Speed And Torque Control Using Abb Drives; Communication Profile With Parameter-Configured Pdo; Mapping - ABB FCAN-01 User Manual

The start sequence for the parameter example above is given
below.
Control word:
•
Reset the fieldbus communication fault (if active).
•
7Fh → Operation enabled = Drive starts modulating
•
77h → Disable operation = Ramp stop (possible to restart
during ramping)
•
7Eh → Switch on disabled = Coast stop
•
7Bh → Quick stop = Emergency stop (not possible to restart
during ramping)

Speed and torque control using ABB Drives

communication profile with parameter-configured PDO

mapping

This example shows how to configure a speed and torque control
application that uses the ABB Drives profile. In addition, some
application specific data is added to the communication.
The start/stop commands and references are according to the ABB
Drives profile. (For more information, see section
communication profile
When reference 1 (REF1) is used, reference value ±20000
(decimal) corresponds to the reference set with parameter 1105
REF1 MAX in the forward and reverse directions.
When reference 2 (REF2) is used, a reference value of ±10000
(decimal) corresponds to the reference set with parameter 1108
REF2 MAX in the forward and reverse directions.
The minimum and maximum 16-bit integer values that can be
given through the fieldbus are -32768 and 32767 respectively.
PDO Word 1
Rx PDO1 6040h
Control
1)
word
Tx PDO1 6041h
Status
1)
word
on page 100.)
Word 2 Word 3
6042h 2000h03
Target Reference
1) 1)
velocity 2
6044h 2000h06
vl control Actual value
1) 1)
effort 2
Start-up 61
ABB Drives
Word 4 Length
4001h23 64 bits
Par. 0135
COMM
2)
VALUE 1
4001h06 64 bits
Par. 0106
2)
POWER