References - ABB FPBA-01 PROFIBUS DP User Manual

Communication profiles 109
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References

ABB drives can receive control information from multiple sources
including analog and digital inputs, the drive control panel and a
communication module (for example, FPBA-01). In order to have
the drive controlled through PROFIBUS, the communication
module must be defined as the source for control information, for
example, reference.
References in speed control mode
In the speed control mode, references are 16-bit or 32-bit words
containing a sign bit and a 15-bit or 31-bit integer. A negative
reference (indicating reversed direction of rotation) is formed by
calculating the two's complement from the corresponding positive
reference.
A 16-bit speed reference (REF or NSOLL_A) in hexadecimal
(0...4000h) corresponds to 0...100% of speed scaling value (as
defined with a drive parameter).
A 32-bit speed reference (NSOLL_B) in hexadecimal
(0...4000 0000h) corresponds to 0...100% of speed scaling value
(as defined with a drive parameter).
References in positioning mode (ACSM1 only)
In the positioning mode, references are 16-bit or 32-bit words. A
32-bit reference contains a sign bit and a 31-bit integer. A negative
reference (indicating reversed direction of rotation) is formed by
calculating the two's complement from the corresponding positive
reference.
For a 32-bit position reference (XSOLL_A), the unit and scaling are
defined with drive parameters (for example, POS UNIT, POS2INT
SCALE and FEED CONST).
For a 32-bit velocity reference (VELOCITY_A), the unit and scaling
are defined with drive parameters (for example, POS SPEED UNIT
and POS SPEED2INT).