firmware blocks 280 (6) advanced advanced id run. Guarantees the best possible control accuracy. The motor id run can take a couple of minutes. This mode should be selected when top performance is needed in the whole operating area. Notes: • the driven machinery must be de-coupled fro...

  • Page 281: Parameter Data

    Parameter data 281 parameter data what this chapter contains this chapter lists the parameters of the drive with some additional data. For the parameter descriptions, see chapter parameters and firmware blocks . Terms term definition actual signal signal measured or calculated by the drive. Can be m...

  • Page 282: Fieldbus Equivalent

    Parameter data 282 fieldbus equivalent serial communication data between fieldbus adapter and drive is transferred in integer format. Thus the drive actual and reference signal values must be scaled to 16/32-bit integer values. Fieldbus equivalent defines the scaling between the signal value and the...

  • Page 283

    Parameter data 283 32-bit integer bit pointers when a bit pointer parameter is connected to value 0 or 1, the format is as follows: when a bit pointer is connected to a bit value of another parameter, the format is as follows: when a bit pointer parameter is connected to an application program, the ...

  • Page 284

    Parameter data 284 actual signals (parameter groups 1…9) index name type range unit fbeq update time data length pt save pf page no. 01 actual values 1.01 speed act real -30000…30000 rpm 1 = 100 250 µs 32 wp 91 1.02 speed act perc real -1000…1000 % 1 = 100 2 ms 32 wp 91 1.03 frequency real -30000…30...

  • Page 285

    Parameter data 285 2.12 fba main cw pb 0 … 0xffffffff - 1 = 1 500 µs 32 wp 95 2.13 fba main sw pb 0 … 0xffffffff - 1 = 1 500 µs 32 wp 98 2.14 fba main ref1 int32 -2 31 …2 31 - 1 - 1 = 1 500 µs 32 wp 99 2.15 fba main ref2 int32 -2 31 …2 31 - 1 - 1 = 1 500 µs 32 wp 99 2.16 fen di status pb 0…0x33 - 1 ...

  • Page 286

    Parameter data 286 4.14 dist tgt real -32768…32768 * see 60.09 500 µs 32 wp 104 4.15 sync ref ungear real -32768…32768 * see 60.09 500 µs 32 wp 104 4.16 sync ref geared real -32768…32768 * see 60.09 500 µs 32 wp 104 4.17 pos ref limited real -32768…32768 * see 60.09 250 µs 32 wp 104 4.18 sync error ...

  • Page 287

    Parameter data 287 9.12 slot 1 vie ver int32 0x0000…0xffff - 1 = 1 - 16 wp 118 9.13 slot 2 vie name int32 0x0000…0xffff - 1 = 1 - 16 wp 118 9.14 slot 2 vie ver int32 0x0000…0xffff - 1 = 1 - 16 wp 118 9.20 option slot 1 int32 0…18 - 1 = 1 - 16 wp 119 9.21 option slot 2 int32 0…18 - 1 = 1 - 16 wp 119 ...

  • Page 288: Parameter Groups 10…99

    Parameter data 288 parameter groups 10…99 index parameter type range unit fbeq update time data length def pt save pf page no. 10 start/stop 10.01 ext1 start func enum 0…6 - - 2 ms 16 1 wpd 121 10.02 ext1 start in1 bit pointer - 2 ms 32 p.02.01.00 wpd 122 10.03 ext1 start in2 bit pointer - 2 ms 32 c...

  • Page 289

    Parameter data 289 12.16 dio2 f max scale real -32768… 32768 - 1 = 1 10 ms 16 1500 132 12.17 dio2 f min scale real -32768… 32768 - 1 = 1 10 ms 16 0 132 13 analogue inputs 13.01 ai1 filt time real 0…30 s 1 = 1000 10 ms 16 0 133 13.02 ai1 max real -11…11/ -22…22 v or ma 1 = 1000 10 ms 16 10 133 13.03 ...

  • Page 290

    Parameter data 290 16.03 pass code int32 0…2 31 -1 - 1 = 1 - 32 0 140 16.04 param restore enum 0…2 - 1 = 1 - 16 0 wpd 140 16.07 param save enum 0…1 - 1 = 1 - 16 0 140 16.09 user set sel enum 1…10 - 1 = 1 - 32 1 wpd 141 16.10 user set log pb 0…0x7ff - 1 = 1 - 32 0 wp 141 16.11 user io set lo bit poin...

  • Page 291

    Parameter data 291 24.03 speed ref1 in val pointer - 10 ms 32 p.03.01 156 24.04 speed ref2 in val pointer - 10 ms 32 p.03.02 156 24.05 speed ref 1/2sel bit pointer - 2 ms 32 c.False 156 24.06 speed share real -8…8 - 1 = 1000 2 ms 16 1 156 24.07 speedref neg ena bit pointer - 2 ms 32 c.False 157 24.0...

  • Page 292

    Parameter data 292 28.02 proport gain real 0…200 - 1 = 100 2 ms 16 10 168 28.03 integration time real 0…600 s 1 = 1000 2 ms 32 0.5 169 28.04 derivation time real 0…10 s 1 = 1000 2 ms 16 0 170 28.05 deriv filt time real 0…1000 ms 1 = 10 2 ms 16 8 170 28.06 acc compensation val pointer - 2 ms 32 p.03....

  • Page 293

    Parameter data 293 33.08 superv2 lim lo real -32768… 32768 - 1 = 100 2 ms 32 0 179 33.09 superv3 func uint32 0…4 - 1 = 1 2 ms 16 0 180 33.10 superv3 act val pointer - 2 ms 32 p.01.06 180 33.11 superv3 lim hi real -32768… 32768 - 1 = 100 2 ms 32 0 180 33.12 superv3 lim lo real -32768… 32768 - 1 = 100...

  • Page 294

    Parameter data 294 40.02 sf ref enum 0…16 khz 1 = 1 - 16 4 189 40.03 slip gain real 0…200 % 1 = 1 - 100 190 40.04 voltage reserve real v/% 1 = 1 - - 190 40.05 flux opt enum 0…1 - 1 = 1 - - 190 40.06 force open loop enum 0…1 - 1 = 1 250 µs 16 0 190 40.07 ir compensation real24 0…50 % 1 = 100 2 ms 32 ...

  • Page 295

    Parameter data 295 47.07 low volt dc max real 350…810 v 1 = 1 10 ms 16 810 202 47.08 ext pu supply bit pointer - 32 c.False 202 48 brake chopper 48.01 bc enable enum 0…2 - 1 = 1 - 16 0 203 48.02 bc run-time ena bit pointer - 2 ms 32 p.06.01.03 203 48.03 brthermtimecon st real24 0…10000 s 1 = 1 - 32 ...

  • Page 296

    Parameter data 296 52.12 fba data in12 uint32 0…9999 - 1 = 1 16 0 x 211 53 fba data out 53.01 fba data out1 uint32 0…9999 - 1 = 1 16 0 x 212 … … … … … … … … 53.12 fba data out12 uint32 0…9999 - 1 = 1 16 0 x 212 55 communication tool 55.01 mdb station id uint32 1…247 - 1 = 1 16 1 213 55.02 mdb baud r...

  • Page 297

    Parameter data 297 60.14 minimum pos real -32768… 32768 * see 60.09 2 ms 32 -32768 222 60.15 pos threshold real -32768… 32768 * see 60.09 2 ms 32 0 222 62 pos correction 62.01 homing method uint32 0…35 - 1 = 1 10 ms 16 0 224 62.02 homing startfunc enum 0…1 - 1 = 1 10 ms 16 0 224 62.03 homing start b...

  • Page 298

    Parameter data 298 65.02 prof set sel bit pointer - - - 2 ms 32 p.02.01.04 235 65.03 pos start 1 bit pointer - - - 2 ms 32 p.02.01.03 235 65.04 pos ref 1 sel enum 0…8 - 1 = 1 2 ms 16 7 235 65.05 pos speed 1 real 0…32768 ** see 60.10 2 ms 32 5 235 65.06 prof acc 1 real 0…32768 ** see 60.10 2 ms 32 10...

  • Page 299

    Parameter data 299 68.03 sync gear div uint32 1…2 31 - 1 - 1 = 1 10 ms 32 1 wpd 248 68.04 sync gear add real -30…30 - 1 = 1000 500 µs 32 1 248 68.05 sync ref ftime real 0…1000 ms 1 = 1 10 ms 16 0 wpd 248 68.06 syncfilt dly lim real 0…120 * see 60.09 10 ms 32 0 248 68.07 synchron mode enum 0…1 - 1 = ...

  • Page 300

    Parameter data 300 91.21 ssi position msb uint32 1…126 - 1 = 1 16 1 263 91.22 ssi revol msb uint32 1…126 - 1 = 1 16 1 263 91.23 ssi data format uint32 0…1 - 1 = 1 16 0 263 91.24 ssi baud rate uint32 0…7 - 1 = 1 16 2 263 91.25 ssi mode uint32 0…3 - 1 = 1 16 0 263 91.26 ssi transmit cyc uint32 0…5 - 1...

  • Page 301

    Parameter data 301 * the unit depends on parameter 60.05 pos unit selection. ** the unit depends on parameter 60.05 pos unit and 60.10 pos speed unit selections. 97.07 lq user real24 0…10 p.U. 1 = 100000 32 0 272 97.08 pm flux user real24 0…2 p.U. 1 = 100000 32 0 272 97.09 rs user si real24 0…100 oh...

  • Page 302

    Parameter data 302.

  • Page 303: Fault Tracing

    Fault tracing 303 fault tracing what this chapter contains the chapter lists all alarm and fault messages including the possible cause and corrective actions. Safety warning! Only qualified electricians are allowed to maintain the drive. The safety instructions on the first pages of the appropriate ...

  • Page 304: How to Reset

    Fault tracing 304 how to reset the drive can be reset either by pressing the reset key on the pc tool ( ) or control panel ( reset ) or switching the supply voltage off for a while. When the fault has been removed, the motor can be restarted. A fault can also be reset from an external source by para...

  • Page 305

    Fault tracing 305 alarm messages generated by the drive code alarm (fieldbus code) cause what to do 2000 brake start torque (0x7185) programmable fault: 35.09 brake fault func mechanical brake alarm. Alarm is activated if required motor starting torque, 35.06 brake open torq , is not achieved. Check...

  • Page 306

    Fault tracing 306 2007 run enable (0xff54) no run enable signal is received. Check setting of parameter 10.09 run enable . Switch signal on (eg, in the fieldbus control word) or check wiring of selected source. 2008 id-run (0xff84) motor identification run is on. This alarm belongs to normal start-u...

  • Page 307

    Fault tracing 307 2013 device overtemp (0x4210) measured drive temperature has exceeded internal alarm limit. Check ambient conditions. Check air flow and fan operation. Check heatsink fins for dust pick-up. Check motor power against unit power. 2014 intboard overtemp (0x7182) interface board (betwe...

  • Page 308

    Fault tracing 308 2021 no motor data (0x6381) parameters in group 99 have not been set. Check that all the required parameters in group 99 have been set. Note: it is normal for this alarm to appear during the start-up until the motor data is entered. 2022 encoder 1 failure (0x7301) encoder 1 has bee...

  • Page 309

    Fault tracing 309 2024 latch pos 1 failure (0x7382) position latch 1 from encoder 1 or 2 has failed. Check latch source parameter settings: 62.04 home switch trig , 62.12 preset trig , 62.15 trig probe1 and 62.17 trig probe2 . Note that zero pulse is not always supported. * check that appropriate en...

  • Page 310

    Fault tracing 310 2027 fen temp meas failure (0x7385) error in temperature measurement when temperature sensor (kty or ptc) connected to encoder interface fen-xx is used. Check that parameter 45.02 mot temp source setting corresponds to encoder interface installation ( 9.20 option slot 1 / 9.21 opti...

  • Page 311

    Fault tracing 311 2031 encoder 1 cable (0x7389) encoder 1 cable fault detected. Check cable between fen-xx interface and encoder 1. After any modifications in cabling, re-configure interface by switching drive power off and on, or by activating parameter 90.10 enc par refresh . 2032 encoder 2 cable ...

  • Page 312

    Fault tracing 312 2041 motor nom value (0x6383) the motor configuration parameters are set incorrectly. Check the settings of the motor configuration parameters in group 99 . The drive is not dimensioned correctly. Check that the drive is sized correctly for the motor. 2042 d2d config (0x7583) the s...

  • Page 313

    Fault tracing 313 2080 enc 2 pulse frequency (0x738c) encoder 2 is receiving too high data flow (pulse frequency). Check encoder settings. Change parameters 93.03 enc1 sp calcmode and 93.13 enc2 sp calcmode to use only one channel pulses/ edges. 2082 br data (0x7113) brake chopper is configured wron...

  • Page 314

    Fault tracing 314 fault messages generated by the drive code fault (fieldbus code) cause what to do 0001 overcurrent (0x2310) output current has exceeded internal fault limit. Check motor load. Check acceleration time. See parameter group 25 on page 159 . Check motor and motor cable (including phasi...

  • Page 315

    Fault tracing 315 0005 dc undervoltage (0x3220) intermediate circuit dc voltage is not sufficient due to missing mains phase, blown fuse or rectifier bridge internal fault. Check mains supply and fuses. 0006 earth fault (0x2330) programmable fault: 46.05 earth fault drive has detected load unbalance...

  • Page 316

    Fault tracing 316 0012 br overheat (0x7112) braking resistor temperature has exceeded fault limit defined by parameter 48.06 br temp faultlim . Stop drive. Let resistor cool down. Check resistor overload protection function settings, parameters 48.01 … 48.05 . Check fault limit setting, parameter 48...

  • Page 317

    Fault tracing 317 0017 id-run fault (0xff84) motor id run is not completed successfully. Check the fault logger for a fault code extension. See appropriate actions for each extension below. Extension: 1 the motor id run cannot be completed because the maximum current setting and/or the internal curr...

  • Page 318

    Fault tracing 318 0019 curr v2 meas (0x3185) measured offset error of v2 output phase current measurement is too great. (offset value is updated during current calibration.) contact your local abb representative. 0020 curr w2 meas (0x3186) measured offset error of w2 output phase current measurement...

  • Page 319

    Fault tracing 319 0026 autophasing (0x3187) autophasing routine failed because the estimated angle of the rotor differs too much from the measured angle of the rotor. All other reasons for the autophasing fault are explained in section autophasing on page 42 . Try other autophasing modes (see parame...

  • Page 320

    Fault tracing 320 0033 brake start torque (0x7185) programmable fault: 35.09 brake fault func mechanical brake fault. Fault is activated if required motor starting torque, 35.06 brake open torq , is not achieved. Check brake open torque setting, parameter 35.06 . Check drive torque and current limit...

  • Page 321

    Fault tracing 321 0039 encoder1 (0x7301) encoder 1 feedback fault if fault appears during first start-up before encoder feedback is used: - check cable between encoder and encoder interface module (fen-xx) and order of connector signal wires at both ends of cable. If absolute encoder, endat/hiperfac...

  • Page 322

    Fault tracing 322 0040 encoder2 (0x7381) encoder 2 feedback fault see fault encoder1. Endat or ssi encoder is used in continuous mode as encoder 2. [i.E. 90.02 encoder 2 sel = (3) fen-11 abs and 91.02 abs enc interf = (2) endat or (4) ssi and 91.30 endat mode = (1) continuous (or 91.25 ssi mode = (1...

  • Page 323

    Fault tracing 323 0047 motor overtemp (0x4310) programmable fault: 45.01 mot temp prot estimated motor temperature (based on motor thermal model) has exceeded fault limit defined by parameter 45.04 mot temp flt lim . Check motor ratings and load. Let motor cool down. Ensure proper motor cooling: che...

  • Page 324

    Fault tracing 324 0053 d2d comm (0x7520) programmable fault: 57.02 comm loss func on the master drive: the drive has not been replied to by an activated follower for five consecutive polling cycles. Check that all drives that are polled (parameters 57.04 follower mask 1 and 57.05 follower mask 2 ) o...

  • Page 325

    Fault tracing 325 0067 fpga error1 (0x5401) drive internal fault contact your local abb representative. 0068 fpga error2 (0x5402) drive internal fault contact your local abb representative. 0069 adc error (0x5403) drive internal fault contact your local abb representative. 0073 enc 1 pulse frequency...

  • Page 326

    Fault tracing 326 0208 a2 init fault (0x6100) application task creation fault note: this fault cannot be reset. Contact your local abb representative. 0209 stack error (0x6100) drive internal fault note: this fault cannot be reset. Contact your local abb representative. 0210 jmu missing (0xff61) jmu...

  • Page 327

    Fault tracing 327 0309 appl loading (0x6300) application file incompatible or corrupted. Note: this fault cannot be reset. Check the fault logger for a fault code extension. See appropriate actions for each extension below. Fault code extension: 8 template used in the application incompatible with d...

  • Page 328

    Fault tracing 328 0316 daps mismatch (0x5484) mismatch between firmware version (in jmu) and power unit logic versions. Contact your local abb representative. 0317 solution fault (0x6200) fault generated by function block solution_fault in the application program. Check the usage of the solution_fau...

  • Page 329: Standard Function Blocks

    Standard function blocks 329 standard function blocks what this chapter contains this chapter describes the standard function blocks. The blocks are grouped according to the grouping in the drivespc tool. The number in brackets in the standard block heading is the block number. Note: the given execu...

  • Page 330: Alphabetical Index

    Standard function blocks 330 alphabetical index abs . . . . . . . . . . . . . . . . . . . . 331 add . . . . . . . . . . . . . . . . . . . . 331 and . . . . . . . . . . . . . . . . . . . . 335 bget. . . . . . . . . . . . . . . . . . . 340 bitand . . . . . . . . . . . . . . . . . 340 bitor . . . . . ....

  • Page 332: Expt

    Standard function blocks 332 operation the output (out) is input in1 divided by input in2. Out = in1/in2 the output value is limited to the maximum and minimum values defined by the selected data type range. If the divider (in2) is 0, the output is 0. Inputs the input data type is selected by the us...

  • Page 333: Move

    Standard function blocks 333 move (10005) illustration execution time 2.10 µs (when two inputs are used) + 0.42 µs (for every additional input). When all inputs are used, the execution time is 14.55 µs. Operation copies the input values (in1…32) to the corresponding outputs (out1…32). Inputs the inp...

  • Page 334: Sqrt

    Standard function blocks 334 operation the output (o) is the product of input in and input mul divided by input div. Output = (i × mul) / div o = whole value. Rem = remainder value. Example: i = 2, mul = 16 and div = 10: (2 × 16) / 10 = 3.2, i.E. O = 3 and rem = 2 the output value is limited to the ...

  • Page 335: Bitstring

    Standard function blocks 335 bitstring and (10010) illustration execution time 1.55 µs (when two inputs are used) + 0.60 µs (for every additional input). When all inputs are used, the execution time is 19.55 µs. Operation the output (out) is 1 if all the connected inputs (in1…in32) are 1. Otherwise ...

  • Page 336: Rol

    Standard function blocks 336 or (10012) illustration execution time 1.55 µs (when two inputs are used) + 0.60 µs (for every additional input). When all inputs are used, the execution time is 19.55 µs. Operation the output (out) is 0, if all connected inputs (in) are 0. Otherwise the output is 1. Tru...

  • Page 337: Ror

    Standard function blocks 337 outputs output (o): int, dint ror (10014) illustration execution time 1.28 µs operation input bits (i) are rotated to the right by the number (n) of bits defined by bitcnt. The n least significant bits (lsb) of the input are stored as the n most significant bits (msb) of...

  • Page 338: Shr

    Standard function blocks 338 inputs the input data type is selected by the user. Number of bits (bitcnt): int; dint input (i): int, dint outputs output (o): int; dint shr (10016) illustration execution time 0.80 µs operation input bits (i) are rotated to the right by the number (n) of bits defined b...

  • Page 339: Xor

    Standard function blocks 339 xor (10017) illustration execution time 1.24 µs (when two inputs are used) + 0.72 µs (for every additional input). When all inputs are used, the execution time is 22.85 µs. Operation the output (out) is 1 if one of the connected inputs (in1…in32) is 1. Output is zero if ...

  • Page 340: Bitwise

    Standard function blocks 340 bitwise bget (10034) illustration execution time 0.88 µs operation the output (o) is the value of the selected bit (bitnr) of the input (i). Bitnr: bit number (0 = bit number 0, 31 = bit number 31) if bit number is not in the range of 0…31 (for dint) or 0…15 (for int), t...

  • Page 341: Bitor

    Standard function blocks 341 bitor (10036) illustration execution time 0.32 µs operation the output (o) bit value is 1 if the corresponding bit value of any of the inputs (i1 or i2) is 1. Otherwise the output bit value is 0. Example: input input (i1, i2): dint output output (o): dint bset (10037) il...

  • Page 342: Reg

    Standard function blocks 342 outputs output (o): int, dint reg (10038) illustration execution time 2.27 µs (when two inputs are used) + 1.02 µs (for every additional input). When all inputs are used, the execution time is 32.87 µs. Operation the input (i1…i32) value is stored to the corresponding ou...

  • Page 343: Sr-D

    Standard function blocks 343 sr-d (10039) illustration execution time 1.04 µs operation when clock input (c) is set to 1, the data input (d) value is stored to the output (o). When reset input (r) is set to 1, the output is set to 0. If only set (s) and reset (r) inputs are used, sr-d block acts as ...

  • Page 344: Communication

    Standard function blocks 344 communication see also appendix b – drive-to-drive link (page 431 ). D2d_conf (10092) illustration execution time - operation defines handling interval for drive-to-drive references 1 and 2, and the address (group number) for standard (non-chained) multicast messages. Th...

  • Page 345: D2D_McAsttoken

    Standard function blocks 345 d2d_mcasttoken (10096) illustration execution time - operation configures the transmission of token messages sent to a follower. Each token authorizes the follower to send one message to another follower or group of followers. For the message types, see the block d2d_sen...

  • Page 346

    Standard function blocks 346 operation configures the transmission between the dataset tables of drives. The msg type input defines the message type as follows: see also section examples of using standard function blocks in drive-to-drive communication starting on page 439 . Value message type 0 dis...

  • Page 347: Ds_Readlocal

    Standard function blocks 347 the target node/grp input specifies the target drive or multicast group of drives depending on message type. See the message type explanations above. Note: the input must be connected in drivespc even if not used. The localdsnr input specifies the number of the local dat...

  • Page 348: Ds_Writelocal

    Standard function blocks 348 operation reads the dataset defined by the localdsnr input from the local dataset table. One dataset contains one 16-bit and one 32-bit word which are directed to the data1 16b and data2 32b outputs respectively. The localdsnr input defines the number of the dataset to b...

  • Page 349: Comparison

    Standard function blocks 349 comparison eq (10040) illustration execution time 0.89 µs (when two inputs are used) + 0.43 µs (for every additional input). When all inputs are used, the execution time is 13.87 µs. Operation the output (out) is 1 if all the connected input values are equal (in1 = in2 =...

  • Page 350

    Standard function blocks 350 gt > (10042) illustration execution time 0.89 µs (when two inputs are used) + 0.43 µs (for every additional input). When all inputs are used, the execution time is 13.87 µs. Operation the output (out) is 1 if (in1 > in2) & (in2 > in3) & … & (in31 > in32). Otherwise the o...

  • Page 351

    Standard function blocks 351 lt (10044) illustration execution time 0.89 µs (when two inputs are used) + 0.43 µs (for every additional input). When all inputs are used, the execution time is 13.87 µs. Operation output (out) is 1 if (in1 output is 0. Inputs the input data type and the number of input...

  • Page 352: Conversion

    Standard function blocks 352 conversion bool_to_dint (10018) illustration execution time 13.47 µs operation the output (out) value is a 32-bit integer value formed from the boolean input (in1…in31 and sign) values. In1 = bit 0 and in31 = bit 30. Example: in1 = 1, in2 = 0, in3…in31 = 1, sign = 1 bool...

  • Page 353: Bool_To_Int

    Standard function blocks 353 input sign input (sign): boolean input (in1…in31): boolean output output (out): dint (31 bits + sign) bool_to_int (10019) illustration execution time 5.00 µs operation the output (out) value is a 16-bit integer value formed from the boolean input (in1…in15 and sign) valu...

  • Page 354: Dint_To_Bool

    Standard function blocks 354 dint_to_bool (10020) illustration execution time 11.98 µs operation the boolean output (out1…out32) values are formed from the 32-bit integer input (in) value. Example: inputs input (in): dint outputs output (out1…out32): boolean sign output (sign): boolean dint_to_bool ...

  • Page 355: Dint_To_Int

    Standard function blocks 355 dint_to_int (10021) illustration execution time 0.53 µs operation the output (o) value is a 16-bit integer value of the 32-bit integer input (i) value. Examples: inputs input (i): dint outputs output (o): int dint_to_realn (10023) illustration execution time 7.25 µs oper...

  • Page 356: Dint_To_Realn_Simp

    Standard function blocks 356 dint_to_realn_simp (10022) illustration execution time 6.53 µs operation the output (o) is the real/real24 equivalent of the input (i) divided by the scale input (scale). Error codes indicated at the error output (errc) are as follows: example (from dint to real24): when...

  • Page 357: Int_To_Bool

    Standard function blocks 357 int_to_bool (10024) illustration execution time 4.31 µs operation the boolean output (out1…out16) values are formed from the 16-bit integer input (in) value. Example: inputs input (in): int outputs output (out1…out16): boolean sign output (sign): boolean int_to_bool 87 t...

  • Page 358: Int_To_Dint

    Standard function blocks 358 int_to_dint (10025) illustration execution time 0.33 µs operation the output (o) value is a 32-bit integer value of the 16-bit integer input (i) value. Inputs input (i): int outputs output (o): dint real_to_real24 (10026) illustration execution time 1.35 µs operation out...

  • Page 359: Real24_To_Real

    Standard function blocks 359 real24_to_real (10027) illustration execution time 1.20 µs operation output (o) is the real equivalent of the real24 input (i). The output value is limited to the maximum value of the data type range. Example: inputs input (i): real24 outputs output (o): real realn_to_di...

  • Page 360: Realn_To_Dint_Simp

    Standard function blocks 360 realn_to_dint_simp (10028) illustration execution time 5.54 µs operation output (o) is the 32-bit integer equivalent of the real/real24 input (i) multiplied by the scale input (scale). Error codes are indicated by the error output (errc) as follows: example (from real to...

  • Page 361: Counters

    Standard function blocks 361 counters ctd (10047) illustration execution time 0.92 µs operation the counter output (cv) value is decreased by 1 if the counter input (cd) value changes from 0 -> 1 and the load input (ld) value is 0. If the load input value is 1, the preset input (pv) value is stored ...

  • Page 362: Ctd_Dint

    Standard function blocks 362 ctd_dint (10046) illustration execution time 0.92 µs operation the counter output (cv) value is decreased by 1 if the counter input (cd) value changes from 0 -> 1 and the load input (ld) value is 0. If the load input (ld) value is 1, the preset input (pv) value is stored...

  • Page 363: Ctu_Dint

    Standard function blocks 363 operation the counter output (cv) value is increased by 1 if the counter input (cu) value changes from 0 -> 1 and the reset input (r) value is 0. If the counter output has reached its maximum value 32767, the counter output remains unchanged. The counter output (cv) is r...

  • Page 364: Ctud

    Standard function blocks 364 inputs counter input (cu): boolean reset input (r): boolean preset input (pv): dint outputs counter output (cv): dint status output (q): boolean ctud (10051) illustration execution time 1.40 µs ctud 97 tla1 1 msec (1) >cu >cd r ld pv cv cv(97) qu qu(97) qd qd(97).

  • Page 365

    Standard function blocks 365 operation the counter output (cv) value is increased by 1 if the counter input (cu) value changes from 0 -> 1 and the reset input (r) is 0 and the load input (ld) is 0. The counter output (cv) value is decreased by 1 if the counter input (cd) changes from 0 -> 1 and the ...

  • Page 366: Ctud_Dint

    Standard function blocks 366 ctud_dint (10050) illustration execution time 1.40 µs operation the counter output (cv) value is increased by 1 if the counter input (cu) changes from 0 -> 1 and the reset input (r) is 0 and the load input (ld) is 0. The counter output (cv) value is decreased by 1 if the...

  • Page 367

    Standard function blocks 367 inputs up counter input (cu): boolean down counter input (cd): boolean reset input (r): boolean load input (ld): boolean preset input (pv): dint outputs counter output (cv): dint up counter status output (qu): boolean down counter status output (qd): boolean.

  • Page 368: Edge & Bistable

    Standard function blocks 368 edge & bistable ftrig (10030) illustration execution time 0.38 µs operation the output (q) is set to 1 when the clock input (clk) changes from 1 to 0. The output is set back to 0 with the next execution of the block. Otherwise the output is 0. Inputs clock input (clk): b...

  • Page 369: Rtrig

    Standard function blocks 369 operation the output (q1) is 1 if the set input (s) is 1 and the reset input (r1) is 0. The output will retain the previous output state if the set input (s) and the reset input (r1) are 0. The output is 0 if the reset input is 1. Truth table: inputs set input (s): boole...

  • Page 370

    Standard function blocks 370 sr (10033) illustration execution time 0.38 µs operation the output (q1) is 1 if the set input (s1) is 1. The output will retain the previous output state if the set input (s1) and the reset input (r) are 0. The output is 0 if the set input is 0 and the reset input is 1....

  • Page 371: Extensions

    Standard function blocks 371 extensions fio_01_slot1 (10084) illustration execution time 8.6 µs operation the block controls the four digital inputs/outputs (dio1…dio4) and two relay outputs (ro1, ro2) of a fio-01 digital i/o extension mounted on slot 1 of the drive control unit. The state of a diox...

  • Page 372: Fio_01_Slot2

    Standard function blocks 372 fio_01_slot2 (10085) illustration execution time 8.6 µs operation the block controls the four digital inputs/outputs (dio1…dio4) and two relay outputs (ro1, ro2) of a fio-01 digital i/o extension mounted on slot 2 of the drive control unit. The state of a diox conf input...

  • Page 373: Fio_11_Ai_Slot1

    Standard function blocks 373 fio_11_ai_slot1 (10088) illustration execution time 11.1 µs operation the block controls the three analogue inputs (ai1…ai3) of a fio-11 analog i/o extension mounted on slot 1 of the drive control unit. The block outputs both the unscaled (aix) and scaled (aix scaled) ac...

  • Page 374

    Standard function blocks 374 the aix filt gain inputs determine a filtering time for each input as follows: the aix mode outputs show whether the corresponding input is voltage (0) or current (1). The voltage/current selection is made using the hardware switches on the fio-11. Inputs analogue input ...

  • Page 375: Fio_11_Ai_Slot2

    Standard function blocks 375 fio_11_ai_slot2 (10089) illustration execution time 11.1 µs operation the block controls the three analogue inputs (ai1…ai3) of a fio-11 analog i/o extension mounted on slot 2 of the drive control unit. The block outputs both the unscaled (aix) and scaled (aix scaled) ac...

  • Page 376

    Standard function blocks 376 the aix filt gain inputs determine a filtering time for each input as follows: the aix mode outputs show whether the corresponding input is voltage (0) or current (1). The voltage/current selection is made using the hardware switches on the fio-11. Inputs analogue input ...

  • Page 377: Fio_11_Ao_Slot1

    Standard function blocks 377 fio_11_ao_slot1 (10090) illustration execution time 4.9 µs operation the block controls the analogue output (ao1) of a fio-11 analog i/o extension mounted on slot 1 of the drive control unit. The block converts the input signal (ao scaled) to a 0…20 ma signal (ao) that d...

  • Page 378: Fio_11_Ao_Slot2

    Standard function blocks 378 inputs minimum current signal (ao min): real (0…20 ma) maximum current signal (ao max): real (0…20 ma) minimum input signal (ao min scale): real maximum input signal (ao max scale): real input signal (ao scaled): real outputs analogue output current value (ao): real erro...

  • Page 379

    Standard function blocks 379 operation the block controls the analogue output (ao1) of a fio-11 analog i/o extension mounted on slot 2 of the drive control unit. The block converts the input signal (ao scaled) to a 0…20 ma signal (ao) that drives the analogue output; the input range ao min scale … a...

  • Page 380: Fio_11_Dio_Slot1

    Standard function blocks 380 fio_11_dio_slot1 (10086) illustration execution time 6.0 µs operation the block controls the two digital inputs/outputs (dio1, dio2) of a fio-11 digital i/o extension mounted on slot 1 of the drive control unit. The state of a diox conf input of the block determines whet...

  • Page 381: Fio_11_Dio_Slot2

    Standard function blocks 381 fio_11_dio_slot2 (10087) illustration execution time 6.0 µs operation the block controls the two digital inputs/outputs (dio1, dio2) of a fio-11 digital i/o extension mounted on slot 2 of the drive control unit. The state of a diox conf input of the block determines whet...

  • Page 382: Feedback & Algorithms

    Standard function blocks 382 feedback & algorithms cyclet (10074) illustration execution time 0.00 µs operation output (out) is the time level of the cyclet function block. Inputs - outputs output (out): dint. 1 = 1 µs data container (10073) illustration execution time 0.00 µs operation output (out)...

  • Page 383: Fung-1V

    Standard function blocks 383 fung-1v (10072) illustration execution time 9.29 µs operation the output (y) at the value of the input (x) is calculated with linear interpolation from a piecewise linear function. Y = y k + (x - x k )(y k+1 - y k ) / (x k+1 - x k ) the piecewise linear function is defin...

  • Page 384: Int

    Standard function blocks 384 outputs y value output (y): dint, int, real, real24 balance reference output (balrefo): dint, int, real, real24 error output (error): boolean int (10065) illustration execution time 4.73 µs operation the output (o) is the integrated value of the input (i): o(t) = k/ti ( ...

  • Page 385: Motpot

    Standard function blocks 385 outputs output (o): real high limit output (o=hl): boolean low limit output (o=ll): boolean motpot (10067) illustration execution time 2.92 µs operation the motor potentiometer function controls the rate of change of the output from the minimum to the maximum value and v...

  • Page 386: Pid

    Standard function blocks 386 pid (10075) illustration execution time 15.75 µs pid 63 tla1 1 msec (1) in_act in_ref p ti td tc i_reset bal bal_ref ohl oll out out(63) dev dev(63) o=hl o=hl(63) o=ll o=ll(63) error error(63).

  • Page 387

    Standard function blocks 387 operation the pid controller can be used for closed-loop control systems. The controller includes anti-windup correction and output limitation. The pid controller output (out) before limitation is the sum of the proportional (u p ), integral (u i ) and derivative (u d ) ...

  • Page 388: Ramp

    Standard function blocks 388 inputs actual input (in_act): real reference input (in_ref): real proportional gain input (p): real integration time constant input (ti): real. 1 = 1 ms derivation time constant input (td): real. 1 = 1 ms antiwind-up correction time constant input (tc): iq6. 1 = 1 ms int...

  • Page 389: Reg-G

    Standard function blocks 389 inputs input (in): real maximum positive step change input (step+): real maximum negative step change input (step-): real ramp-up value per second input (slope+): real ramp-down value per second input (slope-): real balance input (bal): boolean balance reference input (b...

  • Page 390

    Standard function blocks 390 operation combines the array (group of variables) (if any) on the exp input with the values of the i1…i32 pins to produce an output array. The data type of the arrays can be int, dint, real16, real24 or boolean. The output array consists of the data from the exp input an...

  • Page 391: Solution_Fault

    Standard function blocks 391 solution_fault (10097) illustration execution time - operation when the block is enabled (by setting the enable input to 1), a fault (f-0317 solution fault) is generated by the drive. The value of the flt code ext input is recorded by the fault logger. Inputs fault code ...

  • Page 392: Filters

    Standard function blocks 392 filters filt1 (10069) illustration execution time 7.59 µs operation the output (o) is the filtered value of the input (i) value and the previous output value (o prev ). The filt1 block acts as 1st order low pass filter. Note: filter time constant (t1) must be selected so...

  • Page 393: Parameters

    Standard function blocks 393 parameters getbitptr (10099) illustration execution time - operation reads the status of one bit within a parameter value cyclically. The bit ptr input specifies the parameter group, index and bit to be read. The output (out) provides the value of the bit. Inputs paramet...

  • Page 394: Parrdintr

    Standard function blocks 394 operation reads the scaled value of a parameter (specified by the group and index inputs). If the parameter is a pointer parameter, the output pin provides the number of the source parameter instead of its value. Error codes are indicated by the error output (error) as f...

  • Page 395: Parwr

    Standard function blocks 395 operation reads the internal (non-scaled) value of the source of a pointer parameter. The pointer parameter is specified using the group and index inputs. The value of the source selected by the pointer parameter is provided by the output pin. Error codes are indicated b...

  • Page 396: Program Structure

    Standard function blocks 396 program structure bop (10105) illustration execution time - operation the bop (bundle output) block collects the outputs of several different sources. The sources are connected to the b_output pins. The b_output pin that changed last is relayed to the output pin. The blo...

  • Page 397: Elseif

    Standard function blocks 397 elseif illustration execution time - operation see description of if block. Inputs input (cond): boolean outputs - endif illustration execution time - operation see description of if block. Inputs - outputs -.

  • Page 398

    Standard function blocks 398 if (10103) illustration execution time - operation the if, else, elseif and endif blocks define, by boolean logic, which parts of the application program are executed. If the condition input (cond) is true, the blocks between the if block and the next elseif, else or end...

  • Page 399: Selection

    Standard function blocks 399 selection limit (10052) illustration execution time 0.53 µs operation the output (out) is the limited input (in) value. Input is limited according to the minimum (mn) and maximum (mx) values. Inputs the input data type is selected by the user. Minimum input limit (mn): i...

  • Page 400: Mux

    Standard function blocks 400 operation the output (out) is the lowest input value (in). Inputs the input data type and the number of inputs (2…32) are selected by the user. Input (in1…in32): int, dint, real, real24 outputs output (out): int, dint, real, real24 mux (10055) illustration execution time...

  • Page 401: Switch & Demux

    Standard function blocks 401 switch & demux demux-i (10061) illustration execution time 1.38 µs (when two outputs are used) + 0.30 µs (for every additional output). When all outputs are used, the execution time is 10.38 µs. Operation input (i) value is stored to the output (oa1…oa32) selected by the...

  • Page 402: Switch

    Standard function blocks 402 operation the input (i) value is stored to the output (oa1…oa32) selected by the address input (a) if the load input (l) or the set input (s) is 1. When the load input is set to 1, the input (i) value is stored to the output only once. When the set input is set to 1, the...

  • Page 403: Switchc

    Standard function blocks 403 switchc (10064) illustration execution time 1.53 µs (when two inputs are used) + 0.73 µs (for every additional input). When all inputs are used, the execution time is 23.31 µs. Operation the output (out) is equal to the corresponding channel a input (ch a1…32) if the act...

  • Page 404: Timers

    Standard function blocks 404 timers mono (10057) illustration execution time 1.46 µs operation the output (o) is set to 1 and the timer is started, if the input (i) is set to 1. The output is reset to 0 when the time defined by the time pulse input (tp) has elapsed. Elapsed time (te) count starts wh...

  • Page 405: Tof

    Standard function blocks 405 tof (10058) illustration execution time 1.10 µs operation the output (q) is set to 1, when the input (in) is set to 1. The output is reset to zero when the input has been 0 for a time defined by the pulse time input (pt). Elapsed time count (et) starts when the input is ...

  • Page 406

    Standard function blocks 406 operation the output (q) is set to 1 when the input (in) has been 1 for a time defined by the pulse time input (pt). The output is set to 0, when the input is set to 0. Elapsed time count (et) starts when the input is set to 1 and stops when the input is set to 0. Exampl...

  • Page 407: Application Program Template

    Application program template 407 application program template what this chapter contains this chapter presents the application program template as displayed by the drivespc tool after empty template upload (drive - upload template from drive)..

  • Page 408

    Application program template 408 ac tu al v a lu es 14 t l f 1 0 2 m s e c (1 ) 1. 02 s p e e d a c t p e r c 1. 03 f r e q u e n c y 1. 04 c u r r e n t 1. 05 c u r re n t p e r c 1 .06 t o rq u e 1 .07 d c -v o lt a g e 1. 14 s p e e d e s t im a t e d 1. 15 t e m p i n v e rt e r 1. 16 t e m p b ...

  • Page 409

    Application program template 409 di 16 tl f 7 2 m s e c (1 ) 12. 13 di i n v e r t m a s k (dr iv e v a lu e ) 2 .01 d i s t a t u s ro 17 tl f 7 2 m s e c (2 ) 1 2 .1 2 r o 1 o u t p t r (dr iv e v a lu e ) 2. 02 r o s t a t u s di o 1 18 tl f 7 2 m s e c (3 ) 12. 01 d io 1 c o n f (dr iv e v a lu ...

  • Page 410

    Application program template 410 ai1 23 tl f 7 2 m s e c (6 ) 13. 01 a i1 f il t t im e (dr iv e v a lu e ) 13. 02 a i1 m a x (dr iv e v a lu e ) 13. 03 a i1 m in (dr iv e v a lu e ) 13. 04 a i1 m a x s c a le (dr iv e v a lu e ) 13. 05 a i1 m in s c a l e (dr iv e v a lu e ) 2. 04 a i1 2. 05 a i1 s...

  • Page 411

    Application program template 411 fi el d b u s 36 t lf 9 500 μ se c (1) 5 0 .0 1 f b a e n a bl e (dr iv e v al ue ) 5 0 .0 2 c o m m l o s s f u n c (dr iv e v al ue ) 5 0 .0 3 c o m m l o s s t o u t (dr iv e v al ue ) 5 0 .0 4 fba r e f1 m o d e s e l (dr iv e v al ue ) 5 0 .0 5 fba r e f2 m o d ...

  • Page 412

    Application program template 412 br a k e c h op p er 35 t l f 1 0 2 m s e c (1 1 ) 48. 01 b c e n a b l e (dr iv e v a lu e ) 48. 02 b c r u n -t im e e n a (dr iv e v a lu e ) 48. 03 b r t h e r m t im e c o n s t (dr iv e v a lu e ) 48. 04 b r p o w e r m a x c n t (dr iv e v a lu e ) 48. 05 r b ...

  • Page 413

    Application program template 413 sp ee d r ef se l 3 tl f 2 5 0 0 μs e c (1 ) 24 .0 1 s p e e d re f 1 s e l (dr iv e v a lu e ) 24 .0 2 s p e e d re f 2 s e l (dr iv e v a lu e ) 3 .0 1 s p e e d r e f 1 3 .0 2 s p e e d r e f 2 sp eed r ef mo d 4 tl f 2 5 0 0 μ se c (2 ) 2 4 .0 3 s p e e d r e f1 ...

  • Page 414

    Application program template 414 sp eed er r o r 6 tl f 3 2 5 0 μ se c (2 ) 2 6 .0 1 s p e e d a c t nc t r l sp ee d a c t (7 / 1 .0 1 ) 2 6 .0 2 s p e e d r e f n c t r l sp ee d r e f r a m p e d (6 / 3 .0 4 ) 2 6 .0 3 s p e e d r e f p c t r l sp ee d r e f p o s (1 1 / 4 .0 1 ) 2 6 .0 4 spee d ...

  • Page 415

    Application program template 415 to r q r ef s e l 1 t l f 1 50 0 μ se c (1 ) 3 2 .0 1 t o rq r e f1 s e l (dr iv e v a lu e ) 3 2 .0 2 t o rq r e f a d d s e l (dr iv e v a lu e ) 3. 09 t o rq r ef 1 3. 1 2 t o r q u e re f a d d to r q r ef mo d 2 t l f 1 50 0 μ se c (2 ) 32 .0 3 t o rq r e f i n ...

  • Page 416

    Application program template 416 pr o fi le re f s el 8 t l f 6 500 μ se c (1) 65. 01 p o s r e f s o u r c e (dr iv e v a lu e ) 65. 02 p r o f s e t s e l (dr iv e v a lu e ) 65. 03 p o s s t a r t 1 (dr iv e v a lu e ) 65. 04 p o s r e f 1 s e l (dr iv e v a lu e ) 65. 05 p o s s p e e d 1 (dr iv...

  • Page 417

    Application program template 417 sy nc r ef s el 41 tl f 5 5 0 0 μ se c (1 ) 67. 01 s y n c r e f s e l (dr iv e v a lu e ) 67. 02 v irt m a s r e f s e l (dr iv e v a lu e ) 67. 03 in t e r p o la t m o d e (dr iv e v a lu e ) 67. 04 in t e r p o la t c y c le (dr iv e v a lu e ) 67. 10 v irt m a s...

  • Page 418

    Application program template 418 po s r ef l im 10 tl f 4 5 0 0 μ se c (1 ) 7 0 .0 1 p o s r e f p r o fi le [ p o s r e f i p o ] (9 / 4 .1 3 ) 7 0 .0 2 p o s r e f s y n c [ s y n c re f g e a r e d ] (1 0 / 4 .1 6 ) 7 0 .0 3 p o s r e f e n a (dr iv e v a lu e ) 7 0. 04 po s s p e e d li m (dr iv...

  • Page 419

    Application program template 419 en c o d er 15 t l f 8 250 μ se c (1) 90. 01 e n c o d e r 1 s e l (dr iv e v a lu e ) 90. 02 e n c o d e r 2 s e l (dr iv e v a lu e ) 90. 03 e m u l m o d e s e l (dr iv e v a lu e ) 90. 04 t t l e c h o s e l (dr iv e v a lu e ) 90. 05 e n c c a b l e f a u l t (d...

  • Page 420

    Application program template 420 moto r c o n tr o l 31 t l f 1 0 2 m s e c (9 ) 40. 01 f l u x r e f (dr iv e v a lu e ) 40. 02 s f r e f (dr iv e v a lu e ) 40. 03 s l ip g a in (dr iv e v a lu e ) 40. 04 v o l t a g e r e s e r v e (dr iv e v a lu e ) 40. 05 f l u x o p t (dr iv e v a lu e ) 40. ...

  • Page 421

    Application program template 421 li m it s 27 t l f 1 0 2 m s e c (5 ) 20. 01 m a x im u m s p e e d (dr iv e v a lu e ) 20. 02 m in im u m s p e e d (dr iv e v a lu e ) 20. 03 p o s s p e e d e n a (dr iv e v a lu e ) 20. 04 n e g s p e e d e n a (dr iv e v a lu e ) 20. 05 m a x im u m c u rr e n t...

  • Page 422

    Application program template 422.

  • Page 423: What This Chapter Contains

    Appendix a – fieldbus control 423 appendix a – fieldbus control what this chapter contains the chapter describes how the drive can be controlled by external devices over a communication network (fieldbus) through an optional fieldbus adapter module. System overview the drive can be connected to an e...

  • Page 424

    Appendix a – fieldbus control 424 • ethercat® (feca-xx adapter) • macro (fmac-xx adapter) • controlnet™ (fcna-xx adapter) • ethernetpowerlink (fepl-xx adapter) • sercos ii (fsea-xx adapter). Setting up communication through a fieldbus adapter module before configuring the drive for fieldbus control,...

  • Page 425

    Appendix a – fieldbus control 425 after the module configuration parameters have been set, the drive control parameters (see section setting the drive control parameters below) must be checked and adjusted when necessary. The new settings will take effect when the drive is powered up the next time, ...

  • Page 426

    Appendix a – fieldbus control 426 setting the drive control parameters the setting for fieldbus control column gives the value to use when the fieldbus interface is the desired source or destination for that particular signal. The function/ information column gives a description of the parameter. Pa...

  • Page 427

    Appendix a – fieldbus control 427 basics of the fieldbus adapter interface the cyclic communication between a fieldbus system and the drive consists of 16/ 32-bit input and output data words. The drive supports at the maximum the use of 12 data words (16 bits) in each direction. Data transmitted fro...

  • Page 428: Fba Communication Profile

    Appendix a – fieldbus control 428 switches between its states according to the bit-coded instructions of the control word. The status word (sw) is a word containing status information, sent by the drive to the fieldbus controller. Actual values actual values (act) are 16/32-bit words containing info...

  • Page 429: Fba

    Appendix a – fieldbus control 429 state diagram the following presents the state diagram for the fba communication profile. For other profiles, see the user’s manual of the appropriate fieldbus adapter module. Mains off power on from any state fba communication profile (fba sw bit 0 = 1) n(f)=0 / i=...

  • Page 430

    Appendix a – fieldbus control 430

  • Page 431: What This Chapter Contains

    Appendix b – drive-to-drive link 431 appendix b – drive-to-drive link what this chapter contains this chapter describes the wiring of, and available communication methods on the drive-to-drive link. Examples of using standard function blocks in the communication are also given starting on page 439 ....

  • Page 432: Datasets

    Appendix b – drive-to-drive link 432 the following diagram shows the wiring of the drive-to-drive link. Datasets drive-to-drive communication uses ddcs (distributed drives communication system) messages and dataset tables for data transfer. Each drive has a dataset table of 256 datasets, numbered 0…...

  • Page 433: Types of Messaging

    Appendix b – drive-to-drive link 433 the communication status of the followers can be supervised by a periodic supervision message from the master to the individual followers (see parameters 57.04 follower mask 1 and 57.05 follower mask 2 ). Drive-to-drive function blocks can be used in the drivespc...

  • Page 434

    Appendix b – drive-to-drive link 434 master point-to-point messaging in this type of messaging, the master sends one dataset (localdsnr) from its own dataset table to the follower’s. Targetnode stands for the node address of the follower; remotedsnr specifies the target dataset number. The follower ...

  • Page 435

    Appendix b – drive-to-drive link 435 follower point-to-point messaging this type of messaging is for point-to-point communication between followers. After receiving a token from the master, a follower can send one dataset to another follower with a follower point-to-point message. The target drive i...

  • Page 436

    Appendix b – drive-to-drive link 436 broadcast messaging in broadcasting, the master sends one dataset to all followers, or a follower sends one dataset to all other followers (after receiving a token from the master). The target (target grp) is automatically set to 255 denoting all followers. Note:...

  • Page 437

    Appendix b – drive-to-drive link 437 chained multicast messaging chained multicasting is supported only for drive-to-drive reference 1 by the firmware. The message chain is always started by the master. The target group is defined by parameter 57.13 next ref1 mc grp . The message is received by all ...

  • Page 438

    Appendix b – drive-to-drive link 438 master ( 57.08 follower cw src ) ( 57.06 ref 1 src ) 57.01 link mode = (2) master 57.03 node address = don’t care 57.11 ref 1 msg type = (1) ref1 mc grps 57.12 ref1 mc group = don’t care 57.13 next ref1 mc grp = 2 57.14 nr ref1 mc grps = 3 follower 2.17 d2d main ...

  • Page 439: Communication

    Appendix b – drive-to-drive link 439 examples of using standard function blocks in drive-to-drive communication see also the descriptions of the drive-to-drive function blocks starting on page 344 . Example of master point-to-point messaging master follower (node 1) 1. The master sends a constant (1...

  • Page 440

    Appendix b – drive-to-drive link 440 example of read remote messaging releasing tokens for follower-to-follower communication master follower (node 1) 1. The master reads the contents of the follower dataset 22 into its own dataset 18. Data is accessed using the ds_readlocal block. 2. In the followe...

  • Page 441

    Appendix b – drive-to-drive link 441 example of follower point-to-point messaging follower 1 (node 1) follower 2 (node 2) 1. Follower 1 writes local dataset 24 to follower 2 dataset 30 (3 ms interval). 2. Follower 2 writes local dataset 33 to follower 1 dataset 28 (6 ms interval). 3. In addition, bo...

  • Page 442

    Appendix b – drive-to-drive link 442 example of standard master-to-follower(s) multicast messaging example of broadcast messaging master follower(s) in std mcast group 10 1. The master sends a constant (9876) and the value of the message counter to all followers in standard multicast group 10. The d...

  • Page 443: What This Chapter Contains

    Appendix c – homing methods 443 appendix c – homing methods what this chapter contains this chapter describes homing methods 1…35. Negative direction means that the movement is to the left and positive direction means that the movement is to the right. The following picture presents an example of a ...

  • Page 444

    Appendix c – homing methods 444 homing method 1 the status of the home switch at start is insignificant. Homing method 2 the status of the home switch at start is insignificant. 1 start in the negative direction (left) by the rising edge of the signal selected by par. 62.03 homing start with homing ...

  • Page 445

    Appendix c – homing methods 445 homing method 3 1 if the home switch signal is 0 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the r...

  • Page 446

    Appendix c – homing methods 446 homing method 4 1 if the home switch signal is 0 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change to homing speed 2,...

  • Page 447

    Appendix c – homing methods 447 homing method 5 1 if the home switch signal is 0 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the ri...

  • Page 448

    Appendix c – homing methods 448 homing method 6 1 if the home switch signal is 0 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . With homing method 4, the st...

  • Page 449

    Appendix c – homing methods 449 homing method 7 1 if the home switch signal is 0 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the r...

  • Page 450

    Appendix c – homing methods 450 1 if the home switch signal is 1 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change to homing speed 2, par. 62.08 homin...

  • Page 451

    Appendix c – homing methods 451 homing method 8 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change to homing sp...

  • Page 452

    Appendix c – homing methods 452 1 if the state of the home switch is 1 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the falling edge...

  • Page 453

    Appendix c – homing methods 453 homing method 9 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by...

  • Page 454

    Appendix c – homing methods 454 1 if the state of the home switch is 1 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the falling edg...

  • Page 455

    Appendix c – homing methods 455 homing method 10 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change to homing s...

  • Page 456

    Appendix c – homing methods 456 1 if the state of the home switch is 1 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change to homing speed 2, par. 62.0...

  • Page 457

    Appendix c – homing methods 457 homing method 11 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by...

  • Page 458

    Appendix c – homing methods 458 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the rising edge ...

  • Page 459

    Appendix c – homing methods 459 homing method 12 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change to homing sp...

  • Page 460

    Appendix c – homing methods 460 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the rising edge ...

  • Page 461

    Appendix c – homing methods 461 homing method 13 1 if the state of the home switch is 0: start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the falling edge of the home s...

  • Page 462

    Appendix c – homing methods 462 1 if the state of the home switch is 1: start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the falling edge of the home switch signal sele...

  • Page 463

    Appendix c – homing methods 463 homing method 14 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change to homing sp...

  • Page 464

    Appendix c – homing methods 464 homing methods 15 and 16 reserved 1 if the state of the home switch is 1 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 ch...

  • Page 465

    Appendix c – homing methods 465 homing method 17 the status of the home switch at start is insignificant. Homing method 18 the status of the home switch at start is insignificant. 1 start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homin...

  • Page 466

    Appendix c – homing methods 466 homing method 19 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction b...

  • Page 467

    Appendix c – homing methods 467 homing method 20 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 stop by the rising...

  • Page 468

    Appendix c – homing methods 468 homing method 21 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by...

  • Page 469

    Appendix c – homing methods 469 homing method 22 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 stop by the rising ...

  • Page 470

    Appendix c – homing methods 470 homing method 23 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction b...

  • Page 471

    Appendix c – homing methods 471 1 if the state of the home switch is 1 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 stop by the falling edge of the home...

  • Page 472

    Appendix c – homing methods 472 homing method 24 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 stop by the rising...

  • Page 473

    Appendix c – homing methods 473 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the rising edge...

  • Page 474

    Appendix c – homing methods 474 homing method 25 1 if the state of the home switch is 0: (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction ...

  • Page 475

    Appendix c – homing methods 475 1 if the state of the home switch is 1: (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the falling ed...

  • Page 476

    Appendix c – homing methods 476 homing method 26 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 stop by the fallin...

  • Page 477

    Appendix c – homing methods 477 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the rising edge...

  • Page 478

    Appendix c – homing methods 478 homing method 27 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by...

  • Page 479

    Appendix c – homing methods 479 1 if the state of the home switch is 1 (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 stop by the falling edge of the hom...

  • Page 480

    Appendix c – homing methods 480 homing method 28 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 stop by the rising ...

  • Page 481

    Appendix c – homing methods 481 1 if the state of the home switch is 1: (par. 62.04 home switch trig ): start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the falling ed...

  • Page 482

    Appendix c – homing methods 482 homing method 29 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by...

  • Page 483

    Appendix c – homing methods 483 1 if the state of the home switch is 1 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 change direction by the falling edge...

  • Page 484

    Appendix c – homing methods 484 homing method 30 1 if the state of the home switch is 0 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 stop by the falling...

  • Page 485

    Appendix c – homing methods 485 homing methods 31 and 32 reserved 1 if the state of the home switch is 1 (par. 62.04 home switch trig ): start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 homing start with homing speed 1, par. 62.07 homing speedref1 . 2 st...

  • Page 486

    Appendix c – homing methods 486 homing method 33 the status of the home switch at start is insignificant. Homing method 34 the status of the home switch at start is insignificant. Homing method 35 in method 35 the current position is used as home position. 1 start in the negative (left) direction by...

  • Page 487: What This Chapter Contains

    Appendix d – application examples 487 appendix d – application examples what this chapter contains this chapter contains the following application examples: • position system commissioning • absolute linear positioning • relative linear positioning • synchronisation through drive-to-drive link • syn...

  • Page 488

    Appendix d – application examples 488 basic motion control configuration the plc controls the acsm1 drive through a profibus dp bus using the profidrive positioning mode. The drive is position-controlled and uses an absolute encoder (4096/endat) installed on the motor. The mechanical gear ratio (1:2...

  • Page 489

    Appendix d – application examples 489 34.04 ext1 ctrl mode2 (8) homing 34.05 ext2 ctrl mode1 (9) prof vel 50.01 fba enable (1) enable 50.04 fba ref1 modesel (3) position 50.05 fba ref2 modesel (4) velocity 51.05 profile (4) profidrive positioning mode 57.01 link mode (2) master / (1) follower 57.03 ...

  • Page 490

    Appendix d – application examples 490 example – position system commissioning in order to commission the position system properly, you must check and configure the settings of the following position parameters. Upon the start of the commissioning procedure, these parameters must be at their default ...

  • Page 491

    Appendix d – application examples 491 example – absolute linear positioning in this example, the drive uses absolute positioning in linear mode. Five references are given: 75 mm, 150 mm, 275 mm, 400 mm and 0 mm. Parameter settings index parameter value 22.03 motor gear mul 1 22.04 motor gear div 1 3...

  • Page 492

    Appendix d – application examples 492 example – relative linear positioning in this example, the drive uses relative positioning in linear mode. Five references are given: 75 mm, 75 mm, 125 mm, 125 mm and -400 mm. Parameter settings index parameter value 22.03 motor gear mul 1 22.04 motor gear div 1...

  • Page 493

    Appendix d – application examples 493 example – synchronisation through drive-to-drive link in this example, there are two drives, the first of which is position-controlled and uses absolute positioning in linear mode. The second drive is synchronised with the first one via the drive-to-drive link. ...

  • Page 494

    Appendix d – application examples 494 parameter settings index parameter value 22.03 motor gear mul 1 22.04 motor gear div 1 34.03 ext1 ctrl mode1 (6) position / (7) synchron 57.01 link mode (2) master / (1) follower 57.03 node address (user setting) 57.06 ref 1 src p.01.12 ( 1.12 pos act ) 57.08 fo...

  • Page 495: Gear

    Appendix d – application examples 495 example – synchronisation through drive-to-drive link with synchron gear this example is similar to example – synchronisation through drive-to-drive link ; however, the follower here is synchronised to the master but with half the speed and half the target posit...

  • Page 496

    Appendix d – application examples 496 parameter settings index parameter value 22.03 motor gear mul 1 22.04 motor gear div 1 34.03 ext1 ctrl mode1 (6) position / (7) synchron 57.01 link mode (2) master / (1) follower 57.03 node address (user setting) 57.06 ref 1 src p.01.12 ( 1.12 pos act ) 57.08 fo...

  • Page 497

    Appendix d – application examples 497 example – cam synchronisation this example is similar to example – synchronisation through drive-to-drive link ; however, the follower here is cam synchronised to the master. The master is given two position references in an automatic sequence (400 mm and 0 mm) ...

  • Page 498

    Appendix d – application examples 498 parameter settings index parameter value 22.03 motor gear mul 1 22.04 motor gear div 1 34.03 ext1 ctrl mode1 (6) position / (7) synchron 57.01 link mode (2) master / (1) follower 57.03 node address (user setting) 57.06 ref 1 src p.01.12 ( 1.12 pos act ) 57.08 fo...

  • Page 499: Example – Homing

    Appendix d – application examples 499 example – homing in this example, the drive performs a homing using homing method 23. When homing is started, the home switch is not active, so the machine is moved in the positive (right) direction. The direction is changed by the rising edge of the positive li...

  • Page 500

    Appendix d – application examples 500

  • Page 501: Diagrams

    Appendix e – control chain and drive logic diagrams 501 appendix e – control chain and drive logic diagrams what this chapter contains this chapter presents the drive control chain and logic..

  • Page 502

    Appendix e – control chain and drive logic diagrams 502 spe ed error spe ed contro l speed re f ramp 3. 01 spe ed ref1 3.0 2 s pee d re f 2 24 .05 spe ed ref 1 /2 s el 24 .06 sp eed s ha re 2 4.0 7 s pee dr ef ne g en a 1 -1 24. 09 co ns t spe ed en a 24 .10 spe ed ref jog 1 24 .11 spe ed ref jog 2 ...

  • Page 503

    Appendix e – control chain and drive logic diagrams 503 lo cal control l o cal control r e f 32 .06 loa d sh ar e 32. 04 m a xim u m t o r q r ef 3 2 .0 5 mi ni m u m to rq r ef 32 .07 torq ramp u p 3 2 .0 8 to r q ramp dow n 22 .08 sp eed trip ma rgin 1.01 sp eed a ct 20. 01 ma xim u m spee d 2 0.0...

  • Page 504

    Appendix e – control chain and drive logic diagrams 504 pos ref lim 6 0 .04 lo ad ge ar den 60. 03 loa d gear n u m 1.0 9 encoder 1 position 1.1 1 encoder 2 position 60. 01 pos act se l 60. 06 f eed const num 6 0 .0 7 f e ed c on st d e n 1.1 3 po s 2 n d e n c x x y x y 1 .12 pos ac t po s feedback...

  • Page 505

    Appendix e – control chain and drive logic diagrams 505 3 4 .0 1 e x t1/e xt2 s e l drive l o gic ex t s t ar t 1 0 .1 5 jo g enab le 1 0 .0 9 ru n ena b l e 1 0 .0 8 faul t rese t 1 0 .1 2 s tart inhibit 0 6 .0 2 sta tu s w o rd 2 0 6 .0 1 sta tu s w o rd 1 02 .18 d2 d foll owe r cw d 2 d communica...

  • Page 506

    Appendix e – control chain and drive logic diagrams 506 drive logic fba 10. 15 jog e n a b le 1 0 .0 8 fau l t r e set 1 0 .1 2 s tart inhibit no rm al stop ramp / c o ast s t ate ma chine dis ab le st o p p e d ru nnin g fa u l ted 10. 07 jog s t art 1 10 .14 jog start 2 1 0 .1 7 s t a r t en abl e...

  • Page 507

    Appendix e – control chain and drive logic diagrams 507 01 .04 cur ren t 0 1 .0 5 cur re nt pe rc 0 1 .0 6 t o rq ue 01 .07 dc -vo ltage 01 .14 sp eed e stim ated ga te signa ls 2 0 .0 8 therm c ur l im 20 .0 6 ma xi mu m to rq ue 20. 07 min im u m tor qu e d c volt age limi ter start control fa st ...

  • Page 508

    Appendix e – control chain and drive logic diagrams 508.

  • Page 509

    Further information product and service inquiries address any inquiries about the product to your local abb representative, quoting the type designation and serial number of the unit in question. A listing of abb sales, support and service contacts can be found by navigating to www.Abb.Com/drives an...

  • Page 510

    3af e 688 4827 0 rev h / en 20 15-06 -26 contact us www.Abb.Com/drives www.Abb.Com/drivespartners.