Cyclic Low Priority Communication - ABB FECA-01 User Manual

Note: Since there is room only for two feedback values, the CiA
402 feedback data objects will not be operational unless the
corresponding feedback data has been selected to be transmitted
from the drive. See sections
ACSM1 and Parameter setting examples – ACS850
select source data for feedback values on the ACSM1 and
ACS850 drives.
2001 Transparent CW
2002 Transparent REF1
2003 Transparent REF2
2101 ABB Drives control word
2102 ABB Drives REF1
2103 ABB Drives REF2
6040 Controlword
6042 vl target velocity
6071 Target torque
607A Target position
60FF Target velocity


Cyclic low priority communication

With ACSM1 and ACS850 drives, the update cycle time is 50 ms
(20 Hz). With ACS355 drives the update cycle time is
approximately 20 ms (50 Hz).
The below-mentioned objects mapped into a PDO are transferred
between the drive and the adapter module via the cyclic low
priority communication service.
•
4001...4063 Drive parameters
•
6043 vl velocity demand
•
606B Velocity demand value
•
6081 Profile velocity
Communication protocol 97
Parameter setting examples –
2004 Transparent SW
2005 Transparent ACT1
2006 Transparent ACT2
2104 ABB Drives status word
2105 ABB Drives ACT1
2106 ABB Drives ACT2
6041 Statusword
6044 vl velocity actual value
6064 Position actual value
606C Velocity actual value
6077 Torque actual value
60F4 Following error actual value
on how to