Speed And Torque Control Using Abb Drives Communication Profile - ABB FEPL-02 Ethernet POWERLINK User Manual

Speed and torque control using ABB Drives
communication profile
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 the state machine on
page 87.
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.
When configuring the master, you need to map the following
objects to the transmit and receive PDOs. For an example, see
section Mapping objects required for controlling the drive
page 66.
CANopen Output data
object
0x2101 Control word
0x2102 Speed reference
0x2103 Torque reference
The table below gives the recommended drive parameter settings.
Drive parameter
9802 COMM PROT SEL
5101 FBA TYPE
5102 FB PAR 2
(PROFILE)
CANopen
object
0x2104
0x2105
0x2106
Setting for ACS355
drives
4 = EXT FBA
1)
136 = ETH Pwrlink
1 (= ABB Drives
profile)
Start-up 43
Input data
Status word
Speed actual value
Torque actual value
Description
Enables communication between
the drive and the fieldbus adapter
module.
Displays the type of the fieldbus
adapter module.
Selects the ABB Drives profile.
on