ABB ACS880 N5700 Series Firmware Manual

Position control program

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ABB INDUSTRIAL DRIVES

ACS880 position control program (+N5700)

Firmware manual

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Summary of Contents for ABB ACS880 N5700 Series

Page 1 — ABB INDUSTRIAL DRIVES ACS880 position control program (+N5700) Firmware manual...
Page 3 ACS880 position control program (+N5700) Firmware manual Table of contents 3AXD50000453573 Rev B Original instructions EFFECTIVE: 2022-04-20...
Page 5: Table Of Contents
Table of contents 5 Table of contents Introduction to the manual What this chapter contains ..................Applicability ....................... Licensing ........................Safety instructions ....................Target audience ......................Related manuals ....................... Terms and abbreviations ..................Cybersecurity disclaimer ..................2 Using the control panel 3 Control locations and operating modes What this chapter contains ..................
Page 6 6 Table of contents Set position ......................Homing ........................ Velocity ........................ Relative ........................ Absolute ......................Position index ....................Gear in ......................... Stop ........................Halt ........................Watchdog ......................Additive ....................... Superimposed ....................Phasing relative ....................Latching ......................Virtual master ....................Actual position ......................Position calculation ..................
Page 7 Table of contents 7 Communication parameters for receiving data from the master drive ......................Example ....................PI control ......................Cyclic correction ....................... Example ....................... Transfer of latching data over drive-to-drive (D2D) link ......6 Program features What this chapter contains ..................Drive configuration and programming ..............
Page 8 8 Table of contents Motor control ......................Direct torque control (DTC) ................Settings and diagnostics ..............Reference ramping ................... Special acceleration/deceleration ramps ........Settings and diagnostics ..............Constant speeds ....................Settings and diagnostics ..............Speed controller autotune ................Before activating the autotune routine ........... Autotune modes ...................
Page 9 Table of contents 9 Application control ....................Application macros ................... Mechanical brake control ................Inputs of the brake control logic ............Outputs of the brake control logic ............ Brake state diagram ................Timing diagram ..................Wiring example ..................Settings and diagnostics ..............DC voltage control ....................
Page 10 10 Table of contents Stall protection (parameters 31.24 … 31.28 ) ........Overspeed protection (parameter 31.30 ) ........Ramp stop supervision (parameters 31.32 , 31.33 , 31.37 and 31.38 ) ....................... Main cooling fan supervision (parameter 31.35 ) ......Custom motor current fault limit (parameter 31.42 ) ..... Local control loss detection (parameter 49.05 ) ......
Page 11 Table of contents 11 3 Input references ..................... 4 Warnings and faults ..................5 Diagnostics ..................... 6 Control and status words ................7 System info ...................... 10 Standard DI, RO .................... 11 Standard DIO, FI, FO ..................12 Standard AI ....................13 Standard AO ....................
Page 12 12 Table of contents 76 Position indexing ..................78 Cyclic correction ................... 85 PI control ....................... 86 Axis position ....................87 Master position .................... 88 Position control ................... 90 Feedback selection ..................91 Encoder module settings ................92 Encoder 1 configuration ................93 Encoder 2 configuration ................
Page 13 Actual values ...................... Debugging the network words ............Scaling of actual values ............... Contents of the fieldbus Control word (ABB Drives profile) ....Contents of the fieldbus Status word (ABB Drives profile) ...... The state diagram (ABB Drives profile) ............
Page 14 14 Table of contents Setting up the drive for fieldbus control ............. Parameter setting example: FPBA (PROFIBUS DP) ........11 Control chain diagrams What this chapter contains ..................Position reference profile selection ..............Master reference source selection and modification ........PI control for master velocity correction .............
Page 15: Introduction To The Manual
Introduction to the manual 15 Introduction to the manual What this chapter contains This chapter describes the contents of the manual. It also contains information on the compatibility, safety and intended audience. Applicability This manual applies to the ACS880 Position control program (option +N5700) version 1.00 (loading package APCLx 1.00) or later;...
Page 16: Licensing
See the auxiliary fault code in the Event logger to know the plus code of the missing license, in this case N8015. For further assistance, contact your local ABB representative. Safety instructions Follow all safety instructions delivered with the drive.
Page 17: Target Audience
Introduction to the manual 17 • Read the complete safety instructions before you install, commission, or use the drive. The complete safety instructions are delivered with the drive as either part of the Hardware manual , or, in the case of ACS880 multidrives, as a separate document.
Page 18: Terms And Abbreviations
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 library, contact your local ABB representative.
Page 19 In a drive module, the converter between the AC supply network and the DC link ModuleBus A communication link used by, for example, ABB controllers. ACS880 drives can be connected to the optical ModuleBus link of the control- ler. Motor-side converter...
Page 20: Cybersecurity Disclaimer
Notwithstanding any other provision to the contrary and regardless of whether the contract is terminated or not, ABB and its affiliates are under no circumstances liable for damages and/or losses related to such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or...
Page 21: Using The Control Panel
Using the control panel 21 Using the control panel Refer to ACS-AP-I, -S, -W and ACH-AP-H, -W Assistant control panels user’s manual (3AUA0000085685 [English]).
Page 23: Control Locations And Operating Modes
Control locations and operating modes 23 Control locations and operating modes What this chapter contains This chapter describes the control locations and operating modes supported by the control program. Local control vs. external control The ACS880 has two main control locations: external and local. The control location is selected with the Loc/Rem key on the control panel or in the PC tool.
Page 24: Local Control
24 Control locations and operating modes ACS880 External control Local control Fieldbus adapter (Fxxx) or DDCS communication module Embedded fieldbus interface (EFB) or Control panel or Drive Composer Control panel master/follower link PC tool (optional) Encoder Extra inputs/outputs can be added by installing optional I/O extension modules (FIO-xx) in drive slots.
Page 25: External Control
Control locations and operating modes 25 ￭ External control When the drive is in external control, control commands are given through • the I/O terminals (digital and analog inputs), or optional I/O extension modules • the embedded fieldbus interface or an optional fieldbus adapter module •...
Page 26: Operating Modes Of The Drive
26 Control locations and operating modes Operating modes of the drive The drive can operate in several operating modes with different types of reference. The mode is selectable for each control location (Local, EXT1 and EXT2) in parameter group 19. The following is a general representation of the reference types and control chains.
Page 27: Torque Control Mode
Control locations and operating modes 27 ￭ Torque control mode Motor torque follows a torque reference given to the drive. Torque control is possible without feedback, but is much more dynamic and accurate when used in conjunction with a feedback device such as an encoder or a resolver. It is recommended that a feedback device is used in crane, winch or lift control situations.
Page 29: Default Control Connections
Default control connections 29 Default control connections What this chapter contains This chapter describes the intended use, operation and default control connections. More information on the connectivity of the control unit is given in the Hardware manual of the drive. General Position control is set as the default operating mode when the drive is in external control (19.11 Ext1/Ext2 selection = EXT1, 19.12 Ext1 control mode = Position).
Page 30: Standard Connections For Speed Control
30 Default control connections Standard connections for speed control In speed control mode with default settings, the reference signal is connected to analog input AI1. The start/stop commands are given through digital input DI1; running direction is determined by DI2. This macro uses control location EXT1. Faults are reset through digital input DI3.
Page 31 Default control connections 31 Connection Term Description XRO1, XRO2, XRO3 Relay outputs Ready run 250 V AC / 30 V DC Running 250 V AC / 30 V DC Fault Fault (-1) 250 V AC / 30 V DC +24VD DIOGND XD24 Digital interlock DIIL...
Page 33: Position Control Program Features
Position control program features 33 Position control program features What this chapter contains This chapter describes some of the important functions within the control program that are specific to position control applications, how to use them and how to program them to operate. Overview of the position control program The control program is implemented with PLC Open motion control function blocks.
Page 34: Position Control Commands
34 Position control program features Halt (74.04 bit 14), Power ON Mains OFF Absolute (74.04 bit 8), Relative (74.04 bit 7), Superimposed (74.05 bit 1), Additive (74.05 bit 0) Initialization not Enable (74.04 bit 0) Done Stop (74.04 bit 13) Enable (74.04 bit 0) AND 74.80 = Halt [ n o t f r o m : Enable (74.04 bit 0) AND 74.80 = Last speed...
Page 35: Fault Reset
Position control program features 35 ￭ Fault reset Position control logic-related errors can be reset by setting bit 1 in parameter 74.4. (The source of the reset signal is defined by 74.21 Fault reset sel.) The same bit can be used to reset all drive faults by selecting Position CW reset in parameter31.11.
Page 36: Relative
36 Position control program features The acceleration, deceleration and jerk rates are defined by 75.13, 75.14 75.15 respectively. ￭ Relative This command starts a movement relative to the current reference position. The source of the command is selected by parameter74.27. The status of the command is visible in bit 7 of 74.4.
Page 37: Stop
Position control program features 37 Note: Cyclic correction and superimposed position functions are not available when Absolute mode is selected and gear in function is active. ￭ Stop The stop command will decelerate the axis until it is stopped. Once the command is active, it cannot be aborted by any other command until the axis state changes to Standstill.
Page 38: Phasing Relative
38 Position control program features The superimposed distance is defined by 75.40, and the velocity by 75.41. The acceleration, deceleration and jerk rates are defined by 75.42, 75.43 75.44 respectively. The status of the command is visible in bit 1 of 74.5. ￭...
Page 39: Position Calculation
Position control program features 39 Position feedback can be configured to come from encoder 1, encoder 2, or an estimate. The configuration is done in parameter groups 90…93. The actual position can be set to a predefined value using these methods: •...
Page 40: Actual Position Scaling
40 Position control program features • 86.2 Actual position ￭ Actual position scaling When position is not measured directly from the load, it must be scaled to match the actual load position. Actual position can also be scaled to correspond to the scale and range of desired load units.
Page 41: Overview
Position control program features 41 Motor revs = motor-side revolutions before gear ratio Load units = load-side distance in rotary or linear movement ￭ Overview The drawing below is an overview of the main items related to position feedback scaling, depending on the location of the feedback device. The device can be located on •...
Page 42: Example 1 - Pulley Transmission With Position Feedback From Motor Encoder
42 Position control program features Feedback Motor shaft (A) Load shaft (B) Load (C) Rotary encoder Rotary encoder Linear (rotary) en- coder Load encoder scale Gear ratio Gear ratio× Load revs/ Load encoder revs *Modulo operation is typically used for repeating rotary movement (eg. rotary table). The modulo settings here provide the feed constant as a repeated position range (eg.
Page 43: Example 2 - Pulley Transmission With Position Feedback From Load-Side Encoder
Position control program features 43 ￭ Example 2 – Pulley transmission with position feedback from load-side encoder • Drive-side pulley diameter: 200 mm • Load-side pulley diameter: 500 mm ACS880 • Load units: • 1 unit = 1.000 mm / Load-side pulley FEN-xx circumference range as modulo •...
Page 44: Modulo Operation
44 Position control program features Modulo operation Modulo operation is used when a position range is repeated cyclically and could be run continuously in one direction. The position range is typically the full mechanical sequence of the load, such as one turn of the load shaft, or a full rotation of a belt.
Page 45: Position Limits
Position control program features 45 Parameter groups: 74 Position status & control words (page 440) 86.2 Actual position (page 463). Position limits The control program has software limits (86.60 and 86.61) as well as support for hardware limits (86.63 and 86.64). If a limit is reached, parameter 74.10 will indicate the status...
Page 46: Homing
46 Position control program features the latched position. In software latching, a digital source – such as a digital input of the drive control unit – is used for triggering, and the position value is received from the actual position source of the axis, selectable by a parameter. When a digital input of the FEN-xx module is being used for triggering, a low-pass filter time can be applied by parameters 91.35...
Page 47: Mode 0
Position control program features 47 ￭ Mode 0 Switch type: NO - Direction: Forward Switch type: NO - Direction: Reverse Switch type: NC - Direction: Forward Switch type: NC - Direction: Reverse...
Page 48: Mode 1
48 Position control program features ￭ Mode 1 Switch type: NO - Direction: Forward Switch type: NO - Direction: Reverse Switch type: NC - Direction: Forward Switch type: NC - Direction: Reverse...
Page 49: Mode 2
Position control program features 49 ￭ Mode 2 Switch type: NO - Direction: Forward Switch type: NO - Direction: Reverse Switch type: NC - Direction: Forward Switch type: NC - Direction: Reverse...
Page 50: Mode 3
50 Position control program features ￭ Mode 3 Switch type: NO - Direction: Forward Switch type: NO - Direction: Reverse Switch type: NC - Direction: Forward Switch type: NC - Direction: Reverse ￭ Mode 4 Direction: Forward Direction: Reverse Settings and diagnostics...
Page 51: Position Controller
Position control program features 51 Parameter groups: 74 Position status & control words (page 440) 86.2 Actual position (page 463). Position controller The position controller calculates a velocity reference (88.3) that is used as the feed forward term (88.4) to minimize the difference between position reference and actual values.
Page 52: Virtual Master
52 Position control program features delays caused by the filtering can be compensated by 87.27. When the axes have been synchronized, it is also possible to activate a phasing relative or superimposed move of the follower axis. With a master encoder (encoder 1 or 2), also the setting of increments per revolution will affect the gear-in ratio.
Page 53: Master/Follower Functionality For Position Control
Position control program features 53 The virtual master can also used as a common master reference source for several drives when connected by the master/follower link. ￭ Master/follower functionality for position control The master/follower (M/F) link can be used to synchronize several axes for so-called “electrical shaft”...
Page 54: Communication Parameters For Transmitting Data To Follower Drives
54 Position control program features Communication parameters for transmitting data to follower drives The communication on the master/follower link is based on the DDCS protocol, which employs data sets. Position control uses one data set containing three 16-bit words. The content of the data set is configurable by selection parameters 61.1…61.3.
Page 55 Position control program features 55 Parameter Setting Notes Master Follower 60.1 M/F communication XD2D XD2D Connector on drive control port unit 60.2 M/F node address Master 0…1, followers 2…60 60.3 M/F mode DDCS master DDCS follower 60.5 M/F HW connection Star Star Wired between XD2D con-...
Page 56: Pi Control
56 Position control program features Parameter Setting Notes Master Follower 87.40 D2D rec scale axis Check Scales the value from the velocity range of -32768 … 32767. Should match master drive parameter 88.51 87.41 D2D rec scale master Check Scales the value from the velocity range of -32768 …...
Page 57: Cyclic Correction
Position control program features 57 Parameter groups: 60 DDCS communication (page 405), 61 D2D and DDCS transmit data (page 423), 62 D2D and DDCS receive data (page 430), 74 Position status & control words (page 440), 86.2 Actual position (page 463), 87 Master position (page...
Page 58: Example
58 Position control program features • 86.59 Latch2 position ￭ Example The example below shows how to configure parameters for cyclic correction. • 86.13 Actual position source Encoder 1 • 86.14 Load gear numerator • 86.15 Load gear denominator • 86.16 Feed constant numerator •...
Page 59: Transfer Of Latching Data Over Drive-To-Drive (D2D) Link
Position control program features 59 • The cyclic correction function calculates correction value of 0.458 revolution and corresponding superimposed movement is activated with the given profile • After correction, the drive receives another latch at 22.7 seconds which requires only a small correction. ￭...
Page 61: Program Features
Program features 61 Program features What this chapter contains The control program contains all of the parameters including actual signals. This chapter describes some of the more important functions of the control program, how to use them and how to program them to operate. WARNING! Make sure that the machinery into which the drive is integrated fulfils the personnel safety regulations.
Page 62: Programming Via Parameters
62 Program features Position control program / +N5700 Application program Firmware ( Load device APCFx) (APCAP) Parameter interface Parameter interface Application logic Position control logic Position Profile Library generator Function block Position reference (APCAL) Position control Speed control Torque control Motor Actual speed Feedback...
Page 63: Settings And Diagnostics
The Position control program includes a ready-made application program for position control applications. The application program project file and motion library, both needed to modify the program, are not yet available for ABB customers. If modification is needed, contact your local ABB representative for support.
Page 64: Settings And Diagnostics
64 Program features input by a jumper or switch on the control unit. Each input can be filtered, inverted and scaled. The analog inputs on the control unit are read on a 0.5 ms time level. The number of analog inputs can be increased by installing FIO-11 or FAIO-01 I/O extensions (see Programmable I/O extensions below).
Page 65: Programmable Relay Outputs
Program features 65 ￭ Programmable relay outputs The control unit has three relay outputs. The signal to be indicated by the outputs can be selected by parameters. The relay outputs on the control unit are updated on a 0.5 ms time level. Relay outputs can be added by installing FIO-01 or FDIO-01 I/O extensions.
Page 66: Fieldbus Control
66 Program features ￭ Fieldbus control The drive can be connected to several different automation systems through its fieldbus interfaces. See chapter Fieldbus control through the embedded fieldbus interface (EFB) (page 605) Fieldbus control through a fieldbus adapter (page 627). Settings and diagnostics Parameter groups: 50 Fieldbus adapter (FBA) (page...
Page 67 Program features 67 Speed-controlled master Process master Process follower (For example) Torque-or-speed Control word controlled follower Speed reference Follower Master Torque reference DDCS Master/follower link DDCS (For example) Status word 01.01, 01.10 Fieldbus control External control system (e.g. PLC) The master drive is typically speed-controlled and the other drives follow its torque or speed reference.
Page 68: Load Share Function With A Speed-Controlled Follower
68 Program features In some applications, both speed control and torque control of the follower are required. In those cases, the operating mode can be switched by parameter (19.12 or 19.14). Another method is to set one external control location to speed control mode, the other to torque control mode.
Page 69 Program features 69 Parameter 60.3 defines whether the drive is the master or a follower on the communication link. Typically, the speed-controlled process master drive is also configured as the master in the communication. The communication on the master/follower link is based on the DDCS protocol, which employs data sets (specifically, data set 41).
Page 70: Construction Of The Master/Follower Link
70 Program features Construction of the master/follower link The master/follower link is formed by connecting the drives together using either • shielded twisted-pair cable between the XD2D terminals of the drives*, or • fiber optic cables. Drives with a ZCU control unit require an additional FDCO DDCS communication module;...
Page 71 Program features 71 Star configuration with fiber optic cables (1) Follower 2 Master Follower 1 (ZCU) Control unit (BCU) Control unit (ZCU) Control unit FDCO FDCO RDCO Follower 3 (ZCU) Control unit FDCO MSTR CH0 CH1 CH2 NDBU Where, T = Transmitter; R = Receiver...
Page 72: Example Parameter Settings
72 Program features Star configuration with fiber optic cables (2) Follower 2 Master Follower 1 (ZCU) Control unit (ZCU) Control unit (BCU) Control unit FDCO RDCO FDCO Follower 3 (ZCU) Control unit FDCO CHx CHx CHx CHx NDBU X13 = REGEN Where, T = Transmitter;...
Page 73: Specifications Of The Fiber Optic Master/Follower Link
Program features 73 • 62.4 Follower node 2 data 1 sel … 62.12 Follower node 4 data 3 sel (mapping of data received from followers) Follower settings • Master/follower link activation • 60.1 M/F communication port (fiber optic channel or XD2D selection) •...
Page 74: External Controller Interface
External controller interface General The drive can be connected to an external controller (such as the ABB AC 800M) using either fiber optic or twisted-pair cable. The ACS880 is compatible with both the ModuleBus and DriveBus connections. Note that some features of DriveBus (such as BusManager) are not supported.
Page 75: Communication
Control word (ABB Drives profile) (page 633). Likewise, the coding of the status word is as shown in section Contents of the fieldbus Status word (ABB Drives profile) (page 635). By default, data sets 32 and 33 are dedicated for the mailbox service, which enables...
Page 76: Control Of A Supply Unit (Lsu)
76 Program features By parameter 60.64, data sets 24 and 25 can be selected instead of data sets 32 and 33. The update intervals of the data sets are as follows: • Data sets 10…11: 2 ms • Data sets 12…13: 4 ms •...
Page 77: Settings And Diagnostics
￭ Direct torque control (DTC) The motor control of the ACS880 is based on direct torque control (DTC), the ABB premium motor control platform. The switching of the output semiconductors is controlled to achieve the required stator flux and motor torque. The reference value for the torque controller comes from the speed controller, DC voltage controller or directly from an external torque reference source.
Page 78: Reference Ramping
78 Program features ￭ Reference ramping Acceleration and deceleration ramping times can be set individually for speed and torque reference. With a speed reference, the ramps are defined as the time it takes for the drive to accelerate or decelerate between zero speed and the value defined by parameter 46.1.
Page 79: Speed Controller Autotune
Program features 79 ￭ Speed controller autotune The speed controller of the drive can be automatically adjusted using the autotune function. Autotuning is based on an estimation of the mechanical time constant (inertia) of the motor and machine. The autotune routine will run the motor through a series of acceleration/deceleration cycles, the number of which can be adjusted by parameter 25.40.
Page 80: Before Activating The Autotune Routine
80 Program features Note: • If the drive cannot produce the requested braking power during the routine, the results will be based on the acceleration stages only, and not as accurate as with full braking power. • The motor will exceed the calculated maximum speed slightly at the end of each acceleration stage.
Page 81: Autotune Results
Program features 81 Undercompensated Normally tuned (autotuning) Normally tuned (manually). Better dynamic performance than with B Overcompensated speed controller Autotune results At the end of a successful autotune routine, its results are automatically transferred into parameters • 25.2 (proportional gain of the speed controller) •...
Page 82: Warning Indications
82 Program features Derivative acceleration compensation Torque Proportional, Error value Speed reference integral reference Derivative Actual speed Warning indications A warning message, AF90 will be generated if the autotune routine does not complete successfully. For further information, see chapter Fault tracing (page 547).
Page 83: Tuning Procedure For Oscillation Damping
Program features 83 Tuning procedure for oscillation damping Select the input by 26.53 Activate algorithm by 2 6.51 Set 26.57 to 0 Calculate the oscillation frequency from the signal (use the Drive Composer PC tool) and set 26.55 Set 26.56 Increase 26.57 gradually so that the algorithm starts to take effect Oscillation amplitude decreases...
Page 84: Rush Control
84 Program features ￭ Rush control In torque control, the motor could potentially rush if the load were suddenly lost. The control program has a rush control function that decreases the torque reference whenever the motor speed (90.1) exceeds parameter 30.11 or 30.12.
Page 85: Encoder Echo And Emulation
Program features 85 • Resolver interface FEN-21: resolver input, TTL input, TTL output (for encoder emulation and echo) and two digital inputs • HTL encoder interface FEN-31: HTL encoder input, TTL output (for encoder emulation and echo) and two digital inputs •...
Page 86 86 Program features • Jog enable = State of source set by parameter 20.25 • Start cmd = State of drive start command. Jog cmd Jog enable Start cmd Speed 10 11 12 13 14 15 16 17 18 19 Phase Start Description...
Page 87: Settings And Diagnostics
Program features 87 14-15 0→1 Drive follows the speed reference. As long as the start command is on, the jog enable signal is ignored. If the jog enable signal is on when the start command switches off, jogging is enabled immediately. 15-16 0→1 Start command switches off.
Page 88: Scalar Motor Control
88 Program features ￭ Scalar motor control It is possible to select scalar control as the motor control method instead of DTC (Direct Torque Control). In scalar control mode, the drive is controlled with a speed reference. However, the outstanding performance of DTC is not achieved in scalar control.
Page 89: Settings And Diagnostics
Program features 89 Settings and diagnostics Parameters: 97.12 IR comp step-up frequency (page 530), 97.13 IR compensation (page 530) 99.4 Motor control mode (page 536). ￭ 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.
Page 90 90 Program features Rotor Absolute encoder/resolver The autophasing routine is performed with permanent magnet synchronous motors and synchronous reluctance motors in the following cases: One-time measurement of the rotor and encoder position difference when an absolute encoder, a resolver, or an encoder with commutation signals is used 2.
Page 91: Autophasing Modes
Program features 91 Autophasing modes Several autophasing modes are available (see parameter 21.13). The turning mode (Turning) is recommended especially with case 1 (see the list above) as it is the most robust and accurate method. In turning mode, the motor shaft is turned back and forward (±360/polepairs)°...
Page 92: Flux Braking
92 Program features ￭ Flux braking WARNING! The motor needs to be rated to absorb the thermal energy generated by flux braking. The drive can provide greater deceleration by raising the level of magnetization in the motor. By increasing the motor flux, the energy generated by the motor during braking can be converted to motor thermal energy.
Page 93: Dc Magnetization
Program features 93 ￭ DC magnetization DC magnetization can be applied to the motor to • heat the motor to remove or prevent condensation, or • to lock the rotor at, or near, zero speed. Pre-heating A motor pre-heating function is available to prevent condensation in a stopped motor, or to remove condensation from the motor before start.
Page 94: Post-Magnetization
94 Program features Motor speed DC hold Reference 21.09 Note: • DC hold is only available in speed control in DTC motor control mode (see page 26). • The function applies the DC current to one phase only, depending on the position of the rotor.
Page 95: Settings And Diagnostics
Program features 95 Note: • Continuous magnetization is only available in DTC motor control mode (see page 26), and only when ramping is the selected stop mode (see parameter 21.3). WARNING! The motor must be designed to absorb or dissipate the thermal energy generated by continuous magnetization, for example by forced ventilation.
Page 96: Settings And Diagnostics
96 Program features Using a hexagonal motor flux vector pattern, the maximum output voltage can be reached above the field weakening point. This increases the peak load capacity compared to the circular pattern, but the continuous load capacity in the range of FWP …...
Page 97: Outputs Of The Brake Control Logic
Program features 97 • bit 2 of 6.11 (indicates whether the drive is ready to follow the given reference or not), • bit 6 of 6.16 (indicates whether the drive is modulating or not), • optional FSO-xx safety functions module. Outputs of the brake control logic The mechanical brake is to be controlled by bit 0 of parameter 44.1.
Page 98 98 Program features BRAKE OPENING WAIT Brake has been requested to open. The drive logic is requested to increase the torque up to opening torque to hold the load in place (44.1 b1 = 1 and b2 = 1). The state of 44.11 is checked;...
Page 99 Program features 99 44.8 has elapsed and brake open acknowledgement (if chosen by 44.7) has been re- ceived. Brake has been requested to close. Motor speed has remained below closing speed 44.14 for the duration of 44.15. 44.13 has elapsed and brake close acknowledgement (if chosen by 44.7) has been re- ceived.
Page 100: Timing Diagram
100 Program features Timing diagram The simplified timing diagram below illustrates the operation of the brake control function. Refer to the state diagram above. Start command ( 06.16 b5) Modulating ( 06.16 b6) Ready ref ( 06.11 b2) Torque reference Speed reference Brake control signal ( 44.01 b0)
Page 101: Wiring Example
Program features 101 Wiring example WARNING! Make sure that the machinery into which the drive with brake control function is integrated fulfils the personnel safety regulations. Note that the frequency converter (a Complete Drive Module or a Basic Drive Module, as defined in IEC 61800-2), is not considered as a safety device mentioned in the European Machinery Directive and related harmonised standards.
Page 102: Settings And Diagnostics
102 Program features Settings and diagnostics Parameter group: 44 Mechanical brake control (page 362). Events: 71A2 Mech brake closing failed (page 565), 71A3 Mech brake opening failed (page 565), 71A5 Mech brk opening not allowed (page 565) A7A1 Mechanical brake closing failed (page 581).
Page 103: Automatic Restart
Program features 103 mains (Nm) (Hz) (V DC) 11.2 14.4 = intermediate circuit voltage of the drive, f = output frequency of the drive, = motor torque Loss of supply voltage at nominal load ( f = 40 Hz). The intermediate circuit DC voltage drops to the minimum limit.
Page 104: Settings And Diagnostics
104 Program features If the DC voltage is restored before the expiration of the period defined by parameter 21.18 and the start signal is still on, normal operation will continue. However, if the DC voltage remains too low at that point, the drive trips on a fault, 3280.
Page 105: Voltage Control And Trip Limits
Program features 105 ￭ Voltage control and trip limits The control and trip limits of the intermediate DC voltage regulator are relative to the supply voltage as well as drive/inverter type. The DC voltage is approximately 1.35 times the line-to-line supply voltage, and is displayed by parameter 1.11. All levels are relative to the supply voltage range selected in parameter 95.1.
Page 106: Brake Chopper
106 Program features ￭ Brake chopper A brake chopper can be used to handle the energy generated by a decelerating motor. When the DC voltage rises high enough, the chopper connects the DC circuit to an external brake resistor. The chopper operates on the pulse width modulation principle.
Page 107: Use Case Examples
Program features 107 2. Selecting the user-defined reference (94.22) as the source for the drive DC voltage reference (94.21). Benefits of the DC voltage boost function are: • Possibility to supply nominal voltage to the motor even when the supply voltage of the drive is below the motor nominal voltage.
Page 108: Limits
108 Program features Note: In scalar motor control mode, the output voltage can alternatively be increased by adjusting the U / f curve: by setting parameter 97.7. The value of 97.7, can be calculated as the ratio of the desired voltage and the nominal voltage. In this example, the ratio is 440 V / 400 V = 110%.
Page 109 Program features 109 U ac,rms Actual input supply voltage. If the user-defined reference (94.22 is less than the internal reference value ( U dc,int the control program uses the internal reference as the drive DC voltage reference. Maximum DC voltage reference ( U dc,max U dc,max = U cat,hi ×...
Page 110: Safety And Protections
The installer of the equipment is responsible for installing the emergency stop devices and all additional devices needed for the emergency stop function to fulfill the required emergency stop categories. For more information, contact your local ABB representative. • After an emergency stop signal is detected, the emergency stop function cannot be canceled even though the signal is canceled.
Page 111: Motor Thermal Protection
Program features 111 ￭ Motor thermal protection The control program features two separate motor temperature monitoring functions. The temperature data sources and warning/trip limits can be set up independently for each function. The motor temperature can be monitored using • the motor thermal protection model (estimated temperature derived internally inside the drive), or •...
Page 112 112 Program features +24VD The resistance of the PTC sensor increases when its temperature rises. The increasing resistance of the sensor decreases the voltage at the input, and eventually its state switches from 1 to 0, indicating overtemperature. 1…3 PTC sensors can also be connected in series to an analog input and an analog output.
Page 113: Temperature Monitoring Using Pt100 Or Pt1000 Sensors
Program features 113 In addition to the above, optional FEN-xx encoder interfaces, and FPTC-xx modules have connections for PTC sensors. Refer to the module-specific documentation for more information. Temperature monitoring using Pt100 or Pt1000 sensors 1…3 Pt100 or Pt1000 sensors can be connected in series to an analog input and an analog output.
Page 114: Motor Fan Control Logic (Parameters 35.100
114 Program features KTY84 scaling 90 °C = 936 ohm 3000 110 °C = 1063 ohm 130 °C = 1197 ohm 150 °C = 1340 ohm 2000 1000 -100 The warning and fault limits can be adjusted by parameters. For the wiring of the sensor, refer to the Hardware Manual of the drive. Motor fan control logic (parameters 35.100 …...
Page 115: Motor Overload Protection
Program features 115 ￭ Motor overload protection This section describes motor overload protection without using motor thermal protection model, either with estimated or measured temperature. For protection with the motor thermal protection model, see section Motor thermal protection (page 111). Motor overload protection is required and specified by multiple standards including the US National Electric Code (NEC), UL 508C and the common UL\IEC 61800-5-1 standard in conjunction with IEC 60947-4-1.
Page 116: Thermal Protection Of Motor Cable
116 Program features Parameters specific to motor overload protection: 35.5 Motor overload level (page 341), 35.56 Motor overload action … 35.57 Motor overload class (page 350). ￭ Thermal protection of motor cable The control program contains a thermal protection function for the motor cable. This function should be used, for example, when the nominal current of the drive exceeds the current-carrying capacity of the motor cable.
Page 117: Motor Phase Loss Detection (Parameter 31.19 )
Program features 117 of the messages can be edited on the control panel by selecting Menu - Settings - Edit texts. Motor phase loss detection (parameter 31.19 ) The parameter selects how the drive reacts whenever a motor phase loss is detected.
Page 118: Main Cooling Fan Supervision (Parameter 31.35 )
118 Program features deviation from the expected deceleration rate. If the drive fails to stop in the expected manner, a fault is generated and the drive coasts to a stop. Main cooling fan supervision (parameter 31.35 ) The parameter selects how the drive reacts to a loss of the main cooling fan. With an inverter unit consisting of frame R8i inverter modules, it may be possible to continue operation even if a cooling fan of an inverter module stops.
Page 119: Settings And Diagnostics
Program features 119 of the message can be edited on the control panel by selecting Menu - Settings - Edit texts. The timer/counter can be set to monitor any parameter. This feature is especially useful as a service reminder. There are three types of counters: •...
Page 120: Amplitude Loggers
120 Program features Amplitude loggers The control program has two amplitude loggers. Depending on the setting of parameter 36.8, the loggers are active continuously or only when the drive is modulating. For amplitude logger 2, the user can select a signal to be sampled at 200 ms intervals, and specify a value that corresponds to 100%.
Page 121: Settings And Diagnostics
Program features 121 • forced I/O values such as parameters 10.3 10.4 • I/O extension module settings (groups 14…16) • fieldbus communication enable parameters (50.1 and 50.31) • other fieldbus communication settings (groups 51…56 and 58) • encoder configuration settings (groups 92…93), •...
Page 122: Settings And Diagnostics
122 Program features • application program parameters. The default set can be edited using the Drive customizer PC tool. Settings and diagnostics Parameters: 96.53 Actual checksum (page 523)…96.59 Approved checksum 4 (page 524). Events: 6200 Checksum mismatch (page 560) A686 Checksum mismatch (page 575).
Page 123: User Lock
Program features 123 ￭ User lock WARNING! ABB will not be liable for damages or losses caused by the failure to activate the user lock using a new pass code. See Cybersecurity disclaimer (page 20). For improved cybersecurity, it is highly recommended that you set a master pass code to prevent, for example, the changing of parameter values and/or the loading of firmware and other files.
Page 124: Data Storage Parameters
124 Program features ￭ Data storage parameters Twenty-four (sixteen 32-bit, eight 16-bit) parameters are reserved for data storage. These parameters are unconnected by default and can be used for eg. linking, testing and commissioning purposes. They can be written to and read from using other parameters’...
Page 125: Activation Of The Reduced Run Function
Activation of the reduced run function Note: For cabinet-built drives, the wiring accessories and the air baffle needed during the procedure are available from ABB, and are included in the delivery. WARNING! Follow the safety instructions provided for the drive or inverter unit in question.
Page 126: Du/Dt Filter Support
Sine filter support The control program has a setting that enables the use of sine filters (available separately from ABB and others). With an ABB sine filter connected to the output of the drive, bit 1 of 95.15 must be switched on.
Page 127: Router Mode For Bcu Control Unit
Program features 127 ￭ Router mode for BCU control unit The BCU control unit of an inverter unit can be set to a “router mode” to allow the control of locally-connected power units (for example, inverter modules) by another BCU. Using the router mode and some hardware switching, it is possible to have the same modules alternate between inverter and, for example, IGBT supply use.
Page 128: Settings And Diagnostics
128 Program features BCU 1 BCU 2 95.16 = On 95.14 = 000Fh (1111b) 95.17 = 1100b 95.16 = Off Module 1 Module 2 Module 3 Module 4 Note: • The local modules must be connected to successive channels starting from CH1.
Page 129: Parameters
Parameters 129 Parameters What this chapter contains The chapter describes the parameters, including actual signals, of the control program.
Page 130: Terms And Abbreviations
130 Parameters Terms and abbreviations Term Definition Actual signal Type of parameter that is the result of a measurement or calculation by the drive, or contains status information. Most actual signals are read-only, but some (especially counter-type actual signals) can be reset. (In the following table, shown on the same row as the parameter name) The default value of a parameter when used in the Factory macro.
Page 131: Parameter Group Summary
Parameters 131 Parameter group summary Group Contents Page 1 Actual values Basic signals for monitoring the drive. 3 Input references Values of references received from various sources. 4 Warnings and faults Information on warnings and faults that occurred last. 5 Diagnostics Various run-time-type counters and measurements related to drive maintenance.
Page 132 132 Parameters Group Contents Page 45 Energy efficiency Settings for the energy saving calculators. 46 Monitoring/scaling Speed supervision settings; actual signal filtering; general scaling settings settings. 47 Data storage Data storage parameters that can be written to and read from using other parameters’...
Page 133 Parameters 133 Group Contents Page 96 System Language selection; access levels; macro selection; parameter save and restore; control unit reboot; user parameter sets; unit selection; data logger triggering; parameter checksum calculation; user lock. 97 Motor control Motor model settings. 98 User motor parameters Motor values supplied by the user that are used in the motor model.
Page 134: Parameter Listing
134 Parameters Parameter listing Name / Range / Description Def / Type Selection FbEq 16b / 32b Actual values Basic signals for monitoring the drive. All parameters in this group are read-only unless otherwise noted. Motor speed used Measured or estimated motor speed depending on - / real32 which type of feedback is used (see parameter 90.41...
Page 135 Parameters 135 Name / Range / Description Def / Type Selection FbEq 16b / 32b 1.11 DC voltage Measured DC link voltage. - / real32 0.00 ... 2000.00 V DC link voltage. 10 = 1 V / 100 = 1 V 1.13 Output voltage Calculated motor voltage in V AC.
Page 136 136 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 1.25 INU momentary cos Momentary cosphi of the drive. 0.00 / real32 φ -1.00 ... 1.00 Cosphi. 100 = 1 / 100 = 1 1.29 Speed change rate Rate of actual speed change.
Page 137 Parameters 137 Name / Range / Description Def / Type Selection FbEq 16b / 32b 1.36 Mot - regen energy Amount of net energy (motoring energy - regenerating 0 MWh / int16 MWh (resettable) energy) that has passed through the drive in full megawatt hours.
Page 138 138 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 0.00 ... 30000.00 A U-phase rms current. For scaling, see parameter 46.5. - / - 1.73 V-phase RMS current V-phase rms current. - / real32 0.00 ...
Page 139 Parameters 139 Name / Range / Description Def / Type Selection FbEq 16b / 32b 1.114 Grid reactive power (Only visible when IGBT supply unit control activated - / real32 95.20 Estimated reactive power being transferred through the supply unit. -30000.00 ...
Page 140: Input References
140 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Input references Values of references received from various sources. All parameters in this group are read-only unless otherwise noted. Panel reference Local reference given from the control panel or PC tool. 0.00 / real32 -100000.00 ...
Page 141 Parameters 141 Name / Range / Description Def / Type Selection FbEq 16b / 32b -30000.00 ... Scaled reference 2 received from external controller. 1 = 10 / 100 = 1 30000.00 3.13 M/F or D2D ref1 Master/follower reference 1 received from the master. - / real32 The value has been scaled according to parameter 60.10...
Page 142: Warnings And Faults
142 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Warnings and Information on warnings and faults that occurred last. faults For explanations of individual warning and fault codes, see chapter Fault tracing (page 547). All parameters in this group are read-only unless otherwise noted.
Page 143 Parameters 143 Name / Range / Description Def / Type Selection FbEq 16b / 32b 4.17 2nd latest warning Code of the 2nd stored (non-active) warning. 0 / uint16 0000…FFFFh 2nd stored warning. 1 = 1 4.18 3rd latest warning Code of the 3rd stored (non-active) warning.
Page 144 144 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 4.21 Fault word 1 ACS800-compatible fault word 1. - / uint16 The bit assignments of this word correspond to FAULT WORD 1 in the ACS800. Parameter 4.120 Fault/Warning word compatibility determines whether the bit...
Page 145 Parameters 145 Name / Range / Description Def / Type Selection FbEq 16b / 32b 4.22 Fault word 2 ACS800-compatible fault word 2. - / uint16 The bit assignments of this word correspond to FAULT WORD 2 in the ACS800. Parameter 4.120 Fault/Warning word compatibility determines whether the bit...
Page 146 146 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 4.31 Warning word 1 ACS800-compatible warning (alarm) word 1. - / uint16 The bit assignments of this word correspond to ALARM WORD 1 in the ACS800. Parameter 4.120 Fault/Warning word compatibility determines whether the...
Page 147 Parameters 147 Name / Range / Description Def / Type Selection FbEq 16b / 32b 4.32 Warning word 2 ACS800-compatible warning (alarm) word 2. - / uint16 The bit assignments of this word correspond to ALARM WORD 2 in the ACS800. Parameter 4.120 Fault/Warning word compatibility determines whether the bit...
Page 148 148 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 4.41 Event word 1 bit 0 Selects the hexadecimal code of an event (warning, 0 / uint16 code fault or pure event) whose status is shown as bit 0 of 4.40 Event word 1.
Page 149 Parameters 149 Name / Range / Description Def / Type Selection FbEq 16b / 32b ACS800 Standard The bit assignments of parameters 4.21…4.32 ctrl program correspond to the ACS800 Standard control program as follows: • 4.21: 03.05 FAULT WORD 1 •...
Page 150: Diagnostics
150 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Diagnostics Various run-time-type counters and measurements related to drive maintenance. All parameters in this group are read-only unless otherwise noted. On-time counter On-time counter. The counter runs when the drive is 0 d / uint16 powered.
Page 151 Parameters 151 Name / Range / Description Def / Type Selection FbEq 16b / 32b 5.42 Aux. fan service Displays the age of the auxiliary cooling fan as a 0 % / real32 counter percentage of its estimated lifetime. The estimate is based on the duty, operating conditions and other operating parameters of the fan.
Page 152: Control And Status Words
152 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Control and status Drive control and status words. words Main control word The main control word of the drive. This parameter - / uint16 shows the control signals as received from the selected sources (such as digital inputs, the fieldbus interfaces and the application program).
Page 153 Parameters 153 Name / Range / Description Def / Type Selection FbEq 16b / 32b 6.11 Main status word Main status word of the drive. - / uint16 The bit assignments are described on page 635. The related control word and state diagram are presented on pages and 636.
Page 154 154 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 0000h…FFFFh 1 = 1 6.17 Drive status word 2 Drive status word 2. - / uint16 This parameter is read-only. Identification run 1 = Motor identification (ID) run has been performed done Magnetized 1 = The motor has been magnetized...
Page 155 Parameters 155 Name / Range / Description Def / Type Selection FbEq 16b / 32b 6.18 Start inhibit status Start inhibit status word. This word specifies the source - / uint16 word of the inhibiting condition that is preventing the drive from starting.
Page 156 156 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Zero speed 1 = Drive is running at zero speed, ie. the absolute value of par. 90.1 Motor speed for control has remained below 21.6 Zero speed limit for longer than 21.7 Zero speed delay.
Page 157 Parameters 157 Name / Range / Description Def / Type Selection FbEq 16b / 32b Constant speed 3 1 = Constant speed or frequency 3 selected Constant speed 4 1 = Constant speed or frequency 4 selected Constant speed 5 1 = Constant speed or frequency 5 selected Constant speed 6 1 = Constant speed or frequency 6 selected...
Page 158 158 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Reserved Encoder feedback 1 = The encoder feedback configuration is preventing the drive from starting. Ref source 1 = A reference source parametrization conflict is parametrization preventing the drive from starting.
Page 159 Parameters 159 Name / Range / Description Def / Type Selection FbEq 16b / 32b 6.36 LSU Status Word (Only visible when supply unit control activated by - / uint16 95.20 Shows the status of the supply unit. See also section Control of a supply unit (LSU) (page 76), and parameter group...
Page 160 160 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Not In Use Reserved Not In Use Reserved Not In Use Reserve Not In Use Reserved USER BIT 0 See parameter 6.40 LSU CW user bit 0 selection.
Page 161 Parameters 161 Name / Range / Description Def / Type Selection FbEq 16b / 32b MCW user bit 1 Bit 13 of 6.1 Main control word (page 152). MCW user bit 2 Bit 14 of 6.1 Main control word (page 152).
Page 162 162 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 6.47 Follower CW user bit Selects a binary source whose status is transmitted as MCW user bit 2 / 2 selection bit 14 of the Follower control word to follower drives. uint32 (Bits 0…11 of the Follower control word are taken from 6.1 Main control...
Page 163 Parameters 163 Name / Range / Description Def / Type Selection FbEq 16b / 32b User status bit 14 Status of source selected by parameter 6.74. User status bit 15 Status of source selected by parameter 6.75. 0000h…FFFFh 1 = 1 6.60 User status word 1 Selects a binary source whose status is shown as bit 0...
Page 164 164 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b FALSE TRUE Other [bit] Terms and abbreviations (page 130). 6.67 User status word 1 Selects a binary source whose status is shown as bit 7 Identification run bit 7 sel 6.50 User status word...
Page 165 Parameters 165 Name / Range / Description Def / Type Selection FbEq 16b / 32b Other [bit] Terms and abbreviations (page 130). 6.73 User status word 1 Selects a binary source whose status is shown as bit FALSE / uint32 bit 13 sel 13 of 6.50 User status word...
Page 166 166 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b User control word 1 User-defined bit. bit 12 sel User control word 1 User-defined bit. bit 13 sel User control word 1 User-defined bit. bit 14 sel User control word 1 User-defined bit.
Page 167 Parameters 167 Name / Range / Description Def / Type Selection FbEq 16b / 32b 6.105 IEC Application Reserved. - / uint16 control word (Only visible when IGBT supply unit control activated 6.116 LSU drive status - / uint16 word 1 95.20 Drive status word 1 received from the supply unit.
Page 168 168 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Charging overload b10…11 Reserved Em Off2 Em Off3 Auto reset inhibit Reserved 0000h…FFFFh 1 = 1...
Page 169: System Info
Parameters 169 Name / Range / Description Def / Type Selection FbEq 16b / 32b System info Information on drive hardware, firmware and application program. All parameters in this group are read-only. Drive rating id Type of the drive/inverter unit. - / uint16 Firmware name Firmware identification.
Page 170 170 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 7.22 Application (Only visible with option +N8010 [application - / uint16 programmability]) environment status Shows the status of the openings in the application program. See the Drive (IEC 61131-3) application programming manual (3AUA0000127808 [English]).
Page 171 Parameters 171 Name / Range / Description Def / Type Selection FbEq 16b / 32b 7.28 Position control Position control library version. 0 / uint32 library version 7.30 Adaptive program Shows the status of the adaptive program. - / uint16 status See section Adaptive programming (page...
Page 172 172 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 7.54 Slot 1 module logic Displays the FPGA logic version of module detected in 0 / uint16 version slot 1 of the drive control unit. The logic version is detected for DDCS option modules, for example, FEN encoder modules (FEN-01, FEN-11, FEN-21, FEN-31) and I/O modules (FIO-11, FDIO-01,...
Page 173: Standard Di, Ro
Parameters 173 Name / Range / Description Def / Type Selection FbEq 16b / 32b Standard DI, RO Configuration of digital inputs and relay outputs. 10.1 DI status Displays the electrical status of digital inputs DIIL and - / uint16 DI6…DI1.
Page 174 174 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 10.5 DI1 ON delay Defines the activation delay for digital input DI1. 0.0 s / uint32 *DI status **Delayed DI status Time 10.5 DI1 ON delay 10.6 DI1 OFF delay *Electrical status of digital input.
Page 175 Parameters 175 Name / Range / Description Def / Type Selection FbEq 16b / 32b 10.9 DI3 ON delay Defines the activation delay for digital input DI3. 0.0 s / uint32 *DI status **Delayed DI status Time 10.9 DI3 ON delay 10.10 DI3 OFF delay *Electrical status of digital input.
Page 176 176 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 10.13 DI5 ON delay Defines the activation delay for digital input DI5. 0.0 s / uint32 *DI status **Delayed DI status Time 10.13 DI5 ON delay 10.14 DI5 OFF delay *Electrical status of digital input.
Page 177 Parameters 177 Name / Range / Description Def / Type Selection FbEq 16b / 32b Started Bit 5 of 6.16 Drive status word 1 (page 153). Magnetized Bit 1 of 6.17 Drive status word 2 (page 154). Running Bit 6 of 6.16 Drive status word 1 (page 153).
Page 178 178 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 0.0 ... 3000.0 s Activation delay for RO1. 10 = 1 s / 10 = 1 s 10.26 RO1 OFF delay Defines the deactivation delay for relay output RO1. 0.0 s / uint32 See parameter 10.25 RO1 ON...
Page 179 Parameters 179 Name / Range / Description Def / Type Selection FbEq 16b / 32b 10.90 IO time level Selects the standard I/O communication time level. Fast / uint16 selection Fast Standard I/O time level 500 us. Normal Standard I/O time level 2 ms. 2000 10.99 RO/DIO control...
Page 180: Standard Dio, Fi, Fo
180 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Standard DIO, FI, Configuration of digital input/outputs and frequency inputs/outputs. 11.1 DIO status Displays the status of digital input/outputs DIO2 and - / uint16 DIO1. The activation/deactivation delays (if any are specified) are ignored.
Page 181 Parameters 181 Name / Range / Description Def / Type Selection FbEq 16b / 32b Remote control Bit 9 of 6.11 Main status word (page 153). Supervision 1 Bit 0 of 32.1 Supervision status (page 328). Supervision 2 Bit 1 of 32.1 Supervision status (page 328).
Page 182 182 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 11.11 DIO2 ON delay Defines the activation delay for digital input/output 0.0 s / uint32 DIO2 (when used as a digital output or digital input). *DIO status *Delayed DIO status...
Page 183 Parameters 183 Name / Range / Description Def / Type Selection FbEq 16b / 32b 11.42 Freq in 1 min Defines the minimum for the frequency actually arriving 0 Hz / real32 at frequency input 1 (DIO1 when it is used as a frequency input).
Page 184 184 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Motor torque 1.10 Motor torque (page 134). DC voltage 1.11 DC voltage (page 135). Power inu out 1.14 Output power (page 135). Speed ref ramp in 23.1 Speed ref ramp input (page 270).
Page 185 Parameters 185 Name / Range / Description Def / Type Selection FbEq 16b / 32b 11.60 Freq out 1 at src min Defines the minimum value of frequency output 1. See 0 Hz / real32 diagrams at parameter 11.58 Freq out 1 src min.
Page 186: Standard Ai
186 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Standard AI Configuration of standard analog inputs. 12.1 AI tune Triggers the analog input tuning function. No action / uint16 Connect the signal to the input and select the appropriate tuning function.
Page 187 Parameters 187 Name / Range / Description Def / Type Selection FbEq 16b / 32b Last speed Drive generates a warning (A8A0 AI Supervised Warning) and freezes the speed (or frequency) to the level the drive was operating at. The speed/frequency is determined on the basis of actual speed using 850 ms low-pass filtering.
Page 188 188 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 12.11 AI1 actual value Displays the value of analog input AI1 in mA or V - / real32 (depending on whether the input is set to current or voltage by a hardware setting).
Page 189 Parameters 189 Name / Range / Description Def / Type Selection FbEq 16b / 32b 12.17 AI1 min Defines the minimum site value for analog input AI1. 0.000 mA or V / Set the value actually sent to the drive when the analog real32 signal from plant is wound to its minimum setting.
Page 190 190 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 12.22 AI2 scaled value Displays the value of analog input AI2 after scaling. See - / real32 parameters 12.29 AI2 scaled at AI2 min 12.30 AI2 scaled at AI2 max.
Page 191 Parameters 191 Name / Range / Description Def / Type Selection FbEq 16b / 32b 12.29 AI2 scaled at AI2 min Defines the real value that corresponds to the minimum 0.000 / real32 analog input AI2 value defined by parameter 12.27 AI2 min.
Page 192: Standard Ao
192 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Standard AO Configuration of standard analog outputs. 13.11 AO1 actual value Displays the value of AO1 in mA. - / real32 This parameter is read-only. 0.000 ...
Page 193 Parameters 193 Name / Range / Description Def / Type Selection FbEq 16b / 32b 13.16 AO1 filter time Defines the filtering time constant for analog output 0.100 s / real32 AO1. Unfiltered signal Filtered signal - t /T O = I × (1 - e I = filter input (step) O = filter output t = time...
Page 194 194 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 13.17 AO1 source min Defines the real minimum value of the signal (selected 0.0 / real32 by parameter 13.12 AO1 source) that corresponds to the minimum required AO1 output value (defined by parameter 13.19 AO1 out at AO1 src min).
Page 195 Parameters 195 Name / Range / Description Def / Type Selection FbEq 16b / 32b 13.19 AO1 out at AO1 src Defines the minimum output value for analog output 0.000 mA / real32 AO1. See also drawing at parameter 13.17 AO1 source min.
Page 196 196 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 13.27 AO2 source min Defines the real minimum value of the signal (selected 0.0 / real32 by parameter 13.22 AO2 source) that corresponds to the minimum required AO2 output value (defined by parameter 13.29 AO2 out at AO2 src min).
Page 197 Parameters 197 Name / Range / Description Def / Type Selection FbEq 16b / 32b 13.29 AO2 out at AO2 src Defines the minimum output value for analog output 0.000 mA / real32 AO2. See also drawing at parameter 13.27 AO2 source min.
Page 198: O Extension Module 1
198 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b I/O extension Configuration of I/O extension module 1. module 1 See also section Programmable I/O extensions (page 65). Note: The contents of the parameter group vary according to the selected I/O extension module type.
Page 199 Parameters 199 Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.5 DIO status (Visible when 14.1 Module 1 type = FIO-11) - / uint16 Displays the status of the digital input/outputs on the extension module. The activation/deactivation delays (if any are specified) are ignored.
Page 200 200 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.6 DIO delayed status (Visible when 14.1 Module 1 type = FIO-01) - / uint16 Displays the delayed status of the digital input/outputs on the extension module. This word is updated only after activation/deactivation delays (if any are specified).
Page 201 Parameters 201 Name / Range / Description Def / Type Selection FbEq 16b / 32b Magnetized Bit 1 of 6.17 Drive status word 2 (page 154). Running Bit 6 of 6.16 Drive status word 1 (page 153). Ready ref Bit 2 of 6.11 Main status word (page 153).
Page 202 202 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Ready ref Bit 2 of 6.11 Main status word (page 153). At setpoint Bit 8 of 6.11 Main status word (page 153). Reverse Bit 2 of 6.19 Speed control status word (page 155).
Page 203 Parameters 203 Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.12 DIO1 ON delay (Visible when 14.1 Module 1 type = FIO-11) 0.00 s / real32 Defines the activation delay for digital input/output DIO1. *DIO status **Delayed DIO status Time...
Page 204 204 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 0.00 ... 3000.00 s Deactivation delay for DIO1. 10 = 1 s / 100 = 1 s 14.14 DIO2 function (Visible when 14.1 Module 1 type = FIO-11) Input / uint16 Selects whether DIO2 of the extension module is used...
Page 205 Parameters 205 Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.18 DIO2 OFF delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32 Defines the deactivation delay for digital input/output DIO2. See parameter 14.12 DIO1 ON delay.
Page 206 206 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b AI2 > MAX 1 = Maximum limit supervision of AI2 active. b4…15 Reserved 0000h…FFFFh 1 = 1 14.20 AI supervision (Visible when 14.1 Module 1 type = FIO-11) - / uint16 selection...
Page 207 Parameters 207 Name / Range / Description Def / Type Selection FbEq 16b / 32b No action Tuning action completed or no action has been requested. The parameter automatically reverts to this value after any tuning action. AI1 min tune The measured value of AI1 is set as the minimum value of AI1 into parameter 14.33 AI1...
Page 208 208 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 1 = Force mode: Force AI2 to value of parameter 14.43 AI2 force data. 1 = Force mode: Force AI3 to value of parameter 14.58 AI3 force data (FIO-11 only).
Page 209 Parameters 209 Name / Range / Description Def / Type Selection FbEq 16b / 32b 0.00 ... 3000.00 s Activation delay for DIO4. 10 = 1 s / 100 = 1 s 14.28 AI1 force data (Visible when 14.1 Module 1 type = FAIO-01) - / real32 Forced value that can be used instead of the true...
Page 210 210 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 1 ms 1 millisecond. 2 ms 2 milliseconds. 4 ms 4 milliseconds. 7.9375 ms 7.9375 milliseconds. 14.31 RO status (Visible when 14.1 Module 1 type = FIO-01) - / uint16 Status of relay outputs on the I/O extension module.
Page 211 Parameters 211 Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.34 RO1 source (Visible when 14.1 Module 1 type = FIO-01) Not energized / Selects a drive signal to be connected to relay output uint32 RO1.
Page 212 212 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.35 RO1 ON delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32 Defines the activation delay for relay output RO1. Status of selected source RO status Time...
Page 213 Parameters 213 Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.39 RO2 OFF delay (Visible when 14.1 Module 1 type = FDIO-01) 0.00 s / real32 Defines the deactivation delay for relay output RO2. See parameter 14.35 RO1 ON delay.
Page 214 214 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.45 AI2 unit selection (Visible when 14.1 Module 1 type = FAIO-01) mA / uint16 Selects the unit for readings and settings related to analog input AI2. Note: This setting must match the corresponding hardware setting on the I/O extension module (see the manual of the I/O extension module).
Page 215 Parameters 215 Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.47 AI2 filter time (Visible when 14.1 Module 1 type = FAIO-01) 0.100 s / real32 Defines the filter time constant for analog input AI2. Unfiltered signal Filtered signal -t/T...
Page 216 216 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.50 AI2 scaled at AI2 min (Visible when 14.1 Module 1 type = FAIO-01) 0.000 / real32 Defines the real value that corresponds to the minimum analog input AI2 value defined by parameter 14.48 AI2 min.
Page 217 Parameters 217 Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.59 AI3 HW switch (Visible when 14.1 Module 1 type = FIO-11) - / uint16 position Shows the position of the hardware current/voltage selector on the I/O extension module. Note: The setting of the current/voltage selector must match the unit selection made in parameter 14.60 AI3...
Page 218 218 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.62 AI3 filter time (Visible when 14.1 Module 1 type = FIO-11) 0.100 s / real32 Defines the filter time constant for analog input AI3. Unfiltered signal Filtered signal -t/T...
Page 219 Parameters 219 Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.65 AI3 scaled at AI3 min (Visible when 14.1 Module 1 type = FIO-11) 0.000 / real32 Defines the real value that corresponds to the minimum analog input AI3 value defined by parameter 14.63 AI3 min.
Page 220 220 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 1 = Force mode: Force AO1 to value of parameter 14.78 AO1 force data. b1…15 Reserved 0000h…FFFFh 1 = 1 14.76 AO1 actual value (Visible when 14.1 Module 1 type = FAIO-01) - / real32...
Page 221 Parameters 221 Name / Range / Description Def / Type Selection FbEq 16b / 32b 0.000 ... 22.000 mA Forced value of analog output AO1. 1000 = 1 mA / 1000 = 1 mA 14.78 AO1 force data (Visible when 14.1 Module 1 type = FAIO-01) 0.000 mA / real32...
Page 222 222 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.80 AO1 source min (Visible when 14.1 Module 1 type = FAIO-01) 0.0 / real32 Defines the real value of the signal (selected by parameter 14.77 AO1 source) that corresponds to the minimum AO1 output value (defined by parameter...
Page 223 Parameters 223 Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.82 AO1 out at AO1 src (Visible when 14.1 Module 1 type = FAIO-01) 0.000 mA / real32 Defines the minimum output value for analog output AO1.
Page 224 224 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.90 AO2 source min (Visible when 14.1 Module 1 type = FAIO-01) 0.0 / real32 Defines the real value of the signal (selected by parameter 14.87 AO2 source) that corresponds to the minimum AO2 output value (defined by parameter...
Page 225 Parameters 225 Name / Range / Description Def / Type Selection FbEq 16b / 32b 14.93 AO2 out at AO2 src (Visible when 14.1 Module 1 type = FAIO-01) 10.000 mA / real32 Defines the maximum output value for analog output AO2.
Page 226: O Extension Module 2
226 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b I/O extension Configuration of I/O extension module 2. module 2 See also section Programmable I/O extensions (page 65). Note: The contents of the parameter group vary according to the selected I/O extension module type.
Page 227 Parameters 227 Name / Range / Description Def / Type Selection FbEq 16b / 32b 15.13 DIO1 OFF delay (Visible when 15.1 Module 2 type = FIO-01) 0.00 s / real32 See parameter 14.13 DIO1 OFF delay. 15.14 DIO2 function (Visible when 15.1 Module 2 type = FIO-11)
Page 228 228 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 15.23 DI3 OFF delay (Visible when 15.1 Module 2 type = FDIO-01) 0.00 s / real32 See parameter 14.23 DI3 OFF delay. 15.23 DIO3 OFF delay (Visible when 15.1 Module 2 type = FIO-01)
Page 229 Parameters 229 Name / Range / Description Def / Type Selection FbEq 16b / 32b 15.36 RO1 OFF delay (Visible when 15.1 Module 2 type = FDIO-01) 0.00 s / real32 See parameter 14.36 RO1 OFF delay. 15.36 RO1 OFF delay (Visible when 15.1 Module 2 type = FIO-01)
Page 230 230 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 15.58 AI3 force data (Visible when 15.1 Module 2 type = FIO-11) - / real32 See parameter 14.58 AI3 force data. 15.59 AI3 HW switch (Visible when 15.1 Module 2 type = FIO-11)
Page 231 Parameters 231 Name / Range / Description Def / Type Selection FbEq 16b / 32b 15.86 AO2 actual value (Visible when 15.1 Module 2 type = FAIO-01) - / real32 See parameter 14.86 AO2 actual value. 15.87 AO2 source (Visible when 15.1 Module 2 type = FAIO-01) Zero / uint32...
Page 232: O Extension Module 3
232 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b I/O extension Configuration of I/O extension module 3. module 3 See also section Programmable I/O extensions (page 65). Note: The contents of the parameter group vary according to the selected I/O extension module type.
Page 233 Parameters 233 Name / Range / Description Def / Type Selection FbEq 16b / 32b 16.13 DIO1 OFF delay (Visible when 16.1 Module 3 type = FIO-01) 0.00 s / real32 See parameter 14.13 DIO1 OFF delay. 16.14 DIO2 function (Visible when 16.1 Module 3 type = FIO-11)
Page 234 234 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 16.23 DI3 OFF delay (Visible when 16.1 Module 3 type = FDIO-01) 0.00 s / real32 See parameter 14.23 DI3 OFF delay. 16.23 DIO3 OFF delay (Visible when 16.1 Module 3 type = FIO-01)
Page 235 Parameters 235 Name / Range / Description Def / Type Selection FbEq 16b / 32b 16.36 RO1 OFF delay (Visible when 16.1 Module 3 type = FDIO-01) 0.00 s / real32 See parameter 14.36 RO1 OFF delay. 16.36 RO1 OFF delay (Visible when 16.1 Module 3 type = FIO-01)
Page 236 236 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 16.58 AI3 force data (Visible when 16.1 Module 3 type = FIO-11) - / real32 See parameter 14.58 AI3 force data. 16.59 AI3 HW switch (Visible when 16.1 Module 3 type = FIO-11)
Page 237 Parameters 237 Name / Range / Description Def / Type Selection FbEq 16b / 32b 16.83 AO1 out at AO1 src (Visible when 16.1 Module 3 type = FAIO-01) 10.000 mA / real32 See parameter 14.83 AO1 out at AO1 src max.
Page 238: Operation Mode
238 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Operation mode Selection of local and external control location sources and operating modes. See also section Operating modes of the drive (page 26). 19.1 Actual operation Displays the operating mode currently used.
Page 239 Parameters 239 Name / Range / Description Def / Type Selection FbEq 16b / 32b EFB MCW bit 11 Control word bit 11 received through the embedded fieldbus interface. Other [bit] Terms and abbreviations (page 130). 19.12 Ext1 control mode Selects the operating mode for external control location Speed / uint16 EXT1.
Page 240 240 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 19.17 Local control disable Enables/disables local control (start and stop buttons No / uint16 on the control panel, and the local controls on the PC tool).
Page 241: Start/Stop/Direction
Parameters 241 Name / Range / Description Def / Type Selection FbEq 16b / 32b Start/stop/direction Start/stop/direction and run/start/jog enable signal source selection; positive/negative reference enable signal source selection. For information on control locations, see section Local control vs. external control (page 23).
Page 242 242 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b In1P Start; In2 Stop The sources of the start and stop commands are selected by parameters 20.3 Ext1 in1 source 20.4 Ext1 in2 source. The state transitions of the source bits are interpreted as follows: State of source 1 State of source 2...
Page 243 Parameters 243 Name / Range / Description Def / Type Selection FbEq 16b / 32b Embedded fieldbus The start and stop commands are taken from the embedded fieldbus interface. Note: The start signal is always level-triggered with this setting regardless of parameter 20.2 Ext1 start trigger type.
Page 244 244 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Position CW enable Application control word (6.105 IEC Application control word, bit 0). Other [bit] Terms and abbreviations (page 130). 20.4 Ext1 in2 source Selects source 2 for parameter 20.1 Ext1 commands.
Page 245 Parameters 245 Name / Range / Description Def / Type Selection FbEq 16b / 32b In1P Start; In2 Stop The sources of the start and stop commands are selected by parameters 20.8 Ext2 in1 source 20.9 Ext2 in2 source. The state transitions of the source bits are interpreted as follows: State of source 1 State of source 2...
Page 246 246 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Embedded fieldbus The start and stop commands are taken from the embedded fieldbus interface. Note: The start signal is always edge-triggered with this setting regardless of parameter 20.7 Ext2 start trigger type.
Page 247 Parameters 247 Name / Range / Description Def / Type Selection FbEq 16b / 32b Coast Stop by switching off the output semiconductors of the drive. The motor coasts to a stop. WARNING! If a mechanical brake is used, ensure it is safe to stop the drive by coasting.
Page 248 248 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Active control Control word bit 3 received from the active control source MCW bit 3 source. Note: • If the drive is running in fieldbus control, switching bit 3 off effectively removes both the start and run enable signals.
Page 249 Parameters 249 Name / Range / Description Def / Type Selection FbEq 16b / 32b Other [bit] Terms and abbreviations (page 130). 20.23 Positive speed Selects the source of the positive speed enable Selected / uint32 enable command. 1 = Positive speed enabled. 0 = Positive speed interpreted as zero speed reference.
Page 250 250 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 20.25 Jogging enable Selects the source for a jog enable signal. Not selected / uint32 (The sources for jogging activation signals are selected by parameters 20.26 Jogging 1 start source 20.27 Jogging 2 start...
Page 251 Parameters 251 Name / Range / Description Def / Type Selection FbEq 16b / 32b DIO2 Digital input/output DIO1 (11.2 DIO delayed status, bit Other [bit] Terms and abbreviations (page 130). 20.27 Jogging 2 start If enabled by parameter 20.25 Jogging enable, selects Not selected / uint32 source...
Page 252: Start/Stop Mode
252 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Start/stop mode Start and stop modes; emergency stop mode and signal source selection; DC magnetization settings; autophasing mode selection. 21.1 Start mode Selects the motor start function for the DTC motor Automatic / uint16 control mode, ie.
Page 253 Parameters 253 Name / Range / Description Def / Type Selection FbEq 16b / 32b Automatic Automatic start guarantees optimal motor start in most cases. It includes the flying start function (starting into a rotating motor) and the automatic restart function (a stopped motor can be restarted immediately without waiting the motor flux to die away).
Page 254 254 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Torque limit Stop according to torque limits (parameters 30.19 30.20). 21.4 Emergency stop Selects the way the motor is stopped when an Ramp stop (Off1); mode emergency stop command is received.
Page 255 Parameters 255 Name / Range / Description Def / Type Selection FbEq 16b / 32b Active (false) Inactive (true) DIIL DIIL input (10.2 DI delayed status, bit 15). Digital input DI1 (10.2 DI delayed status, bit 0). Digital input DI2 (10.2 DI delayed status, bit 1).
Page 256 256 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 21.7 Zero speed delay Defines the delay for the zero speed delay function. 0 ms / real32 The function is useful in applications where a smooth and quick restarting is essential.
Page 257 Parameters 257 Name / Range / Description Def / Type Selection FbEq 16b / 32b 21.8 DC current control Activates/deactivates the DC hold and - / uint16 post-magnetization functions. See section magnetization (page 93). Note: • DC hold is only available with speed control in DTC motor control mode (see page 26).
Page 258 258 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 21.12 Continuous Activates/deactivates (or selects a source that Off / uint32 magnetization activates/deactivates) continuous magnetization. See command section Continuous magnetization (page 94). The magnetization current is calculated on the basis of flux reference (see parameter group 97 Motor control).
Page 259 Parameters 259 Name / Range / Description Def / Type Selection FbEq 16b / 32b 21.14 Pre-heating input Selects the source of the motor pre-heat on/off Inactive (false) / source command. uint32 See section Pre-heating (page 93). Note: The pre-heating function will not activate if •...
Page 260 260 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 21.18 Auto restart time The motor can be automatically started after a short 5.0 s / real32 supply power failure using the automatic restart function. See section Automatic restart (page 103).
Page 261 Parameters 261 Name / Range / Description Def / Type Selection FbEq 16b / 32b Automatic This setting should be used • in applications where flying starts (ie. starting into a rotating motor) are required, and • with permanent magnet motors. 21.20 Follower force ramp In a torque-controlled follower drive, forces (or selects...
Page 262 262 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Active (true) Digital input DI1 (10.2 DI delayed status, bit 0). Digital input DI2 (10.2 DI delayed status, bit 1). Digital input DI3 (10.2 DI delayed status, bit 2).
Page 263: Speed Reference Selection
Parameters 263 Name / Range / Description Def / Type Selection FbEq 16b / 32b Speed reference Speed reference selection; motor potentiometer selection settings. See the control chain diagrams on pages 647...649. 22.1 Speed ref unlimited Displays the output of the speed reference selection - / real32 block.
Page 264 264 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Control panel (ref Control panel reference, with initial value from previous copied) source or actual value. See section Using the control panel as an external control source (page 25).
Page 265 Parameters 265 Name / Range / Description Def / Type Selection FbEq 16b / 32b Other [bit] Terms and abbreviations (page 130). 22.15 Speed additive 1 Defines a reference to be added to the speed reference Zero / uint32 source after reference selection (see page 647).
Page 266 266 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 22.22 Constant speed sel1 When bit 0 of parameter 22.21 Constant speed function DI5 / uint32 is 0 (Separate), selects a source that activates constant speed 1.
Page 267 Parameters 267 Name / Range / Description Def / Type Selection FbEq 16b / 32b 22.23 Constant speed sel2 When bit 0 of parameter 22.21 Constant speed function Not selected / uint32 is 0 (Separate), selects a source that activates constant speed 2.
Page 268 268 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 22.41 Speed ref safe Defines a safe speed reference value that is used with - / real32 supervision functions such as • 12.3 AI supervision function •...
Page 269 Parameters 269 Name / Range / Description Def / Type Selection FbEq 16b / 32b 22.85 Speed reference act Displays the value of speed reference after the - / real32 application of the speed share scaling factor (22.16 Speed share). See the control chain diagram on page 647.
Page 270: Speed Reference Ramp
270 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Speed reference Speed reference ramp settings (programming of the ramp acceleration and deceleration rates for the drive). See the control chain diagram on page 649. 23.1 Speed ref ramp Displays the used speed reference (in rpm) before it...
Page 271 Parameters 271 Name / Range / Description Def / Type Selection FbEq 16b / 32b 0.000 ... 1800.000 s Acceleration time 1. 10 = 1 s / 1000 = 1 s 23.13 Deceleration time 1 Defines deceleration time 1 as the time required for 20.000 s / real32 the speed to change from the speed defined by parameter...
Page 272 272 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 23.16 Shape time acc 1 Defines the shape of the acceleration ramp at the - / real32 beginning of the acceleration. 0.000 s: Linear ramp. Suitable for steady acceleration or deceleration and for slow ramps.
Page 273 Parameters 273 Name / Range / Description Def / Type Selection FbEq 16b / 32b 0.000 ... 1800.000 s Ramp shape at start of deceleration. 10 = 1 s / 1000 = 1 s 23.19 Shape time dec 2 Defines the shape of the deceleration ramp at the end 0.000 s / real32 of the deceleration.
Page 274 274 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Digital input DI6 (10.2 DI delayed status, bit 5). DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit Other [bit] Terms and abbreviations (page...
Page 275 Parameters 275 Name / Range / Description Def / Type Selection FbEq 16b / 32b 23.28 Variable slope Activates the variable slope function, which controls Off / uint32 enable the slope of the speed ramp during a speed reference change. This allows for a constantly variable ramp rate to be generated, instead of just the standard two ramps normally available.
Page 276 276 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Not selected Selected Digital input DI1 (10.2 DI delayed status, bit 0). Digital input DI2 (10.2 DI delayed status, bit 1). Digital input DI3 (10.2 DI delayed status, bit 2).
Page 277: Speed Reference Conditioning
Parameters 277 Name / Range / Description Def / Type Selection FbEq 16b / 32b Speed reference Speed error calculation; speed error window control conditioning configuration; speed error step. See the control chain diagrams on pages and 652. 24.1 Used speed Displays the ramped and corrected speed reference - / real32 reference...
Page 278 278 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 24.12 Speed error filter Defines the time constant of the speed error low-pass 0 ms / real32 time filter. If the used speed reference changes rapidly, the possible interferences in the speed measurement can be filtered with the speed error filter.
Page 279 Parameters 279 Name / Range / Description Def / Type Selection FbEq 16b / 32b 24.15 Damping of zero Defines the damping coefficient for parameter 24.14. 0.000 / real32 The value of 0 corresponds to the maximum elimination of the resonance frequency. 20log 10 |H( )| f zero = 45 Hz zero = 0.250...
Page 280 280 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 24.17 Damping of pole Defines the damping coefficient for parameter 24.16. 0.250 / real32 The coefficient shapes the frequency response of the resonance frequency filter. A narrower bandwidth results in better dynamic properties.
Page 281 Parameters 281 Name / Range / Description Def / Type Selection FbEq 16b / 32b 24.41 Speed error window Disable / uint32 control enable...
Page 282 282 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Enables/disables (or selects a source that enables/disables) speed error window control, sometimes also referred to as deadband control or strip break protection. It forms a speed supervision function for a torque-controlled drive, preventing the motor from running away if the material that is being held under tension breaks.
Page 283 Parameters 283 Name / Range / Description Def / Type Selection FbEq 16b / 32b Speed (rpm) Reference + [ 24.44 ] rpm Speed error Reference window Reference - [ 24.43 ] rpm Forward 0 rpm Reverse Reference + [ 24.43 ] rpm Speed error Reference window...
Page 284 284 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Normal speed All three terms (parameters 25.2, 25.3 and 25.4) are control observed by the speed controller. P-control Only the proportional term (25.2) is observed by the speed controller.
Page 285: Speed Control
Parameters 285 Name / Range / Description Def / Type Selection FbEq 16b / 32b Speed control Speed controller settings. See the control chain diagrams on pages and 652. 25.1 Torque reference Displays the speed controller output that is transferred - / real32 speed control to the torque controller.
Page 286 286 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 25.3 Speed integration Defines the integration time of the speed controller. 2.50; 5.00 s (95.21 time The integration time defines the rate at which the b1/b2) s / real32 controller output changes when the error value is constant and the proportional gain of the speed...
Page 287 Parameters 287 Name / Range / Description Def / Type Selection FbEq 16b / 32b 25.4 Speed derivation Defines the derivation time of the speed controller. 0.000 s / real32 time Derivative action boosts the controller output if the error value changes. The longer the derivation time, the more the speed controller output is boosted during the change.
Page 288 288 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 25.6 Acc comp derivation Defines the derivation time for - / real32 time acceleration(/deceleration) compensation. In order to compensate for a high inertia load during acceleration, a derivative of the reference is added to the output of the speed controller.
Page 289 Parameters 289 Name / Range / Description Def / Type Selection FbEq 16b / 32b 25.8 Drooping rate Defines the droop rate in percent of the nominal motor - / real32 speed. Drooping decreases the drive speed slightly as the drive load increases.
Page 290 290 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Digital input DI6 (10.2 DI delayed status, bit 5). DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit Other [bit] Terms and abbreviations (page...
Page 291 Parameters 291 Name / Range / Description Def / Type Selection FbEq 16b / 32b 25.18 Speed adapt min Minimum actual speed for speed controller adaptation. - / real32 limit Speed controller gain and integration time can be adapted according to actual speed (90.1 Motor speed control).
Page 292 292 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 25.25 Torque adapt max Maximum torque reference for speed controller - / real32 limit adaptation. Speed controller gain can be adapted according to the final unlimited torque reference (26.1 Torque reference TC).
Page 293 Parameters 293 Name / Range / Description Def / Type Selection FbEq 16b / 32b 25.30 Flux adaptation Enables/disables speed controller adaptation based Enable / uint16 enable on motor flux reference (1.24 Flux actual The proportional gain of the speed controller is multiplied by a coefficient of 0…1 between 0…100% flux reference respectively.
Page 294 294 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 25.33 Speed controller Activates (or selects a source that activates) the speed Off / uint32 autotune controller autotune function. See section Speed controller autotune (page 79).
Page 295 Parameters 295 Name / Range / Description Def / Type Selection FbEq 16b / 32b 25.38 Autotune torque Defines an added torque value used by the autotune 10.00 % / real32 step function. This value is scaled to motor nominal torque. Note that the torque used by the autotune function can also be limited by the torque limits (in parameter group...
Page 296 296 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 25.53 Torque prop Displays the output of the proportional (P) part of the - / real32 reference speed controller. See the control chain diagram on page 652.
Page 297: Torque Reference Chain
Parameters 297 Name / Range / Description Def / Type Selection FbEq 16b / 32b Torque reference Settings for the torque reference chain. chain See the control chain diagrams on pages and 655. 26.1 Torque reference to Displays the final torque reference given to the torque - / real32 controller in percent.
Page 298 298 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b FB A ref1 3.5 FB A reference 1 (page 140). FB A ref2 3.6 FB A reference 2 (page 140). EFB ref1 3.9 EFB reference 1 (page 140).
Page 299 Parameters 299 Name / Range / Description Def / Type Selection FbEq 16b / 32b Torque reference 2 Follow Ext1/Ext2 Torque reference 1 is used when external control selection location EXT1 is active. Torque reference 2 is used when external control location EXT2 is active. See also parameter 19.11 Ext1/Ext2 selection.
Page 300 300 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 26.25 Torque additive 2 Selects the source of torque reference additive 2. Zero / uint32 source The value received from the selected source is added to the torque reference after operating mode selection.
Page 301 Parameters 301 Name / Range / Description Def / Type Selection FbEq 16b / 32b 26.41 Torque step When enabled by parameter 26.42 Torque step enable, 0.0 % / real32 adds an additional step to the torque reference. A second torque step can be added using pointer parameters 26.43 Torque step pointer enable 26.44...
Page 302 302 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b FB A ref1 3.5 FB A reference 1 (page 140). FB A ref2 3.6 FB A reference 2 (page 140). EFB ref1 3.9 EFB reference 1 (page 140).
Page 303 Parameters 303 Name / Range / Description Def / Type Selection FbEq 16b / 32b 26.52 Oscillation damping Determines (or selects a source that determines) Not selected / uint32 out enable whether the output of the oscillation damping function is applied to the torque reference or not. Note: Before enabling the oscillation damping output, adjust parameters 26.53…26.57.
Page 304 304 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 26.56 Oscillation damping Defines a phase shift for the output of the filter. 180 deg / real32 phase Note: Before changing this parameter run-time, disable the oscillation damping output using parameter 26.52.
Page 305 Parameters 305 Name / Range / Description Def / Type Selection FbEq 16b / 32b 26.74 Torque ref ramp out Displays the torque reference after limiting and - / real32 ramping. See the control chain diagram on page 653. This parameter is read-only. -1600.0 ...
Page 306: Limits
306 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Limits Drive operation limits. 30.1 Limit word 1 Displays limit word 1. - / uint16 This parameter is read-only. Torq lim 1 = Drive torque is being limited by the motor control (undervoltage control, current control, load angle control or pull-out control), or by the torque limits defined by parameters.
Page 307 Parameters 307 Name / Range / Description Def / Type Selection FbEq 16b / 32b 30.2 Torque limit status Displays the torque controller limitation status word. - / uint16 This parameter is read-only. *Only one out of bits 0…3, and one out of bits 9…13 can be on simultaneously.
Page 308 308 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 30.11 Minimum speed Defines the minimum allowed speed. -1500.00; -1800.00 (95.20 b0) rpm / real32 WARNING! This value must not be higher than 30.12 Maximum speed.
Page 309 Parameters 309 Name / Range / Description Def / Type Selection FbEq 16b / 32b 0.00 ... 30000.00 A Maximum motor current. 1 = 1 A / 100 = 1 A 30.18 Minimum torque sel Selects a source that switches between two different Minimum torque 1 / predefined minimum torque limits.
Page 310 310 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit Other [bit] Terms and abbreviations (page 130). 30.19 Minimum torque 1 Defines a minimum torque limit for the drive (in percent...
Page 311 Parameters 311 Name / Range / Description Def / Type Selection FbEq 16b / 32b 30.22 Maximum torque 2 Defines the source of the maximum torque limit for Maximum torque 2 / source the drive (in percent of nominal motor torque) when uint32 •...
Page 312 312 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Maximum torque 2 source Digital input DI1 (10.2 DI delayed status, bit 0). Digital input DI2 (10.2 DI delayed status, bit 1). Digital input DI3 (10.2 DI delayed status, bit 2).
Page 313 Parameters 313 Name / Range / Description Def / Type Selection FbEq 16b / 32b 30.31 Undervoltage Enables the undervoltage control of the intermediate Enable / uint16 control DC link. If the DC voltage drops due to input power cut off, the undervoltage controller will automatically decrease the motor torque in order to keep the voltage above the lower limit.
Page 314 314 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b b5…6 Reserved AC diff max 1 = (When AC voltage-type reactive power reference is being used) Input of AC control is being limited AC diff min 1 = (When AC voltage-type reactive power reference is being used) Input of AC control is being limited...
Page 315 Parameters 315 Name / Range / Description Def / Type Selection FbEq 16b / 32b 30.104 LSU limit word 4 (Only visible when IGBT supply unit control activated - / uint16 95.20 Displays limit word 4 of the supply unit. This parameter is read-only.
Page 316: Fault Functions
316 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Fault functions Configuration of external events; selection of behavior of the drive upon fault situations. 31.1 External event 1 Defines the source of external event 1. Inactive (true);...
Page 317 Parameters 317 Name / Range / Description Def / Type Selection FbEq 16b / 32b Warning The external event generates a warning. Warning/Fault If the drive is modulating, the external event generates a fault. Otherwise, the event generates a warning. 31.7 External event 4 Defines the source of external event 4.
Page 318 318 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Position CW reset 74.21 Fault reset sel 74.4 Position command status 1, bit 1. FBA A MCW bit 7 Control word bit 7 received through fieldbus interface EFB MCW bit 7 Control word bit 7 received through the embedded fieldbus interface.
Page 319 Parameters 319 Name / Range / Description Def / Type Selection FbEq 16b / 32b External fault 4 From source selected by parameter 31.7 External event 4 source External fault 5 From source selected by parameter 31.9 External event 5 source 0000h…FFFFh 1 = 1 31.13...
Page 320 320 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Warning The drive generates an A2B3 Earth leakage warning. Fault The drive trips on fault 2330 Earth leakage. 31.22 STO indication Selects which indications are given when both Safe Fault/Fault / uint16 run/stop torque off (STO) signals are switched off or lost.
Page 321 Parameters 321 Name / Range / Description Def / Type Selection FbEq 16b / 32b Fault/Warning Inputs Indication Running Stopped Fault 5091 Warning A5A0 Safe torque Safe torque off5091 Safe torque off Faults 5091 Warning A5A0 Safe torque Safe torque FA81 and fault Safe torque...
Page 322 322 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Event/Event Inputs Indication (running or stopped) Event B5A0 STO event Event B5A0 STO event and fault FA81 Safe torque off 1 loss Event B5A0 STO event and fault FA82 Safe torque...
Page 323 Parameters 323 Name / Range / Description Def / Type Selection FbEq 16b / 32b 31.26 Stall speed limit Stall speed limit in rpm. See parameter 31.24 Stall 150.00; 180.00 rpm function. (95.20 b0) rpm / real32 0.00 ... 10000.00 Stall speed limit.
Page 324 324 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 31.32 Emergency ramp Parameters 31.32 Emergency ramp supervision - / real32 supervision 31.33 Emergency ramp supervision delay, together with 1.29 Speed change rate, provide a supervision function for emergency stop modes Off1 and Off3.
Page 325 Parameters 325 Name / Range / Description Def / Type Selection FbEq 16b / 32b 31.35 Main fan fault Selects how the drive reacts when a main cooling fan Warning / uint16 function fault is detected. Note: With an inverter unit consisting of one or more frame R8i inverter modules with speed-controlled fans, it may be possible to continue operation even if one main fan of a module stops.
Page 326 326 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 31.37 Ramp stop Parameters 31.37 Ramp stop supervision 31.38 - / real32 supervision Ramp stop supervision delay, together with 1.29 Speed change rate, provide a supervision function for normal (ie.
Page 327 Parameters 327 Name / Range / Description Def / Type Selection FbEq 16b / 32b 0000h…FFFFh 1 = 1 31.42 Overcurrent fault Sets a custom motor current fault limit. 0.00 A / real32 limit The drive automatically sets an internal motor current limit according to the drive hardware.
Page 328: Supervision
328 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Supervision Configuration of signal supervision functions 1…3. Three values can be chosen to be monitored; a warning or fault is generated whenever predefined limits are exceeded.
Page 329 Parameters 329 Name / Range / Description Def / Type Selection FbEq 16b / 32b 32.7 Supervision 1 signal Selects the signal to be monitored by signal supervision Zero / uint32 function 1. Zero None. Speed 1.1 Motor speed used. Frequency 1.6 Output frequency.
Page 330 330 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Both Action is taken whenever the signal falls below its low limit or rises above its high limit. Abs both Action is taken whenever the absolute value of the signal falls below its (absolute) low limit or rises above its (absolute) high limit.
Page 331 Parameters 331 Name / Range / Description Def / Type Selection FbEq 16b / 32b Abs both Action is taken whenever the absolute value of the signal falls below its (absolute) low limit or rises above its (absolute) high limit. 32.26 Supervision 3 action Selects the action the drive takes when the value...
Page 332: Generic Timer & Counter
332 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Generic timer & Configuration of maintenance timers/counters. counter See also section Maintenance timers and counters (page 118). 33.1 Counter status Displays the maintenance timer/counter status word, - / uint16 indicating which maintenance timers/counters have exceeded their limits.
Page 333 Parameters 333 Name / Range / Description Def / Type Selection FbEq 16b / 32b True Constant 1. Bit 0 of 10.21 RO status (page 176). Other [bit] Terms and abbreviations (page 130). 33.14 On-time 1 warn Selects the optional warning message for on-time timer On-time 1 exceeded message / uint32...
Page 334 334 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b True Constant 1. Bit 0 of 10.21 RO status (page 176). Other [bit] Terms and abbreviations (page 130). 33.24 On-time 2 warn Selects the optional warning message for on-time timer On-time 2 exceeded message / uint32...
Page 335 Parameters 335 Name / Range / Description Def / Type Selection FbEq 16b / 32b Count rising edges Count rising edges 0 = Disable: Rising edges are not counted 1 = Enable: Rising edges are counted Count falling edges Count falling edges 0 = Disable: Falling edges are not counted 1 = Enable: Falling edges are counted b4…15...
Page 336 336 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 33.41 Edge counter 2 warn Sets the warning limit for signal edge counter 2. - / uint32 limit 0...4294967295 Warning limit for signal edge counter 2. - / - 33.42 Edge counter 2...
Page 337 Parameters 337 Name / Range / Description Def / Type Selection FbEq 16b / 32b Counted power ups A883 Power ups. Counted DC charges A885 DC charge. 33.50 Value counter 1 Displays the actual present value of value counter 1. 0 / real32 actual The value of the source selected by parameter...
Page 338 338 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 33.54 Value counter 1 Defines a divisor for value counter 1. The value of the 1.000 / real32 divider monitored signal is divided by this value before integration.
Page 339 Parameters 339 Name / Range / Description Def / Type Selection FbEq 16b / 32b b2…15 Reserved 0000h…FFFFh 1 = 1 33.63 Value counter 2 Selects the signal to be monitored by value counter 2. Not selected / uint32 source Not selected None (counter disabled).
Page 340: Motor Thermal Protection
340 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Motor thermal Motor thermal protection settings such as temperature protection measurement configuration, load curve definition and motor fan control configuration. See also section Motor thermal protection (page 111).
Page 341 Parameters 341 Name / Range / Description Def / Type Selection FbEq 16b / 32b Module found in slot 1 = Yes: An FPTC-xx module has been detected in slot Fault active in slot 3 1 = Yes: The module in slot 3 has an active fault (4993 Safe motor temperature Warning active in...
Page 342 342 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b KTY84 analog I/O KTY84 sensor connected to the analog input selected by parameter 35.14 Temperature 1 AI source and an analog output. The input and output can be on the drive control unit or on an extension module.
Page 343 Parameters 343 Name / Range / Description Def / Type Selection FbEq 16b / 32b PTC DI6 PTC sensor connected to digital input DI6 (see the connection diagram on page 111). Note: Either 0 ohm (normal temperature) or 4000 ohm (excessive temperature) will be shown by 35.2 Measured temperature...
Page 344 344 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Pt1000 encoder Pt1000 sensor connected to encoder interface 2. See module 2 parameters 91.24 Module 2 temp sensor type 91.25 Module 2 temp filter time. Note: Pt1000 sensor supports FEN-11 and FEN-31 encoder modules only.
Page 345 Parameters 345 Name / Range / Description Def / Type Selection FbEq 16b / 32b 35.21 Temperature 2 Selects the source from which measured temperature Disabled / uint16 source 2 is read. For wiring examples, see the hardware manual of the drive.
Page 346 346 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 1 x Pt100 analog I/O Pt100 sensor connected to a standard analog input selected by parameter 35.24 Temperature 2 AI source and an analog output. The input and output can be on the drive control unit or on an extension module.
Page 347 Parameters 347 Name / Range / Description Def / Type Selection FbEq 16b / 32b 3 x Pt1000 analog As selection 1 x Pt1000 analog I/O, but with three sensors connected in series. Using multiple sensors improves measurement accuracy significantly. Pt1000 encoder Pt1000 sensor connected to encoder interface 1.
Page 348 348 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Disable slot 1 1 = Yes: Warnings from the module in slot 1 suppressed. warning Module in slot 2 1 = Yes: Module installed in slot 2. Disable slot 2 1 = Yes: Warnings from the module in slot 2 suppressed.
Page 349 Parameters 349 Name / Range / Description Def / Type Selection FbEq 16b / 32b 50...150 % Maximum load for the motor load curve. 1 = 1 % / 1 = 1 % 35.52 Zero speed load Defines the motor load curve together with parameters 70 % / uint16 35.51 Motor load curve 35.53 Break...
Page 350 350 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 35.55 Motor thermal time Defines the thermal time constant for use with the 256 s / uint16 constant motor thermal protection model, defined as the time to reach 63% of the nominal motor temperature.
Page 351 Parameters 351 Name / Range / Description Def / Type Selection FbEq 16b / 32b Class 30 Motor overload class 30. Class 40 Motor overload class 40. 35.60 Cable temperature Shows the calculated temperature of the motor cable. 0.0 % / real32 See section Thermal protection of motor cable (page...
Page 352 352 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 35.62 Cable thermal rise Specifies the thermal time of the motor cable for the 1 s / uint16 time thermal protection function in the control program. This value is defined as the time to reach 63% of the nominal cable temperature when the cable is loaded with nominal current (parameter...
Page 353 Parameters 353 Name / Range / Description Def / Type Selection FbEq 16b / 32b 35.101 DOL starter on delay Defines a start delay for the motor fan. - / uint32 The delay timer starts when the control source selected by parameter 35.100 switches on.
Page 354 354 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Delayed start Fan control bit (delays observed). Select this bit as the command: source of the output controlling the fan. 0 = Stopped 1 = Started DOL feedback: Status of fan feedback (source selected by 35.103).
Page 355: Load Analyzer
Parameters 355 Name / Range / Description Def / Type Selection FbEq 16b / 32b Load analyzer Peak value and amplitude logger settings. See also section Load analyzer (page 119). 36.1 PVL signal source Selects the signal to be monitored by the peak value Power inu out / logger.
Page 356 356 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b DC voltage 1.11 DC voltage (page 135). Power inu out 1.14 Output power (page 135). Speed ref ramp in 23.1 Speed ref ramp input (page 270).
Page 357 Parameters 357 Name / Range / Description Def / Type Selection FbEq 16b / 32b -32768.00 ... Motor current at peak. 1 = 1 A / 100 = 1 A 32767.00 A 36.14 PVL DC voltage at Displays the voltage in the intermediate DC circuit of - / real32 peak the drive at the moment the peak value was recorded.
Page 358 358 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 36.29 AL1 over 90% Displays the percentage of samples recorded by - / real32 amplitude logger 1 that exceed 90 %. 0.00 ... 100.00 % Amplitude logger 1 samples over 90 %.
Page 359: Brake Chopper
Parameters 359 Name / Range / Description Def / Type Selection FbEq 16b / 32b Brake chopper Settings for the internal brake chopper. See also section DC voltage control (page 102). 43.1 Brake resistor Displays the estimated temperature of the brake - / real32 temperature resistor, or how close the brake resistor is to being too...
Page 360 360 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Overvoltage peak Brake chopper starts to conduct at 100% pulse width protection whenever • The DC voltage exceeds the overvoltage fault limit (a hysteresis applies), and •...
Page 361 Parameters 361 Name / Range / Description Def / Type Selection FbEq 16b / 32b 43.10 Brake resistance Defines the resistance value of the brake resistor. The 0.0 Ohm / real32 value is used for the brake chopper protection based on the thermal model.
Page 362: Mechanical Brake Control
362 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Mechanical brake Configuration of mechanical brake control. control See also section Mechanical brake control (page 96). 44.1 Brake control status Displays the mechanical brake control status word. - / uint16 This parameter is read-only.
Page 363 Parameters 363 Name / Range / Description Def / Type Selection FbEq 16b / 32b Not selected Selected Digital input DI1 (10.2 DI delayed status, bit 0). Digital input DI2 (10.2 DI delayed status, bit 1). Digital input DI3 (10.2 DI delayed status, bit 2).
Page 364 364 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 44.8 Brake open delay Defines the brake open delay, ie. the delay between the 0.00 s / real32 internal open brake command and the release of motor speed control.
Page 365 Parameters 365 Name / Range / Description Def / Type Selection FbEq 16b / 32b Selected Digital input DI1 (10.2 DI delayed status, bit 0). Digital input DI2 (10.2 DI delayed status, bit 1). Digital input DI3 (10.2 DI delayed status, bit 2).
Page 366 366 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 44.13 Brake close delay Defines a delay between a close command (that is, 0.00 s / real32 when the brake control output is de-energized) and when the drive stops modulating.
Page 367: Energy Efficiency
Parameters 367 Name / Range / Description Def / Type Selection FbEq 16b / 32b Open fault Upon closing the brake, the drive generates a A7A1 Mechanical brake closing failed warning if the status of the acknowledgement does not match the status presumed by the brake control logic.
Page 368: Monitoring/Scaling Settings
500, the fieldbus reference range of 0…20000 would correspond to a speed of 500…[46.1] rpm. Note: This parameter is effective only with the ABB Drives communication profile. 0.00 ... 30000.00 Speed corresponding to minimum fieldbus reference.
Page 369 FBA A or FBA B). For example, with a setting of 30, the fieldbus reference range of 0…20000 would correspond to a speed of 30…[46.2] Note: This parameter is effective only with the ABB Drives communication profile. 0.00 ... 1000.00 Hz...
Page 370 370 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 46.21 At speed hysteresis Defines the “at setpoint” limits for speed control of the 100.00 rpm / real32 drive. When the absolute difference between reference (22.87 Speed reference act 7) and actual speed...
Page 371 Parameters 371 Name / Range / Description Def / Type Selection FbEq 16b / 32b 46.23 At torque hysteresis Defines the “at setpoint” limits for torque control of 10.0 % / real32 the drive. When the absolute difference between reference (26.73 Torque reference act 4) and actual torque...
Page 372: Data Storage
372 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Data storage Data storage parameters that can be written to and read from using other parameters’ source and target settings. Note that there are different storage parameters for different data types.
Page 373 Parameters 373 Name / Range / Description Def / Type Selection FbEq 16b / 32b -2147483648...2147483647 32-bit integer. - / - 47.12 DataStorage 2 int32 Data storage parameter 10. - / int32 -2147483648...2147483647 32-bit integer. - / - 47.13 DataStorage 3 int32 Data storage parameter 11.
Page 374 374 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 47.31 DataStorage 1 real32 Defines the scaling of parameter 47.1 DataStorage 1 Unscaled / uint16 type real32 to and from 16-bit integer format. This scaling is used when the data storage parameter is the target of received 16-bit data (defined in parameter group D2D and DDCS receive...
Page 375: Panel Port Communication
Parameters 375 Name / Range / Description Def / Type Selection FbEq 16b / 32b Panel port Communication settings for the control panel port on communication the drive. 49.1 Node ID number Defines the node ID of the drive. All devices connected 1 / uint32 to the network must have a unique node ID.
Page 376 376 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Speed ref safe Drive generates an A7EE Control panel loss warning and sets the speed to the speed defined by parameter 22.41 Speed ref safe. This only occurs if control is expected from the control panel, or if supervision is forced using parameter 49.7 Panel comm supervision...
Page 377 Parameters 377 Name / Range / Description Def / Type Selection FbEq 16b / 32b 49.8 Secondary comm. Selects how the drive reacts to a control panel (or PC No action / uint16 loss action tool) communication break. This action is taken when •...
Page 378 378 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 49.24 Panel actual source Selects an actual value to be displayed in the top right Automatic / uint32 corner of the control panel. This parameter is only effective when the control panel is not an active reference source.
Page 379: Fieldbus Adapter (Fba)
Parameters 379 Name / Range / Description Def / Type Selection FbEq 16b / 32b Fieldbus adapter Fieldbus communication configuration. (FBA) See also chapter Fieldbus control through a fieldbus adapter (page 627). 50.1 FBA A enable Enables/disables communication between the drive Disable / uint16 and fieldbus adapter A, and specifies the slot the adapter is installed into.
Page 380 380 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Speed ref safe Drive generates an A7C1 FBA A communication warning and sets the speed to the value defined by parameter 22.41 Speed ref safe (when speed reference is being used).
Page 381 Parameters 381 Name / Range / Description Def / Type Selection FbEq 16b / 32b Speed The scaling is defined by parameter 46.1 Speed scaling. Frequency The scaling is defined by parameter 46.2 Frequency scaling. 50.5 FBA A ref2 type Selects the type and scaling of reference 2 received Auto / uint16 from fieldbus adapter A.
Page 382 382 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 50.11 FBA A act2 When parameter 50.8 FBA A actual 2 type is set to Not selected / uint32 transparent source Transparent or General, this parameter selects the source of actual value 2 transmitted to the fieldbus network through fieldbus adapter A.
Page 383 Parameters 383 Name / Range / Description Def / Type Selection FbEq 16b / 32b 50.21 FBA A timelevel sel Selects the communication time levels. Normal / uint16 In general, lower time levels of read/write services reduce CPU load. The table below shows the time levels of the read/write services for cyclic high and cyclic low data with each parameter setting.
Page 384 384 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Option slot 1 Communication between drive and fieldbus adapter B enabled. The adapter is in slot 1. Option slot 2 Communication between drive and fieldbus adapter B enabled.
Page 385 Parameters 385 Name / Range / Description Def / Type Selection FbEq 16b / 32b Warning Drive generates an A7C2 FBA B communication warning. This only occurs if control is expected from the FBA B interface, or if supervision is forced using parameter 50.56 FBA B comm supervision force.
Page 386 386 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 50.41 FBA B act2 When parameter 50.38 FBA B actual 2 type is set to Not selected / uint32 transparent source Transparent or General, this parameter selects the source of actual value 2 transmitted to the fieldbus network through fieldbus adapter B.
Page 387 Parameters 387 Name / Range / Description Def / Type Selection FbEq 16b / 32b 50.51 FBA B timelevel sel Selects the communication time levels. Normal / uint16 In general, lower time levels of read/write services reduce CPU load. The table below shows the time levels of the read/write services for cyclic high and cyclic low data with each parameter setting.
Page 388: Fba A Settings
388 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b FBA A settings Fieldbus adapter A configuration. 51.1 FBA A type Displays the type of the connected fieldbus adapter - / uint16 module. 0 = Module is not found or is not properly connected, or is disabled by parameter 50.1 FBA A enable;...
Page 389 Parameters 389 Name / Range / Description Def / Type Selection FbEq 16b / 32b Configuration error Adapter configuration error: mapping file not found in the file system of the drive, or mapping file upload has failed more than three times. Off-line Fieldbus communication is off-line.
Page 390: Fba A Data In
390 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b FBA A data in Selection of data to be transferred from drive to fieldbus controller through fieldbus adapter A. Note: 32-bit values require two consecutive parameters. Whenever a 32-bit value is selected in a data parameter, the next parameter is automatically reserved.
Page 391: Fba A Data Out
Parameters 391 Name / Range / Description Def / Type Selection FbEq 16b / 32b FBA A data out Selection of data to be transferred from fieldbus controller to drive through fieldbus adapter A. Note: 32-bit values require two consecutive parameters. Whenever a 32-bit value is selected in a data parameter, the next parameter is automatically reserved.
Page 392: Fba B Settings
392 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b FBA B settings Fieldbus adapter B configuration. 54.1 FBA B type Displays the type of the connected fieldbus adapter - / uint16 module. 0 = Module is not found or is not properly connected, or is disabled by parameter 50.31 FBA B enable;...
Page 393 Parameters 393 Name / Range / Description Def / Type Selection FbEq 16b / 32b Configuration error Adapter configuration error: mapping file not found in the file system of the drive, or mapping file upload has failed more than three times. Off-line Fieldbus communication is off-line.
Page 394: Fba B Data In
394 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b FBA B data in Selection of data to be transferred from drive to fieldbus controller through fieldbus adapter B. 55.1 FBA B data in1 Parameters 55.01…55.12 select data to be transferred None / uint32...
Page 395: Fba B Data Out
Parameters 395 Name / Range / Description Def / Type Selection FbEq 16b / 32b FBA B data out Selection of data to be transferred from fieldbus controller to drive through fieldbus adapter B. 56.1 FBA B data out1 Parameters 56.01…56.12 select data to be transferred None / uint32...
Page 396: Embedded Fieldbus
396 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Embedded fieldbus Configuration of the embedded fieldbus (EFB) interface. See also chapter Fieldbus control through the embedded fieldbus interface (EFB) (page 605). 58.1 Protocol enable Enables/disables the embedded fieldbus interface and None / uint16 selects the protocol to use.
Page 397 Parameters 397 Name / Range / Description Def / Type Selection FbEq 16b / 32b 8 ODD 1 Eight data bits, odd parity bit, one stop bit. 58.6 Communication Validates any changes in the EFB settings, or activates Enabled / uint16 control silent mode.
Page 398 398 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 58.9 Transmitted packets Displays a count of valid packets transmitted by the 0 / uint32 drive. During normal operation, this number increases constantly. Can be reset from the control panel by keeping Reset depressed for over 3 seconds.
Page 399 Parameters 399 Name / Range / Description Def / Type Selection FbEq 16b / 32b Speed ref safe Drive generates an A7CE EFB comm loss warning and sets the speed to the speed defined by parameter 22.41 Speed ref safe. This only occurs if control is expected from the EFB, or if supervision is forced using parameter 58.36 EFB comm supervision...
Page 400 Control profile Defines the control profile used by the protocol. ABB Drives / uint16 ABB Drives ABB Drives profile (with a 16-bit control word) with registers in the classic format for backward compatibility. Transparent Transparent profile (16-bit or 32-bit control word) with registers in the classic format.
Page 401 Parameters 401 Name / Range / Description Def / Type Selection FbEq 16b / 32b General The value selected by parameter 58.31 EFB act1 transparent source is sent as actual value 1 with a 16-bit scaling of 100 = 1 unit (ie. integer and two decimals). Torque 1.10 Motor torque is sent as actual value 1.
Page 402 402 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 58.33 Addressing mode Defines the mapping between parameters and holding Mode 0 / uint16 registers in the 400101…465535 Modbus register range. Changes to this parameter take effect after the control unit is rebooted or the new settings validated by parameter 58.6 Communication...
Page 403 Parameters 403 Name / Range / Description Def / Type Selection FbEq 16b / 32b 58.101 Data I/O 1 Defines the address in the drive which the Modbus CW 16bit / uint32 master accesses when it reads from or writes to register address 400001.
Page 404 404 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 58.105 Data I/O 5 Defines the address in the drive which the Modbus Act1 16bit / uint32 master accesses when it reads from or writes to register address 400005.
Page 405: Ddcs Communication
Parameters 405 Name / Range / Description Def / Type Selection FbEq 16b / 32b DDCS DDCS communication configuration. communication The DDCS protocol is used in the communication between • drives in a master/follower configuration (see page 66), • the drive and an external controller such as the AC 800M (see page 74), or •...
Page 406 406 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 60.3 M/F mode Defines the role of the drive on the master/follower or Not in use / uint16 drive-to-drive link. Not in use Master/follower functionality not active. DDCS master The drive is the master on the master/follower (DDCS) link.
Page 407 Parameters 407 Name / Range / Description Def / Type Selection FbEq 16b / 32b 60.7 M/F link control Defines the light intensity of the transmission LED of 10 / uint16 RDCO module channel CH2. (This parameter is effective only when parameter 60.1 M/F communication port set to RDCO CH...
Page 408 408 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Speed The scaling is defined by parameter 46.1 Speed scaling. Frequency The scaling is defined by parameter 46.2 Frequency scaling. 60.11 M/F ref2 type Selects the type and scaling of reference 2 received Torque / uint16 from the master/follower link.
Page 409 Parameters 409 Name / Range / Description Def / Type Selection FbEq 16b / 32b Follower nodes 3+4 Data is read from the followers with node addresses 3 and 4. Follower nodes Data is read from the followers with node addresses 2+3+4 2, 3 and 4.
Page 410 410 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b MSW bit 1 The master can only be started if all followers are ready to operate (bit 1 of 6.11 Main status word in each follower is on).
Page 411 Parameters 411 Name / Range / Description Def / Type Selection FbEq 16b / 32b Follower 15 1 = Follower 15 is polled by the master. Follower 16 1 = Follower 16 is polled by the master. 0000h…FFFFh 1 = 1 60.20 M/F comm Selects which followers (out of followers 17…32) are...
Page 412 412 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 60.23 M/F status (This parameter is only effective when the drive is the - / uint16 supervision sel 1 master on a D2D link. See parameters 60.1 M/F communication port 60.3 M/F...
Page 413 Parameters 413 Name / Range / Description Def / Type Selection FbEq 16b / 32b 60.24 M/F status Selects the followers (out of followers 17…32) whose - / uint16 supervision sel 2 status words are monitored by the D2D master. Note: Also activate communication supervision for the same followers in parameter 60.20 M/F comm...
Page 414 414 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Follower 5 0 = Status of follower 5 is monitored continuously. 1 = Status of follower 5 is monitored only when it is in stopped state. Follower 6 0 = Status of follower 6 is monitored continuously.
Page 415 Parameters 415 Name / Range / Description Def / Type Selection FbEq 16b / 32b Follower 20 0 = Status of follower 20 is monitored continuously. 1 = Status of follower 20 is monitored only when it is in stopped state. Follower 21 0 = Status of follower 21 is monitored continuously.
Page 416 Channel CH 3 on RDCO module (with BCU control unit only). 60.50 DDCS controller In ModuleBus communication, defines whether the ABB engineered drive drive type drive is of the “engineered” or “standard” type. / uint16 Note: This parameter cannot be changed while the drive is running.
Page 417 Parameters 417 Name / Range / Description Def / Type Selection FbEq 16b / 32b Slot 1A Channel A on FDCO module in slot 1. Slot 2A Channel A on FDCO module in slot 2. Slot 3A Channel A on FDCO module in slot 3. Slot 1B Channel B on FDCO module in slot 1.
Page 418 418 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 60.57 DDCS controller link Defines the light intensity of the transmission LED of 10 / uint16 control RDCO module channel CH0. (This parameter is effective only when parameter 60.51 DDCS controller comm port is set to...
Page 419 Parameters 419 Name / Range / Description Def / Type Selection FbEq 16b / 32b Last speed Drive generates an A7CA DDCS controller comm loss warning and freezes the speed to the level the drive was operating at. This only occurs if control is expected from the external controller, or if supervision is forced using parameter 60.65 DDCS controller comm...
Page 420 420 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Frequency The scaling is defined by parameter 46.2 Frequency scaling. 60.61 DDCS controller ref2 Selects the type and scaling of reference 2 received Auto / uint16 type from the external controller.
Page 421 Parameters 421 Name / Range / Description Def / Type Selection FbEq 16b / 32b Ext 1 1 = Communication monitoring active when Ext 1 is being used. Ext 2 1 = Communication monitoring active when Ext 2 is being used. Local 1 = Communication monitoring active when local control is being used.
Page 422 422 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 60.79 INU-LSU comm loss (Only visible when supply unit control activated by Fault / uint16 function 95.20 Selects how the inverter unit reacts to a communication break between the inverter unit and the other converter (typically the supply unit).
Page 423: D2D And Ddcs Transmit Data
Parameters 423 Name / Range / Description Def / Type Selection FbEq 16b / 32b D2D and DDCS Defines the data sent to the DDCS link. transmit data See also parameter group 60 DDCS communication. 61.1 M/F data 1 selection Preselects the data to be sent as word 1 onto the Follower CW / uint32 master/follower link.
Page 424 424 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b D2D velocity Scaled velocity value as displayed by 88.54 D2D velocity 22582 send. Note: Occasionally, below data are also sent to the follower: • 32768-Position initialization or position send type changed.
Page 425 2 and 4 to the external controller. These data sets are used in ModuleBus communication with a “standard drive” (60.50 DDCS controller drive type ABB standard drive). Parameters 61.95…61.100 display the data to be sent to the external controller. If no data has been preselected, the value to be sent can be written directly into these parameters.
Page 426 426 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 61.51 Data set 11 data 1 Parameters 61.51…61.74 preselect data to be sent in None / uint32 selection data sets 11, 13, 15, 17, 19, 21, 23 and 25 to the external controller.
Page 427 Parameters 427 Name / Range / Description Def / Type Selection FbEq 16b / 32b 61.97 Data set 2 data 3 Displays (in integer format) the data to be sent to the 0 / uint16 value external controller as word 3 of data set 2. If no data has been preselected by 61.47 Data set 2 data selection, the value to be sent can be written directly...
Page 428 428 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 61.151 INU-LSU data set 10 (Parameters 61.151…61.203 only visible when supply LSU CW / uint32 data 1 sel unit control activated by 95.20) Parameters 61.151…61.153 preselect data to be sent in data set 10 to another converter (typically the supply unit of the drive).
Page 429 Parameters 429 Name / Range / Description Def / Type Selection FbEq 16b / 32b 0...65535 Data to be sent as word 3 of data set 10. - / -...
Page 430: D2D And Ddcs Receive Data
430 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b D2D and DDCS Mapping of data received through the DDCS link. receive data See also parameter group 60 DDCS communication. 62.1 M/F data 1 selection (Follower only) Defines a target for the data received None / uint32 as word 1 from the master through the master/follower...
Page 431 Parameters 431 Name / Range / Description Def / Type Selection FbEq 16b / 32b 62.6 Follower node 2 data Defines a target for the data received as word 3 from None / uint32 3 sel the first follower (ie. the follower with node address 2) through the master/follower link.
Page 432 432 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 62.26 M/F data 2 value (Follower only) Displays, in integer format, the data - / uint16 received from the master as word 2. Parameter 62.2 M/F data 2 selection can be used to select a target for the received data.
Page 433 Parameters 433 Name / Range / Description Def / Type Selection FbEq 16b / 32b 0...65535 Data received as word 1 from follower with node - / - address 3. 62.32 Follower node 3 data Displays, in integer format, the data received from the - / uint16 2 value second follower (ie.
Page 434 434 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 62.37 M/F communication In the master, displays the status of the communication - / uint16 status 1 with followers specified by parameter 60.19 M/F comm supervision sel In a follower, bit 0 indicates the status of the communication with the master.
Page 435 Parameters 435 Name / Range / Description Def / Type Selection FbEq 16b / 32b Follower 30 1 = Communication with follower 30 OK. Follower 31 1 = Communication with follower 31 OK. Follower 32 1 = Communication with follower 32 OK. 0000h…FFFFh 1 = 1 62.41...
Page 436 1 and 3 from the external controller. These data sets are used in ModuleBus communication with a “standard drive” (60.50 DDCS controller drive type ABB standard drive). Parameters 62.95…62.100 display the data received from the external controller in integer format, and can be used as sources by other parameters.
Page 437 Parameters 437 Name / Range / Description Def / Type Selection FbEq 16b / 32b Ref2 16bit Reference REF2 (16 bits) Other [value] Terms and abbreviations (page 130). 62.52 Data set 10 data 2 Defines a target for the data received as word 2 of data None / uint32 selection set 10.
Page 438 438 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 0...65535 Data received as word 1 of data set 10. - / - 62.102 Data set 10 data 2 Displays (in integer format) the data received from the - / uint16 value external controller as word 2 of data set 10.
Page 439 Parameters 439 Name / Range / Description Def / Type Selection FbEq 16b / 32b 62.153 INU-LSU data set 11 Defines a target for the data received as word 3 of data None / uint32 data 3 sel set 11. See also parameter 62.203 INU-LSU data set 11 data 3 value.
Page 440: Position Status & Control Words
440 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Position status & Position status and control words. control words 74.1 Position status word Position status word 1. - / uint16 This parameter is read-only. In operation 1 = Positioning axis enabled Fault...
Page 441 Parameters 441 Name / Range / Description Def / Type Selection FbEq 16b / 32b User bit 3 Status of signal selected by 74.62 User bit 4 Status of signal selected by 74.63 User bit 5 Status of signal selected by 74.64 0000h…FFFFh 1 = 1 74.4...
Page 442 442 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Superimposed 1 = Initiate superimposed movement Note: Bit value transition behavior defined by 74.15 Position command trigger type. Reserved Phasing relative 1 = Initiate phasing relative movement Note: Bit value transition behavior defined by 74.15 Position command trigger type.
Page 443 Parameters 443 Name / Range / Description Def / Type Selection FbEq 16b / 32b User bit 14 User bit 15 0000h…FFFFh 1 = 1 74.8 User Position User-specific position control word 2. For usage, see - / uint16 control word 2 74.07 User position control word 1.
Page 444 444 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Edge Edge: • Rising edge of signal activates the command. • Falling edge of signal does nothing. To stop the drive, a halt or stop function must be activated separately.
Page 445 Parameters 445 Name / Range / Description Def / Type Selection FbEq 16b / 32b 74.20 Enable sel Selects a source that enables/disables the axis (and User Position CW1 bit start) commands when 20.3 Ext1 in1 source is set to 0 / int32 Position CW enable.
Page 446 446 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 74.23 Jog reverse sel Selects the source of a jog signal (in the negative False / int32 direction). This command is always level-triggered. In case jogging is activated in both the positive and negative directions, the one that was activated last takes priority.
Page 447 Parameters 447 Name / Range / Description Def / Type Selection FbEq 16b / 32b 74.33 Stop sel Selects the source of a signal that activates the stop User Position CW1 bit function. 2 / int32 While this signal is on, all move commands are ignored. Parameter 74.15 Position command trigger type defines...
Page 448 448 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 74.48 Virtual master jog Selects the source to activate the virtual master False / int32 forward sel function with jogging velocity in the positive direction. Virtual master must also be selected in parameter 87.11 Master reference...
Page 449 Parameters 449 Name / Range / Description Def / Type Selection FbEq 16b / 32b Other [bit] Terms and abbreviations (page 130). 74.70 Watchdog enable Enables/disables the watchdog functionality. Disabled / uint32 The signal source is selected by 74.35 Watchdog sel.
Page 450: Position Profile
450 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Position profile Definition of motion profiles. 75.11 Target position Defines the target position value in case of an absolute 0.000 units / real32 move, or the target distance in case of relative or additive move.
Page 451 Parameters 451 Name / Range / Description Def / Type Selection FbEq 16b / 32b 0.000 ... Maximum acceleration for jogging. 1000 = 1 units/s^2 / 20000000.000 1 = 1 units/s^2 units/s^2 75.23 Jogging Defines the maximum deceleration rate used during 10.000 units/s^2 / deceleration jogging.
Page 452 452 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Axis retentive Sets the actual axis position value to that of 75.35 Preset position. The previous position will be stored into non-volatile parameters 86.101 Raw axis position input retain 86.102 Raw axis position backup retain.
Page 453 Parameters 453 Name / Range / Description Def / Type Selection FbEq 16b / 32b 75.43 Superimposed Defines the maximum superimposed deceleration rate. 10.000 units/s^2 / deceleration real32 0.000 ... Maximum superimposed deceleration. 1000 = 1 units/s^2 / 20000000.000 1 = 1 units/s^2 units/s^2 75.44 Superimposed jerk...
Page 454 454 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Jog reverse 1 = Jog in reverse direction 0 = Stop jogging in reverse direction Set position 1 = Preset position Homing 1 = Initiate homing Velocity 1 = Initiate velocity movement Relative...
Page 455 Parameters 455 Name / Range / Description Def / Type Selection FbEq 16b / 32b User bit 4 1 = Activate user bit 14 User bit 5 1 = Activate user bit 15 0000h…FFFFh 1 = 1 75.63 Local target position Defines the target position value in case of an absolute 0.000 units / real32 move,...
Page 456 456 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 0.001 ... 100.000% Overriding value. 100 = 1% / 1 = 1%...
Page 457: Position Indexing
Parameters 457 Name / Range / Description Def / Type Selection FbEq 16b / 32b Position indexing Definition of positioning indexes (tasks). 76.1 Actual position Displays the currently active positioning index (task). 0 / uint16 index This parameter is read-only. 0...8 Currently active positioning index.
Page 458 458 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 76.5 Position index See parameter 76.2 Position index functions, selection False / int32 source 2 Index selection. For the selections, see 76.4 Position index source 76.6 Position index See parameter...
Page 459 Parameters 459 Name / Range / Description Def / Type Selection FbEq 16b / 32b 0.000 ... Deceleration 1000 = 1 units/s^2 / 20000000.000 1 = 1 units/s^2 units/s^2 76.15 Pos index 1 jerk Defines the jerk value for positioning index 1. 0.000 units/s^3 / real32 0.000 ...
Page 460: Cyclic Correction
460 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Cyclic correction Configuration of cyclic position correction function. 78.1 Cyclic correction Cyclic correction status word. - / uint16 status This parameter is read only. Enable 1 = Cyclic correction function run enable.
Page 461 Parameters 461 Name / Range / Description Def / Type Selection FbEq 16b / 32b User Position CW1 Bit 2 of 74.7 User Position control word bit 2 User Position CW1 Bit 3 of 74.7 User Position control word bit 3 User Position CW1 Bit 4 of 74.7 User Position control word...
Page 462: Pi Control
462 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b PI control Configuration of a generic PI controller for use by the PI sync correction functionality (see group 87 Master position). 85.1 PI control output Displays the output of the PI controller.
Page 463: Axis Position
Parameters 463 Name / Range / Description Def / Type Selection FbEq 16b / 32b Axis position Configuration of axis position calculation, homing, and position limits. 86.1 Axis status Axis position status word. - / uint16 This parameter is read-only. Actual position 1 = Feedback source selected by 86.13...
Page 464 464 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b -2000000.000 ... Output of position counter. 1000 = 1 units / 1000 2000000.000 units = 1 units 86.3 Actual velocity Displays the estimated or measured load speed that - / real32 is used for motor control, ie.
Page 465 Parameters 465 Name / Range / Description Def / Type Selection FbEq 16b / 32b 1...2000000000 Estimate resolution of encoder. 1 = 1 increment / 1 = increment 1 increment 86.11 Enc1 increments per Defines the resolution of encoder 1 in increments per - / uint32 revolution revolution.
Page 466 466 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 86.18 Modulo range Defines the rollover axis configuration. - / uint32 numerator If this parameter is set to 0, the master axis is linear and the actual position (86.2) will be in its default range. 87.15 Master axis modulo numerator is greater than 0, the ratio of...
Page 467 Parameters 467 Name / Range / Description Def / Type Selection FbEq 16b / 32b -2000000.000 ... Homing preset position. 1000 = 1 units / 1000 2000000.000 units = 1 units 86.31 Homing mode Selects the homing mode. For diagrams of each mode, Homing mode 0 / see section Homing modes (page...
Page 468 468 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 0.000 ... Homing jerk. 1000 = 1 units/s / 2000000.000 1000 = 1 units/s units/s 86.39 Homing time out Defines a timeout for the homing routine. - / real32 0.000 ...
Page 469 Parameters 469 Name / Range / Description Def / Type Selection FbEq 16b / 32b 86.52 Latch enable Word for showing latch activation status. - / uint16 Latch 1 and 2 are activated by the sources defined in parameters 74.45 Latch 1 sel 74.46 Latch 2 sel, or by bits 5 and 6 of...
Page 470 470 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 86.60 Maximum position Defines the maximum position limit. - / real32 If the actual position exceeds this value, a stop command is activated, and Error stop indicated by 74.10 Position control actual status.
Page 471 Parameters 471 Name / Range / Description Def / Type Selection FbEq 16b / 32b Enable 86.101 Raw axis position Displays the last known value of 86.8 Actual position - / int32 input retain read from the encoder interface module. This parameter is read-only.
Page 472: Master Position
472 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Master position Master position settings and values. 87.1 Master position Displays the value received from the source selected - / int32 reference input 87.11 Master reference source.
Page 473 Parameters 473 Name / Range / Description Def / Type Selection FbEq 16b / 32b -2147483648...2147483647 Actual position of virtual master. - / - increments 87.10 Master increments Displays the actual position of the virtual master in - / uint32 per revolution increments.
Page 474 474 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 87.15 Master axis modulo Together with 87.16 Master axis modulo denominator, - / uint32 numerator defines the rollover axis configuration. When this parameter is set to 0, the master axis is linear and limited by the range of 32 bits of increments of the holding variable.
Page 475 Parameters 475 Name / Range / Description Def / Type Selection FbEq 16b / 32b 0...2000000 Increments in modulo range. 1 = 1 / 1 = 1 87.25 Master velocity filter Defines a filter time constant for 87.4 Master velocity - / real32 time reference.
Page 476 476 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit Other [bit] Terms and abbreviations (page 130). 87.35 Gear-in ratio Defines the numerator for the gear-in function. - / int32 numerator The gear-in ratio defines the relation between follower...
Page 477 Parameters 477 Name / Range / Description Def / Type Selection FbEq 16b / 32b -2000000000. . . 2 000000000 Target velocity reference. 1000 = 1 units/s / units/s 1000 = 1 units/s 87.51 Virtual master max Defines an absolute limit for the target velocity - / real32 velocity reference in engineering units for the Virtual master...
Page 478: Position Control
478 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Position control Position controller settings and values; position supervision; position reference settings for master/follower. 88.1 Position reference Displays the position reference input of the position - / real32 used controller.
Page 479 Parameters 479 Name / Range / Description Def / Type Selection FbEq 16b / 32b -2000000.000 ... Acceleration rate. 10 = 1 unit/s / 1000 = 2000000.000 unit/s 1 unit/s 88.10 Position control gain Defines the proportional gain for the position - / real32 controller.
Page 480 480 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Digital input DI5 (10.2 DI delayed status, bit 4). Digital input DI6 (10.2 DI delayed status, bit 5). DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit DIO2 Digital input/output DIO2...
Page 481 Parameters 481 Name / Range / Description Def / Type Selection FbEq 16b / 32b -2000000.000 ... Position error window. 1000 = 1 units / 1000 2000000.000 units = 1 units 88.40 Maximum velocity Defines the maximum allowable value for actual - / real32 limit velocity.
Page 482 482 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b -32768...32767 Velocity value sent to the follower(s). 1 = 1 / 1 = 1 88.60 IEC pos status Displays the positioning status word. - / uint16 This parameter is read-only.
Page 483 Parameters 483 Name / Range / Description Def / Type Selection FbEq 16b / 32b -2000000.000 ... Velocity reference from superimposed profile. 1000 = 1 units/s / 2000000.000 1000 = 1 units/s units/s 88.65 Pos ref sync Displays the position reference from the master - / real32 position reference chain (group 87 Master...
Page 484: Feedback Selection
484 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Feedback selection Motor and load feedback configuration. See also section Encoder support (page 84), and the diagram on page 650. 90.1 Motor speed for Displays the estimated or measured motor speed that - / real32 control is used for speed control, ie.
Page 485 Parameters 485 Name / Range / Description Def / Type Selection FbEq 16b / 32b 90.13 Encoder 1 revolution Displays the revolution count extension for encoder 1. - / int32 extension With a single-turn encoder, the counter is incremented when encoder position (parameter 90.11) wraps around in the positive direction, and decremented in the negative direction.
Page 486 486 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b -2147483648...2147483647 Encoder 2 revolution count extension. - / - 90.24 Encoder 2 position Displays the raw measurement data of encoder 2 - / uint32 position (within one revolution) as a 24-bit unsigned integer received from the encoder interface.
Page 487 Parameters 487 Name / Range / Description Def / Type Selection FbEq 16b / 32b Encoder 2 Actual speed measured by encoder 2. The encoder is set up by the parameters in group 93 Encoder 2 configuration. 90.42 Motor speed filter Defines a filter time for motor speed feedback used 3 ms / real32 time...
Page 488 488 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 90.47 Enable motor Enables/disables detection of encoder drift, ie. slippage Yes / uint16 encoder drift between the encoder and the shaft. The function is detection designed to detect erroneous feedback in static operating conditions.
Page 489: Encoder Module Settings
Parameters 489 Name / Range / Description Def / Type Selection FbEq 16b / 32b Encoder module Configuration of encoder interface modules. settings 91.1 FEN DI status Displays the status of the digital inputs of FEN-xx - / uint16 encoder interface modules. Note: This parameter is read-only.
Page 490 490 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 91.6 Module 2 Displays the temperature measured through the sensor - / real32 temperature input of interface module 2. The unit (°C or °F) is selected by parameter 96.16 Unit selection.
Page 491 Parameters 491 Name / Range / Description Def / Type Selection FbEq 16b / 32b 91.14 Module 2 location Specifies the slot (1…3) on the control unit of the drive 3 / uint16 into which the interface module is installed. Alternatively, specifies the node ID of the slot on an FEA-03 extension adapter.
Page 492 492 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 91.33 Module 1 emulated With interface module 1, defines when zero pulses are - / real32 Z-pulse offset emulated in relation to zero position received from the encoder.
Page 493: Encoder 1 Configuration
Parameters 493 Name / Range / Description Def / Type Selection FbEq 16b / 32b Encoder 1 Settings for encoder 1. configuration Note: The contents of this parameter group vary according to the selected encoder type. Note: It is recommended that encoder connection 1 (this group) is used whenever possible since the data received through that interface is fresher than the data received through connection 2 (group...
Page 494 494 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 0...65535 Number of pulses. - / - 92.11 Excitation signal (Visible when 92.1 Encoder 1 type = Resolver) 4.0 V / uint16 amplitude Defines the rms amplitude of the excitation signal. 4.0 ...
Page 495 Parameters 495 Name / Range / Description Def / Type Selection FbEq 16b / 32b A rising Channel A: Rising edges are used for speed calculation. *Channel B: Defines the direction of rotation. A falling Channel A: Falling edges are used for speed calculation. *Channel B: Defines the direction of rotation.
Page 496 496 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 92.14 Revolution data (Visible when 92.1 Encoder 1 type Absolute encoder) 0 / uint16 width Defines the number of bits used in revolution counting with a multiturn encoder. For example, a setting of 12 bits would support counting up to 4096 revolutions.
Page 497 Parameters 497 Name / Range / Description Def / Type Selection FbEq 16b / 32b 92.23 Maximum pulse (Visible when 92.1 Encoder 1 type = TTL+) 4 ms / real32 waiting time Determines a pulse waiting time used in speed calculation for the encoder interface.
Page 498 498 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 92.25 Pulse overfrequency (Visible when 92.1 Encoder 1 type = HTL) Fault / uint16 function Selects how the drive reacts when the encoder interface detects a pulse overfrequency condition. Note: This parameter is effective only with FEN-xx module FPGA version VIEx 2200 or later.
Page 499 Parameters 499 Name / Range / Description Def / Type Selection FbEq 16b / 32b 92.33 SSI clock cycles (Visible when 92.1 Encoder 1 type Absolute encoder) 2 / uint16 Defines the length of an SSI message. The length is defined as the number of clock cycles.
Page 500 500 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 92.45 Hiperface parity (Visible when 92.1 Encoder 1 type Absolute encoder) Odd / uint16 Defines the use of parity and stop bits with a HIPERFACE encoder. Typically this parameter need not be set.
Page 501: Encoder 2 Configuration
Parameters 501 Name / Range / Description Def / Type Selection FbEq 16b / 32b Encoder 2 Settings for encoder 2. configuration Note: The contents of the parameter group vary according to the selected encoder type. Note: It is recommended that encoder connection 1 (group 92 Encoder 1 configuration) is used whenever...
Page 502 502 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 93.12 Speed calculation (Visible when 93.1 Encoder 2 type Auto rising / uint16 mode See parameter 92.12 Speed calculation mode. 93.13 Position data width (Visible when 93.1 Encoder 2 type Absolute encoder)
Page 503 Parameters 503 Name / Range / Description Def / Type Selection FbEq 16b / 32b 93.47 Hiperface node (Visible when 93.1 Encoder 2 type Absolute encoder) 64 / uint16 address See parameter 92.47 Hiperface node address.
Page 504: Lsu Control
504 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b LSU control Control of the supply unit of the drive, such as DC voltage and reactive power reference. Note that the references defined here must also be selected as the reference source in the supply control program to be effective.
Page 505 Parameters 505 Name / Range / Description Def / Type Selection FbEq 16b / 32b 94.21 DC voltage ref (Only visible when IGBT supply unit control activated User ref / uint32 source 95.20 Selects the source of the DC voltage reference to be sent to the supply unit.
Page 506 506 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 94.41 Power gen limit on Defines the maximum shaft power for generating upon -600.00 % / real32 net loss a supply network failure when supply unit control is active (bit 15 of 95.20 HW options word 1 is on).
Page 507: Hw Configuration
Parameters 507 Name / Range / Description Def / Type Selection FbEq 16b / 32b HW configuration Various hardware-related settings. 95.1 Supply voltage Selects the supply voltage range. This parameter is - / uint16 used by the drive to determine the nominal voltage of the supply network.
Page 508 508 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Internal 24V The drive control unit is powered from the drive power unit it is connected to. Note: If reduced run (see section Reduced run function (page 124)) is required, select External 24V...
Page 509 20.12 Run enable 1 source if necessary. Note: An internal charging circuit is standard on some inverter module types but optional on others; check with your local ABB representative. Disable DC switch monitoring through the DIIL input disabled. Enable DC switch monitoring through the DIIL input enabled.
Page 510 510 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 95.9 Switch fuse (Only visible with a BCU control unit) Enable / uint16 controller Activates communication to a BSFC charging controller. This setting is intended for use with inverter modules that are connected to a DC bus through a DC switch/charging circuit controlled by a charging controller.
Page 511 Note: For non-ABB Ex motors, contact your local ABB representative. ABB sine filter 1 = An ABB sine filter is connected to the output of the drive/inverter. High speed mode 1 = Minimum switching frequency limit adaptation to output frequency active. This setting improves control performance at high output frequencies (typically above 120 Hz.
Page 512 512 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b b4…15 Reserved 0000h…FFFFh 1 = 1 95.16 Router mode (Only visible with a BCU control unit) Off / uint32 Enables/disables router mode of the BCU control unit. When router mode is active, the PSL2 channels connected to another BCU (ie.
Page 513 Parameters 513 Name / Range / Description Def / Type Selection FbEq 16b / 32b 1 = Channel CH12 is routed to a local power unit b12…15 Reserved 0000h…FFFFh 1 = 1 95.20 HW options word 1 Specifies hardware-related options that require - / uint16 differentiated parameter defaults.
Page 514 1 = Salient-pole permanent magnet motor used. Affects 25.2, 25.3, 25.15, 99.3. LV Synchro 1 = Externally-excited synchronous motor used. Requires a license. Contact your local ABB representative for more information. Aux fan 1 1 = Auxiliary fan 1 installed and supervised.
Page 515 Parameters 515 Name / Range / Description Def / Type Selection FbEq 16b / 32b 400 V -3 (380…415 V) types listed. 500 V -5 (380…500 V) types listed. 690 V -7 (525…690 V) types listed. -7 LC (525-690V) Liquid-cooled -7 (525…690 V) types listed. 95.31 Parallel type (Visible when...
Page 516: System
Note: You must change the default user pass code to maintain a high level of cybersecurity. Store the code in a safe place – the protection cannot be disabled even by ABB if the code is lost. See also section User lock (page 123).
Page 517 Parameters 517 Name / Range / Description Def / Type Selection FbEq 16b / 32b OEM access level 3 OEM access level 3. Parameter lock Parameter lock. 0000h…FFFFh 1 = 1 96.6 Parameter restore Restores the original settings of the control program, Done / uint16 i.e.
Page 518 518 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Clear all All editable parameter values are restored to default values, except • control panel/PC communication settings • application macro selection and the parameter defaults implemented by it •...
Page 519 Parameters 519 Name / Range / Description Def / Type Selection FbEq 16b / 32b 96.9 FSO reboot Changing the value of (or the source selected by) this False / uint32 parameter from 0 to 1 reboots the optional FSO-xx safety functions module.
Page 520 520 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Load set 3 Load user parameter set 3. Load set 4 Load user parameter set 4. Save to set 1 Save user parameter set 1. Save to set 2 Save user parameter set 2.
Page 521 Parameters 521 Name / Range / Description Def / Type Selection FbEq 16b / 32b Torque unit 0 = Nm (N·m) 1 = lbft (lbf·ft) b5…15 Reserved 0000h…FFFFh 1 = 1 96.20 Time sync primary Defines the 1st priority external source for DDCS Controller / source synchronization of the drive's time and date.
Page 522 522 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Aux Time tick 1 = 2nd priority tick received: Tick has been received received from 2nd priority source. Tick interval is too 1 = Yes: Tick interval too long (accuracy compromised). long DDCS controller 1 = Tick received: Tick has been received from an...
Page 523 Parameters 523 Name / Range / Description Def / Type Selection FbEq 16b / 32b 96.39 Power up event Enables/disables power-up logging. When enabled, an Enable / uint16 logging event (B5A2 Power up) is logged by the drive upon each power-up.
Page 524 524 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Set approved 1 = Set: Copy value of 96.53 into 96.57. checksum 2 Set approved 1 = Set: Copy value of 96.53 into 96.58. checksum 3 Set approved 1 = Set: Copy value of 96.53...
Page 525 Note: We recommend you select all the actions and functionalities unless otherwise required by the application. Disable ABB access 1 = ABB access levels (service, advanced programmer, levels etc. [see 96.3]) disabled Freeze parameter 1 = Changing the parameter lock state prevented, ie.
Page 526 526 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Disable file 1 = Loading of files to drive prevented. This applies to download • firmware upgrades • safety functions module (FSO-xx) configuration • parameter restore •...
Page 527: Motor Control
Parameters 527 Name / Range / Description Def / Type Selection FbEq 16b / 32b Motor control Motor model settings. 97.1 Switching frequency When parameter 97.9 Switching freq mode is set to 4.500 kHz / real32 reference Custom, defines the switching frequency when it is not otherwise being internally limited.
Page 528 Refer to the rating data in the hardware manual of the drive. Note: To improve the control performance, the switching frequency reference is automatically increased with ABB sine filter if the motor/drive current ratio is less than 0.55. Normal Control performance optimized for long motor cables.
Page 529 Name / Range / Description Def / Type Selection FbEq 16b / 32b Custom This setting is to be used by ABB-authorized service personnel only. 97.10 Signal injection Enables signal injection. A high-frequency alternating Disabled / uint16 signal is injected into the motor at low speeds to improve the stability of torque control.
Page 530 530 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 97.12 IR comp step-up IR compensation (i.e. output voltage boost) can be used 0.0 Hz / real32 frequency in step-up applications to compensate for resistive losses in the step-up transformer, cabling and motor.
Page 531 Parameters 531 Name / Range / Description Def / Type Selection FbEq 16b / 32b 0.00 ... 50.00 % Voltage boost at zero speed in percent of nominal 1 = 1 % / 10000 = 1 % motor voltage. 97.15 Motor model Selects whether the temperature-dependent Disabled / uint16...
Page 532 532 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 97.78 Maximum flux Defines the maximum allowed stator flux assistance 0.00 % / real32 reference assistance reference for boosting the flux when needed. Stator flux assistance improves the efficiency of the drive in high load conditions with externally-excited synchronous motors.
Page 533: User Motor Parameters
Parameters 533 Name / Range / Description Def / Type Selection FbEq 16b / 32b User motor Motor values supplied by the user that are used in the parameters motor model. These parameters are useful for non-standard motors, or to just get more accurate motor control of the motor on site.
Page 534 534 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 98.5 SigmaL user Defines the leakage inductance σ L 0.00000 pu / real32 Note: This parameter is valid only for asynchronous motors. 0.00000 ... 1.00000 Leakage inductance in per unit.
Page 535 Parameters 535 Name / Range / Description Def / Type Selection FbEq 16b / 32b 98.13 Ld user SI Defines the direct axis (synchronous) inductance. 0.00 mH / real32 Note: This parameter is valid only for permanent magnet motors. 0.00 ... 100000.00 Direct axis inductance.
Page 536: Motor Data
536 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Motor data Motor configuration settings. 99.3 Motor type Selects the motor type. Asynchronous motor; SynRM (95.21 b1); Note: This parameter cannot be changed while the Permanent magnet drive is running.
Page 537 Parameters 537 Name / Range / Description Def / Type Selection FbEq 16b / 32b Scalar Scalar control. The outstanding motor control accuracy of DTC cannot be achieved in scalar control. Refer to the selection above for a list of applications where scalar control should definitely be used.
Page 538 538 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b 99.8 Motor nominal Defines the nominal motor frequency. This setting must 50.00 Hz / real32 frequency match the value on the rating plate of the motor. Note: This parameter cannot be changed while the drive is running.
Page 539 97.15. Note: If a sine filter is installed, set the appropriate bit in parameter 95.15 Special HW settings before activating the ID run. With a non-ABB (custom) filter, set also 99.18 and 99.19. Note: With scalar control mode (99.4 Motor control...
Page 540 540 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Normal Normal ID run. Guarantees good control accuracy for all cases. This mode should be selected whenever it is possible. Note: If the load torque will be higher than 20% of motor nominal torque, or if the machinery is not able to withstand the nominal torque transient during the ID run, then the driven machinery must be de-coupled...
Page 541 Parameters 541 Name / Range / Description Def / Type Selection FbEq 16b / 32b Standstill Standstill ID run. The motor is injected with DC current. With an AC induction (asynchronous) motor, the motor shaft is not rotated. With a permanent magnet motor or synchronous reluctance motor, the shaft can rotate up to half a revolution.
Page 542 542 Parameters Name / Range / Description Def / Type Selection FbEq 16b / 32b Advanced Standstill Advanced Standstill ID run. This selection is recommended with AC induction motors up to 75 kW instead of the Standstill ID run if •...
Page 543 0.000 mH / real32 inductance parameter 95.15 Special HW settings bit 3 is activated. Note: For an ABB sine filter (95.15 Special HW settings bit 1), this parameter is set automatically and should not be adjusted. 0.000 ... 100000.000 Inductance of custom sine filter.
Page 544: Safety
3 and enter the result into the parameter. Drive 99.19 = 3 × C Sine filter Note: For an ABB sine filter (95.15 Special HW settings bit 1), this parameter is set automatically and should not be adjusted. 0.00 ... 100000.00 uF Capacitance of custom sine filter.
Page 545: O Bus Service
Parameters 545 Name / Range / Description Def / Type Selection FbEq 16b / 32b I/O bus service Distributed I/O bus settings. This group is only visible with a BCU control unit. This group contain parameters related to the distributed I/O bus, which is used with some drives for monitoring the cooling fans of the cabinet system.
Page 547: Fault Tracing
If not, contact an ABB service representative. If you have the possibility to use the Drive Composer PC software, send the Support package created by the Drive Composer tool to the ABB service representative.
Page 548: Pure Events
548 Fault tracing Warnings do not need to be reset; they stop showing when the cause of the warning ceases. Warnings do not latch and the drive will continue to operate the motor. Faults do latch inside the drive and cause the drive to trip, and the motor stops. After the cause of a fault has been removed, the fault can be reset from a selectable selection)), such as the control panel, the Drive source (parameter...
Page 549: Auxiliary Codes
The data is saved onto the SD card attached to the BCU, and can be analyzed by ABB service personnel.
Page 550: Event Word (Parameters 04.40
The code can be read with a mobile device containing the ABB service application, which then sends the data to ABB for analysis. For more information on the application, contact your local ABB service representative.
Page 551: Warning, Fault And Pure Event Messages
(select Current measurement between output phase U2 and W2 calibration at parameter 99.13). If the current measurement is too great (the fault persists, contact your local ABB values are updated during current representative. calibration). 2310 Overcurrent Output current has exceeded internal Check motor load.
Page 552 YYZZ). “Y YY” specifies through which BCU control unit channel the fault was received. If no earth fault can be detected, contact your local ABB representative. 2340 Short circuit Short-circuit in motor cable(s) or Check motor and motor cable for motor.
Page 553 Measure insulation resistances of motor cables and motor. Contact your local ABB representative. 2E01 Earth leakage IGBT supply unit has detected an earth Check AC fuses. fault. Check for earth leakages.
Page 554 554 Fault tracing Code Event name / Cause What to do (hex) Aux. code Check deceleration time. Use coast-to-stop function (if applicable). Retrofit drive with brake chopper and brake resistor. With parallel-connected modules, check the auxiliary code (format XXXY YYZZ). “Y YY”...
Page 555 Estimate during the routine. 0007 General autophasing failure. Contact your local ABB representative. 0008 Selected mode not supported. Check that the selected mode (parameter 21.13) is supported by the motor type. 0009 (LV-Synchro) Standstill failure.
Page 556 556 Fault tracing Code Event name / Cause What to do (hex) Aux. code 4290 Cooling Drive module temperature is Check ambient temperature. If it excessive. exceeds 40 °C (104 °F), ensure that load current does not exceed derated load capacity of drive. See appropriate Hardware manual .
Page 557 5090 STO hardware Safe torque off hardware failure. Contact your local ABB representative, failure quoting the auxiliary code. The code contains location information, especially with parallel-connected inverter modules.
Page 558 558 Fault tracing Code Event name / Cause What to do (hex) Aux. code “Y” indicates the auxiliary code category. The auxiliary code categories are as follows: 1 = PU and CU ratings not the same. Rating ID has changed. 2 = Parallel connection rating ID has changed.
Page 559 Code Event name / Cause What to do (hex) Aux. code 5690 Internal communication error. Contact your local ABB representative. communication internal 5691 Measurement Measurement circuit fault. If the control unit is externally circuit ADC powered, check the setting of parameter 95.4 Control board...
Page 560 5698 Unknown PU Unidentified power unit logic fault. Check power unit logic and firmware fault compatibility. Contact your local ABB representative. 6000 Internal SW Internal error. Contact your local ABB representative, error quoting the auxiliary code. 6181 FPGA version •...
Page 561 6481 Task overload Internal fault. Reboot the control unit (using parameter 96.8 Control board boot) or by cycling power. If the problem persists, contact your local ABB representative. 6487 Stack Internal fault. Reboot the control unit (using overflow parameter 96.8 Control board boot) or by cycling power.
Page 562 Reboot the control unit (using parameter 96.8 Control board boot) or by cycling power. If the problem persists, contact your local ABB representative. 64B1 Internal SSW Internal fault. Reboot the control unit (using fault parameter 96.8 Control board...
Page 563 • Version mismatch between EFB protocol firmware and drive firmware. 6881 Text data Internal fault. Reset the fault. Contact your local ABB overflow representative if the fault persists. 6882 Text 32-bit Internal fault. Reset the fault. Contact your local ABB table overflow representative if the fault persists.
Page 564 Panel/PC tool The current version of the control Update control panel and/or PC tool. version panel and/or PC tool does not support Contact your local ABB representative conflict a function. if necessary. (For example, older panel versions cannot be used as a source of external reference.)
Page 565 Fault tracing 565 Code Event name / Cause What to do (hex) Aux. code Check that braking cycle meets allowed limits. 7184 Brake resistor Brake resistor short circuit or brake Check brake chopper and brake wiring chopper control fault. resistor connection. Ensure brake resistor is not damaged.
Page 566 Reduced or Standstill. See parameter 99.13 ID run requested (page 539). 7380 Encoder Internal fault. Contact your local ABB representative. internal 7381 Encoder Encoder feedback fault. A7E1 Encoder (page 584). 73A0 Speed fbk Speed feedback configuration...
Page 567 23 Speed reference ramp. 73F0 Overfrequency Maximum allowed output frequency Without a dual-use license, the fault exceeded. limit is 598 Hz. Contact your local ABB representative for dual-use licensing information. 7510 FBA A Cyclical communication between drive Check status of fieldbus...
Page 568 0004 Lost communication with fieldbus Check fieldbus communication communication adapter. adapter. Other aux code value Unknown internal issues. Contact your local ABB representative. 7580 INU-LSU DDCS (fiber optic) communication Check status of other converter comm loss between converters (for example, the...
Page 569 Fault tracing 569 Code Event name / Cause What to do (hex) Aux. code Check signal level at the analog input. Check the wiring connected to the input. Check the minimum and maximum limits of the input in parameter group 12 Standard 80B0 Signal...
Page 570 Try running the motor in scalar control mode if allowed. (See parameter 99.4 Motor control mode.) If no earth fault can be detected, contact your local ABB representative. A2B4 Short circuit Short-circuit in motor cable(s) or Check motor and motor cable for motor.
Page 571 Fault tracing 571 Code Event name / Cause What to do (hex) Aux. code A490 Incorrect Problem with motor temperature Check the auxiliary code (format 0XYY temperature measurement. ZZZZ). sensor setup “X” identifies the affected temperature monitoring function (1 = parameter 35.11, 2 = parameter 35.21).
Page 572 – Temperature above warning limit. Check ambient conditions. Check air flow and fan operation. Check heatsink fins for dust pick-up. Thermistor broken. Contact an ABB service representative for control unit replacement. A4A9 Cooling Drive module temperature is Check ambient temperature. If it excessive.
Page 573 Fault tracing 573 Code Event name / Cause What to do (hex) Aux. code highest temperature was measured. “ZZ” specifies the phase (0: single module, 1: U-phase [parallel connection], 2: V-phase [parallel connection], 3: W-phase [parallel connection]). A4F6 IGBT Drive IGBT temperature is excessive. Check ambient conditions.
Page 574 Power unit INT board, 5: Brake chopper, 6: Air inlet, 7: Power supply board, 8: du/dt filter, FAh: Air in temp. A5EB PU board Power unit power supply failure. Contact your local ABB representative. powerfail A5EC Communication errors detected Check the connections between the communication between the drive control unit and the drive control unit and the power unit.
Page 575 96.8 Control board boot) or by cycling its power. If the problem persists, contact your local ABB representative. Write error. Cycle the power to the drive. If the control unit is externally powered, also reboot the control unit (using parameter 96.8 Control board...
Page 576 A687 Checksum An action has been defined for a Contact your local ABB representative configuration parameter checksum mismatch but for configuring the feature, or disable the feature has not been configured. the feature in 96.54 Checksum...
Page 577 Fault tracing 577 Code Event name / Cause What to do (hex) Aux. code Check that the drive is sized correctly for the motor. A6A5 No motor Parameters in group 99 have not been Check that all the required parameters data set.
Page 578 578 Fault tracing Code Event name / Cause What to do (hex) Aux. code Note: Control board reboot (either by cycling the power or through parameter 96.8 Control board boot) is required to validate any changes in the hardware settings. A780 Motor stall Motor is operating in stall region...
Page 579 Check the module type (91.11 does not match parameter setting. 91.13) against status (91.2 or 91.3). 0003 Logic version too old. Contact your local ABB representative. 0004 Software version too old. Contact your local ABB representative. 0006 Encoder type incompatible with Check module type (91.11...
Page 580 Check the auxiliary code (format XXXX YYYY). “YYYY” indicates the problem (see actions for each code below). 0001 Failed answer to encoder Contact your local ABB configuration message. representative. 0002 Failed answer to adapter watchdog Contact your local ABB disable message.
Page 581 BC short Short circuit in brake chopper IGBT. Replace brake chopper if external. circuit Drives with internal choppers will need to be returned to ABB. Ensure brake resistor is connected and not damaged. A79C BC IGBT Brake chopper IGBT temperature has Let chopper cool down.
Page 582 582 Fault tracing Code Event name / Cause What to do (hex) Aux. code module 1, 02: 15 I/O extension module 2, 03: 16 I/O extension module 3). “YY” specifies the analog input on the module. For example, in case of I/O extension module 1, analog input AI1 (auxiliary code 0000 0101), the hardware current/voltage setting on the module...
Page 583 0004 Lost communication with fieldbus Check fieldbus communication communication adapter. adapter. Other aux code value Unknown internal issues. Contact your local ABB representative. A7C2 FBA B Cyclical communication between drive Check status of fieldbus communication and fieldbus adapter module B or communication.
Page 584 See also parameter 92.21 Encoder cable fault mode. 0002 No encoder signal. Check the condition of the encoder. 0003 Overspeed. Contact your local ABB representative. 0004 Overfrequency. Contact your local ABB representative. 0005 Resolver ID run failed. Contact your local ABB representative.
Page 585 Fault tracing 585 Code Event name / Cause What to do (hex) Aux. code 0009 Absolute encoder initialization error. Contact your local ABB representative. 000A Absolute SSI encoder configuration Contact your local ABB error. representative. 000B Encoder reported an internal error.
Page 586 586 Fault tracing Code Event name / Cause What to do (hex) Aux. code A885 DC charge Warning generated by an edge Check the auxiliary code. Check the counter. source of the warning corresponding Programmable warnings: to the code: 33.35 Edge counter 1 warn message 33.33 Edge counter 1 source 33.45 Edge counter 2 warn message 33.43 Edge counter 2...
Page 587 Fault tracing 587 Code Event name / Cause What to do (hex) Aux. code A8A0 AI Supervised An analog signal is outside the limits Check the auxiliary code (format XYY). Warning specified for the analog input. “X” specifies the location of the input (0: AI on control unit;...
Page 588 588 Fault tracing Code Event name / Cause What to do (hex) Aux. code AE91 Fan lifetime Warning limit for fan lifetime See the auxiliary code for indication exceeded (parameter 206.08) has been of module IDs that contain fans that exceeded.
Page 589 Fault tracing 589 Code Event name / Cause What to do (hex) Aux. code section Speed controller autotune (page 79). 0002 Required torque reference could not Decrease torque step (parameter be reached before the drive reached 25.38) or increase speed step maximum speed.
Page 590 6: Advanced 7: Advanced standstill B680 SW internal SW internal malfunction. Contact your local ABB representative, diagnostics quoting the auxiliary code. If the Drive Composer tool is available, also create and send a ‘support package’ (see Drive composer manual for instructions).
Page 591 Fault tracing 591 Code Event name / Cause What to do (hex) Aux. code E102 Axis Error One of several axis errors. Check the auxiliary code. 0009 (3F1h) Drive ready missing or loop ready missing. 1102 (44Eh) Maximum number of immediate commands reached 1103 (44Fh) Override smaller than 0.0 or larger...
Page 592 592 Fault tracing Code Event name / Cause What to do (hex) Aux. code 1013 (3F5h) Gear-in jump mode requested while not in synchronization, or D2D speed is zero. 1015 (3F7h) Buffer for buffered movement full. 1101 (44Dh) Command not executable because the axis is disabled, the command was issued during stopping state (stop command activated), or...
Page 593 23…12: STO1 of inverter modules 12…1 (Bits of non-existing modules set to 11…0: STO2 of inverter modules 12…1 (Bits of non-existing modules set to FA90 SW internal malfunction. Contact your local ABB representative. diagnostics failure FB11 Memory unit • No memory unit is attached to •...
Page 594 594 Fault tracing Code Event name / Cause What to do (hex) Aux. code • Power down the control unit. Attach a memory unit (with the appropriate firmware) to the control unit. FB12 Memory unit The memory unit attached to the Power down the control unit.
Page 595 Limits. Make sure that the maximum torque limit in force is greater than 100%. 0004 Current measurement calibration Contact your local ABB did not finish within reasonable representative. time. 0005…0008 Internal error. Contact your local ABB representative.
Page 596 596 Fault tracing Code Event name / Cause What to do (hex) Aux. code FF7E Follower A follower drive has tripped. Check the auxiliary code. Add 2 to the code to find out the node address of the faulted drive. Correct the fault in the follower drive.
Page 597: Auxiliary Codes For Line-Side Converter Warnings
Fault tracing 597 Auxiliary codes for line-side converter warnings The table below lists the auxiliary codes of AF85 Line side unit warning. For advanced troubleshooting, see the firmware manual of the line converter. Code Event name / Cause What to do (hex) Aux.
Page 598 Check the input voltage. If the problem persists, contact your Note: This warning can be shown only local ABB representative. when the IGBT supply unit is not modulating. AE0C BU DC link DC link voltage difference detected by Check DC fuses.
Page 599 Fault tracing 599 Code Event name / Cause What to do (hex) Aux. code AE85 Charging There are too many DC link charging Two attempts in five minutes is count attempts. allowed to prevent charging circuit overheating.
Page 600: Auxiliary Codes For Line-Side Converter Faults
Check power modules. Check there are no power factor correction capacitors or surge absorbers in supply cable. If no earth fault can be detected, contact your local ABB representative. 2E02 Short circuit IGBT supply unit has detected short Check supply cable.
Page 601 Difference in DC voltages between Check the DC fuses. difference parallel-connected supply modules. Check the connection to the DC bus. If the problem persists, contact your local ABB representative. 3E07 BU voltage Difference in main voltages between Check the supply network difference parallel-connected supply modules.
Page 602 Synchronization to supply network has Monitor possible network transients. fault failed. 6E1A Rating ID fault Rating ID load error. Contact your local ABB representative. 6E1F Licensing There are two types of licenses being Check the line-converter control fault used in ACS880 drives: program.
Page 603 Fault tracing 603 Code Event name / Cause What to do (hex) Aux. code 8E07 Net lost Net lost is detected. Duration of net Resynchronize the IGBT supply unit to lost is too long. the grid after net lost.
Page 605: Fieldbus Control Through The Embedded Fieldbus Interface (Efb)
Fieldbus control through the embedded fieldbus interface (EFB) 605 Fieldbus control through the embedded fieldbus interface (EFB) What this chapter contains The chapter describes how the drive can be controlled by external devices over a communication network (fieldbus) using the embedded fieldbus interface.
Page 606: System Overview
606 Fieldbus control through the embedded fieldbus interface (EFB) System overview The drive can be connected to an external control system through a communication link using either a fieldbus adapter or the embedded fieldbus interface. The embedded fieldbus interface supports the Modbus RTU protocol. The drive control program can handle 10 Modbus registers in a 10-millisecond time level.
Page 607: Setting Up The Embedded Fieldbus Interface
58.17 Transmit delay 0 ms (default) Defines a response delay for the drive. 58.25 Control profile ABB Drives (default), Selects the control profile used by Transparent the drive. See section Basics of the embedded fieldbus interface (page 610).
Page 608: Setting The Drive Control Parameters
608 Fieldbus control through the embedded fieldbus interface (EFB) Parameter Setting for fieldbus con- Function/Information trol 58.31 EFB act1 transparent Other (see Terms and ab- Defines the source of actual value 1 source breviations) when 58.28 EFB act1 type Transpar- or General.
Page 609 Fieldbus control through the embedded fieldbus interface (EFB) 609 Parameter Setting for fieldbus Function/Information control 20.2 Ext1 start trigger type Embedded fieldbus Selects fieldbus as the source for the start and stop commands when EXT2 is selected as the active control location. SPEED REFERENCE SELECTION 22.11 Speed ref1 source EFB ref1 or EFB ref2...
Page 610: Basics Of The Embedded Fieldbus Interface
610 Fieldbus control through the embedded fieldbus interface (EFB) Parameter Setting for fieldbus Function/Information control 96.7 Parameter save Save (reverts to Done) Saves parameter value changes (includ- manually ing those made through fieldbus control) to permanent memory. Basics of the embedded fieldbus interface The cyclic communication between a fieldbus system and the drive consists of 16-bit data words or 32-bit data words (with the transparent control profiles).
Page 611: Control Word And Status Word
Fieldbus control through the embedded fieldbus interface (EFB) 611 Data conversion if parameter 58.25 Control profile is set to Drives. See section About the control profiles (page 612). If parameter 58.25 Control profile is set to Transparent, • The sources of the status word and actual values are selected by parameters 58.30…58.32 (otherwise, actual values 1 and 2 are automatically selected ac- cording to reference type), and...
Page 612: Control Of Drive Outputs Through Efb
• how drive register addresses are mapped for the fieldbus master. You can configure the drive to receive and send messages according to the ABB Drives profile or the Transparent profile. With the ABB Drives profile, the embedded fieldbus interface of the drive converts the control word and status word to and from the native data used in the drive.
Page 613: The Abb Drives Profile
￭ Control Word The table below shows the contents of the fieldbus Control Word for the ABB Drives control profile. The embedded fieldbus interface converts this word to the form in which it is used in the drive. The upper case boldface text refers to the...
Page 614 614 Fieldbus control through the embedded fieldbus interface (EFB) Name Value STATE/Description OFF3_ CONTROL Continue operation (OFF3 inactive). Emergency stop, stop within time defined by drive parameter. Proceed to OFF3 ACTIVE; proceed to SWITCH-ON INHIBITED. WARNING! Ensure that the motor and driven machine can be stopped using this stop mode.
Page 615: Status Word
￭ Status Word The table below shows the fieldbus Status Word for the ABB Drives control profile. The embedded fieldbus interface converts the drive Status Word into this form for the fieldbus. The upper case boldface text refers to the states shown in...
Page 616: State Transition Diagram
The diagram below shows the state transitions in the drive when the drive is using the ABB Drives profile, and configured to follow the commands of the control word from the embedded fieldbus interface. The upper case texts refer to the states which are used in the tables representing the fieldbus Control and Status words.
Page 617 Fieldbus control through the embedded fieldbus interface (EFB) 617 SWITCH-ON ABB Drives profile MAINS OFF INHIBITED (SW Bit6=1) (CW Bit0=0) Power ON NOT READY TO SWITCH ON (SW Bit0=0) B C D CW = Control word SW = Status word...
Page 618: References
￭ References The ABB drives profile supports the use of two references, EFB reference 1 and EFB reference 2. The references are 16-bit words each containing a sign bit and a 15-bit integer. A negative reference is formed by calculating the two’s complement from the corresponding positive reference.
Page 619: Actual Values
￭ Actual values The ABB Drives profile supports the use of two fieldbus actual values, ACT1 and ACT2. The actual values are 16-bit words each containing a sign bit and a 15-bit integer. A negative value is formed by calculating the two’s complement from the corresponding positive value.
Page 620: Modbus Holding Register Addresses
620 Fieldbus control through the embedded fieldbus interface (EFB) ￭ Modbus holding register addresses The table below shows the default Modbus holding register addresses for drive data. This profile provides a converted 16-bit access to the data. Register address Register data (16-bit words) 400001 Control word.
Page 621: Modbus Function Codes
Fieldbus control through the embedded fieldbus interface (EFB) 621 The Modbus holding register addresses for the Transparent profile are as with the ABB Drives profile (see page 559). Modbus function codes The table below shows the Modbus function codes supported by the embedded fieldbus interface.
Page 622: Exception Codes
(stream access) • 04h: Request to get one specific identific- ation object (individual access) Supported Object IDs: • 00h: Vendor Name (“ABB”) • 01h: Product Code (for example, “AINFX”) • 02h: Major Minor Revision (combination of contents of parameters 7.5 Firmware...
Page 623 Fieldbus control through the embedded fieldbus interface (EFB) 623 Reference ABB drives profile Transparent profile 00001 OFF1_CONTROL Control Word bit 0 00002 OFF2_CONTROL Control Word bit 1 00003 OFF3_CONTROL Control Word bit 2 00004 INHIBIT_OPERATION Control Word bit 3 00005...
Page 624: Discrete Inputs (1Xxxx Reference Set)
624 Fieldbus control through the embedded fieldbus interface (EFB) Reference ABB drives profile Transparent profile 00041 Reserved 10.99 RO/DIO control word, bit 8 00042 Reserved 10.99 RO/DIO control word, bit 9 Discrete inputs (1xxxx reference set) Discrete inputs are 1-bit read-only values. Status Word bits are exposed with this data type.
Page 625: Error Code Registers (Holding Registers 400090
Fieldbus control through the embedded fieldbus interface (EFB) 625 Reference ABB drives profile Transparent profile 10032 Reserved Status Word bit 31 10033 Reserved 10.2 DI delayed status, bit 0 10034 Reserved 10.2 DI delayed status, bit 1 10035 Reserved 10.2 DI delayed...
Page 627: Fieldbus Control Through A Fieldbus Adapter
Fieldbus control through a fieldbus adapter 627 Fieldbus control through a fieldbus adapter What this chapter contains This chapter describes how the drive can be controlled by external devices over a communication network (fieldbus) through an optional fieldbus adapter module. The fieldbus control interface of the drive is described first, followed by a configuration example.
Page 628 628 Fieldbus control through a fieldbus adapter • CANopen (FCAN-01 adapter) • ControlNet (FCNA-01 adapter) • DeviceNet (FDNA-01 adapter) ® • EtherCAT (FECA-01 adapter) ™ • EtherNet/IP (FENA-11 or FENA-21 adapter) • Modbus/RTU (FSCA-01 adapter) • Modbus/TCP (FENA-11 or FENA-21 adapter) •...
Page 629: Basics Of The Fieldbus Control Interface
Fieldbus control through a fieldbus adapter 629 Basics of the fieldbus control interface The cyclic communication between a fieldbus system and the drive consists of 16- or 32-bit input and output data words. The drive is able to support a maximum of 12 data words (16 bits) in each direction.
Page 630: Control Word And Status Word
Control word, and returns status information to the master in the Status word. For the ABB Drives communication profile, the contents of the Control word and the Status word are detailed on pages respectively. The drive states are presented in the state diagram (page 575).
Page 631: References
50.14 FBA A reference 1 50.15 FBA A reference Scaling of references Note: The scalings described below are for the ABB Drives communication profile. Fieldbus-specific communication profiles may use different scalings. For more information, see the manual of the fieldbus adapter The references are scaled as defined by parameters 46.01...46.07;...
Page 632: Actual Values
50.17 FBA A actual value 1 50.18 FBA A actual value Scaling of actual values Note: The scalings described below are for the ABB Drives communication profile. Fieldbus-specific communication profiles may use different scalings. For more information, see the manual of the fieldbus adapter.
Page 633: Contents Of The Fieldbus Control Word (Abb Drives Profile)
Fieldbus control through a fieldbus adapter 633 ￭ Contents of the fieldbus Control word (ABB Drives profile) The upper case boldface text refers to the states shown in the state diagram (page 575). Name Value STATE/Description Off1 control Proceed to READY TO OPERATE.
Page 634 634 Fieldbus control through a fieldbus adapter Name Value STATE/Description Reset 0=>1 Fault reset if an active fault exists. Proceed to SWITCH- ON INHIBITED. Note: This bit is effective only if the fieldbus interface is set as the source of the reset signal by drive para- meters.
Page 635: Contents Of The Fieldbus Status Word (Abb Drives Profile)
Fieldbus control through a fieldbus adapter 635 ￭ Contents of the fieldbus Status word (ABB Drives profile) The upper case boldface text refers to the states shown in the state diagram (page 575). Name Value STATE/Description Ready to switch READY TO SWITCH ON.
Page 636: The State Diagram (Abb Drives Profile)
636 Fieldbus control through a fieldbus adapter ￭ The state diagram (ABB Drives profile) SWITCH-ON MAINS OFF from any state INHIBITED SW b6=1 Fault CW b0=0 Power ON FAULT SW b3=1 NOT READY TO SWITCH ON SW b0=0 CW b7=1...
Page 637: Setting Up The Drive For Fieldbus Control
Fieldbus control through a fieldbus adapter 637 Setting up the drive for fieldbus control Install the fieldbus adapter module mechanically and electrically according to the instructions given in the User’s manual of the module. 2. Power up the drive. 3. Enable the communication between the drive and the fieldbus adapter module with parameter 50.1 FBA A enable.
Page 638: Parameter Setting Example: Fpba (Profibus Dp)
638 Fieldbus control through a fieldbus adapter ￭ Parameter setting example: FPBA (PROFIBUS DP) This example shows how to configure a basic speed control application that uses the PROFIdrive communication profile with PPO Type 2. The start/stop commands and reference are according to the PROFIdrive profile, speed control mode. The reference values sent over the fieldbus have to be scaled within the drive so they have the desired effect.
Page 639 Fieldbus control through a fieldbus adapter 639 Drive parameter Setting for Description ACS880 drives 53.03 FBA data out3 Acceleration time 1 23.12 53.05 FBA data out5 Deceleration time 1 23.13 51.27 FBA A par refresh Refresh Validates the configuration parameter set- tings.
Page 641: Control Chain Diagrams
Control chain diagrams 641 Control chain diagrams What this chapter contains The chapter presents the reference chains of the drive. The control chain diagrams can be used to trace how parameters interact and where parameters have an effect within the drive parameter system. For a more general diagram, see section Operating modes of the drive (page 26).
Page 642: Position Reference Profile Selection
642 Control chain diagrams Position reference profile selection...
Page 643: Master Reference Source Selection And Modification
Control chain diagrams 643 Master reference source selection and modification...
Page 644: Pi Control For Master Velocity Correction
644 Control chain diagrams PI control for master velocity correction...
Page 645: Position Controller
Control chain diagrams 645 Position controller...
Page 646: Actual Position Feedback Configuration
646 Control chain diagrams Actual position feedback configuration...
Page 647: Speed Reference Source Selection I
Control chain diagrams 647 Speed reference source selection I > > > > > > > > >...
Page 648: Speed Reference Source Selection Ii
648 Control chain diagrams Speed reference source selection II > > > > > > > > > >...
Page 649: Speed Reference Ramping And Shaping
Control chain diagrams 649 Speed reference ramping and shaping > > > >...
Page 650: Motor Feedback Configuration
650 Control chain diagrams Motor feedback configuration > >...
Page 651: Speed Error Calculation
Control chain diagrams 651 Speed error calculation > > >...
Page 652: Speed Controller
652 Control chain diagrams Speed controller > > >...
Page 653: Torque Reference Source Selection And Modification
Control chain diagrams 653 Torque reference source selection and modification > > > > >...
Page 654: Operating Mode Selection
654 Control chain diagrams Operating mode selection > >...
Page 655: Reference Selection For Torque Controller
Control chain diagrams 655 Reference selection for torque controller > > > > > > > >...
Page 656: Torque Limitation
656 Control chain diagrams Torque limitation > > > >...
Page 657: Torque Controller
Control chain diagrams 657 Torque controller > > > > >...
Page 658: Master/Follower Communication I (Master)
658 Control chain diagrams Master/Follower communication I (Master) > > > > > > > > > > > >...
Page 659: Master/Follower Communication Ii (Follower)
Control chain diagrams 659 Master/Follower communication II (Follower) > > > > > > > >...
Page 661: 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/searchchannels.

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