ABB ACS280 Firmware Manual page 387

Fieldbus control through the embedded fieldbus interface (EFB)
387
Cyclic synchronous velocity mode
In cyclic synchronous velocity mode, the trajectory generator is in the control
device and not in the drive. The control device delivers a new target velocity
value to the drive periodically at a fixed interval. Target velocity is set with the
object 60FFh and the velocity actual value can be read from the object 606Ch.
Velocity values are given in increments per second. Increment resolution is
defined by the object 608Fh. The default values in object 608Fh are 65536
increments per 1 revolution. This means that 1 rpm equals 1 [rpm] * 65536
[inc/s] / 60 [s/min] = 1092 inc/s.
Profile torque mode
The profile torque mode enables the drive torque to be controlled directly.
Target torque is set with the object 6071h and the torque actual value can be
read from the object 6077h. Torque values are given in per thousand of the
rated torque, e.g. 10 = 1%.
Cyclic synchronous torque mode
In cyclic synchronous torque mode, the trajectory generator is in the control
device and not in the drive. The control device delivers a new target torque value
to the drive periodically at a fixed interval. Target torque is set with the object
6071h and the torque actual value can be read from the object 6077h. Torque
values are given in per thousand of the rated torque, e.g. 10 = 1%.
State transition diagram for the CiA 402 profile
The diagram below shows the state transitions in the drive when the drive is
using the CiA 402 profile and the drive is configured to follow the commands of
the control word from the embedded fieldbus interface.