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EN / ACSM1 Speed and Torque Control Program

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1. Fieldbus adapter module EXT1 EXT2 Start Func Profile profile OUT x select 4 FBA MAIN CW gt DATA OUT 2 3 select 10 01 10 04 3 12 2 10 01 99 13 1 Sel Fieldbus specific interface DATA Profile 53 01 53 12 select FBA MAIN SW 5 1 2 24 01 32 01 2 select 2 01 01 99 13 REF2 Sel mee 52 01 52 12 Cyclic communication 24 02 32 01 LET 32 02 Acyclic communication See the manual of the fieldbus adapter module table 1 See also other parameters which can be controlled by the fieldbus 2 The maximum number of used data words is protocol dependent 3 Profile instance selection parameters Fieldbus module specific parameters For more information see the User s Manual of the appropriate fieldbus adapter module 4 With DeviceNet the control part is transmitted directly 5 With DeviceNet the actual value part is transmitted directly The Control Word and the Status Word The Control Word is the principal means of controlling the drive from a fieldbus system The Control Word is sent by the fieldbus controller to the drive The drive switches between its states according
2. paredaig z LNO CTI gt SNLYLS OU 2072 AWS NIW 4 TT 7T 31995 EOId 0121 NIW 4 2010 60721 XVW 4 OId 80721 170 2081 ULd LNO OIG 9077 gt ANOD 6077 LNO O31 TTZ 28 Isnivis ora 6072 07 AWS NIW 4 2011 ZT ZT 31995 4 2014 9 2010 XVW 4 LNO 5027 gt ANOD 2019 201 NI O3 258 snivis ora 07 LNO 0 gt NOD TOIG 072 Snus ora 6072 2 181201 nien AUG nen aang nieA SANG ASYN LANI 5 1 15 10 1072 nen eau Application program template 316 Er m ON 200 T T 0001 QI Aq um OT A panoiddy PUO E E m NIW ZOV 21 51 SWS 20 TT ST NIW 20 01 51 20 60 51 SWLL 178 ZOV 80 57 20 2051 gt 15v 45 1 FIV S NIN TOV 90 57 EN WIS 50 57 NIW TOV 50 51 XVW 0 ST T
3. Lee ore M Dun 301 EESE 22 59 E 301 Sh rra na a ERAT I 301 aue AE 302 W T up et hss Set 302 Selection 304 EXIT eco cee ta le 304 MAX nee er ud APER 304 MINE LS rti Ra 304 othe dees cO ed tlie ds LO dae 305 SED Mt uec trcs er eg eet re dee 305 WITCH tsi er E de e iC AR EE Mm EA 306 DEMU XI nature ded da a euh abs 306 DEMU XMI aer n t t tette are metas etate test BOR 306 dae ET 307 SWEET EI uoi races Dai cts uos cr Ani T o eR Ua PAC Ae sa Du 308 TIMETS scu e bre EQ S e P eve t ote ce need e DE Cou 309 MONO by oh Ao esata hee PB basta antl AAR 309 TOP Eae Edu
4. OED 113 SPEED REF RAMP Aa Perm 114 Group 26 SPEED ERROR 24246204 dyme eek ede aA aa CR ene 117 SPEED ERROR E RU RR EA K RS 118 Group 28 SPEED CONTROL e E ADI ean E Pe 121 SPEED CONTROL 122 Group 32 TORQUE REFERENCE 128 REF SEL quu enun fee xd P Rn a bal ee ROS 129 TORQ REP MOD CERDOS 130 SOUR 39 SUPERVISION nan an UR eR Rae Uca Bln 132 SUPERVISION C Dee doa dees taeda est eee 132 Group 34 REFERENCE a eo ee Be eed Rud ed ads 135 REFERENCE CTRL uisu Gates sane coche ures pede bees 136 Group 39 MECH BRAKE ClinG serieei Sek wed 139 MECHIBRARE 54 139 Group 40 MOTOR CONTROL gre tee ches 142 MOTOR CONTROL 142 Group 49 MC PO Arb 145 MOT THERM PROT e m a 145 Group 46 FAULT FUNCTIONS dae hae 149 FAULT FUNCTIONS 4 4 3 22
5. 2 55 Parameters and firmware blocks What this chapter contains 4 57 Types of parameters 5 5 ee Pha Barehace ys baw eee CR UR EAR GAS Wee Re RSS Re ee 57 Firmware blocks xe san De 58 Group 01 ACTUAL VALUES e Rec RR 59 ACTUAL VALUES exa em mur ach redo lee 59 Group 02 VALUES xy Rr xw E Romse x 62 Group 03 CONTROL VALUES 3 3024 iag ied AS kas 68 Group 06 DRIVE STATUS 70 Group 08 ALARMS amp FAULTS oi rsads 74 Group 09 SYSTEM INFO Bate ge SESS EE EASE RRR we HOYER OS 77 Group DAR DS TOR d doeet oie wee Bae nk ee ee ae 78 DRIVE LOGIC ardens kita Gee wi a eek des SS 78 Group 77 START STOP MODE x xx e ORR 84 START STOP MODE es we wee a ee RR 84 Group 12 DIGITAL TQ e ig e sae Bae iw ee ee 87 DIOT
6. 2 ov aiaas eni aaya nea aaya AEN AEN Application program template 325 Appendix A Fieldbus control What this chapter contains The chapter describes how the drive can be controlled by external devices over a communication network System overview The drive can be connected to a fieldbus controller via a fieldbus adapter module The adapter module is connected to drive Slot 3 Fieldbus sss MN controller Fieldbus devices Fieldbus adapter Data Flow Control Word CW References Process 1 cyclic Status Word SW Actual values Process 1 cyclic or Service messages acyclic Parameter R W requests responses The drive can be set to receive all of its control information through the fieldbus interface or the control can be distributed between the fieldbus interface and other available sources for example digital and analogue inputs The drive can communicate with fieldbus controller via fieldbus adapter using one of the following serial communication protocols PROFIBUS DP FPBA 01 adapter CANopen FCAN 01 adapter DeviceNet FDNA 01 adapter Modbus RTU FSCA 01 adapter Modbus TCP FENA 01 adapter Appendix A Fieldbus
7. 88 20 MS V84 6 20 4 AYOM SNLYLS 2090 L QHOM SNLVLS 10790 35 eq 1 18 2 01 18534 L1Nva 80 01 LIGIHNI LYVLS 21 01 AGOW LYVLS 10111 N dOLS 60711 1 15700 4018 IVINSHON NX 440 c330 134O 4015 OWO 118 i NINNNY z org 68 uny 18 15700 5 98 LYVLS DOF VL 01 31V1S 1440 epoudis pg LYVLS 1001 4018 W3epoudis eg 330 W3epoudis 28 ues ig 1 1 201 dos 08 9Of 98101 Od 1 001 MO Waa 21 20 LYVLS SOF NNY 60 01 V84 21901 eoeuejur 4 2160 Appendix Control chain and drive logic diagrams 348 LVL pue OL SOd G33dS 60 Lpue 807 5 2210 G31VWILS3 5 0 9010 s eubis 9jeo LN3SMWO 90110 010 2010 14715 66 26 16 600 4001 30403 900 20756 W
8. Execution time Operation Inputs Outputs 253 0 80 0 44 us The output is 1 lt gt 12 Otherwise the output is 0 The input data type is selected by the user Input 11 12 INT DINT REAL REAL24 Output O Boolean Standard function blocks 254 Conversion BOOL TO DINT 10018 Illustration BOOL TO DINT 81 1 msec 1 OUT 81 Execution time 13 47 us Operation The output OUT value is a 32 bit integer value formed from the boolean input IN1 IN31 and SIGN values IN1 bit 0 and IN31 bit 30 Example IN1 1 IN2 0 IN3 IN31 1 SIGN 1 OUT 1111 1111 1111 1111 1111 1111 1111 1101 SIGN IN31 IN1 Standard function blocks Input Output BOOL TO INT 10019 Illustration Execution time Operation Inputs Outputs Sign input SIGN Boolean Input IN1 IN31 Boolean Output OUT DINT 31 bits sign BOOL TO INT 82 1 msec 1 OUT 82 5 00 us The output OUT value is a 16 bit integer value formed from the boolean input IN1 IN15 and SIGN values IN1 bit 0 and IN15 bit 14 Example IN1 IN15 1 SIGN 0 OUT 0111 1111 1111 1111 SIGN IN15 IN1 Input IN1 IN15 Boolean Sign input SIGN Boolean Output OUT
9. utei eaten ae 87 DIO2 eae creo Gece ne 87 poc 87 89 p 89 Group 13 ANALOGUE INPUTS 91 orc e d ac 91 A2 s oie seis 92 Group ANALOGUE OUTPUTS sk 95 AOT ae aed 95 96 Group 16 SYSTEM 1 98 Group 17 PANEL DISPLAY ia aaia a 101 Table of contents Group SD LIMITS o onda howe e B Bn UA Meee o Rae RC MANY Enfield d 102 ie SA pas _____ _____ 102 2255 fakes td X ai Cortal wee 104 SPEED FEEDBACK 6 5 105 Group 24 SPEED REF MOD s 109 SPEED REF SEL M A dud d 110 SPEED REF MOD agi da bye Ea sane a R E e E a a 111 Group 25 SPEED REF eine Baa as
10. 0 1 for each individual bit REAL 16 bit value 16 bit value 31 bits sign 32768 99998 32767 9998 integer value fractional value REAL24 8 bit value 24 bit value 31 bits sign 128 0 127 999 integer value fractional value Standard function blocks 232 Alphabetical index ABS soe ca EE 233 ADDERE ERR 233 237 242 242 243 BOOL TO DINT 254 BOOL TO INT 255 BOP xat ts tete 301 BSED vele us xS 243 CRITSPEED 284 CI Dee eh e 263 CTD_DINT 263 SES 264 CTU_DINT 265 CTUD 266 CTUD 268 CYCLET mme 285 D2D 246 020 247 020 SendMessage 247 DATA CONTAINER 285 306 DEMUX MI 306 DINT TO BOOL 256 DINT TO INT 257 DINT TO REALn 257 DINT TO REALn SIMP 258 Sm ed 233 DS ReadLocal 249 DS WriteLocal 250 EESE 301 ELSEIF 301 ENDIF 302 EQ uo gare IA 251 EXPT sa esse 234 els ES 295 FIET21 295 FIO 01 1011 273 FIO 01 80 274 FIO 11 AI slot1 275 FIO 11 AI slot2
11. RETE AE 29 Programming via parameters 1 30 Application programming edu DUE RON e ole 30 Function DIOGKS wu ester d uice MEL m ed 31 oos ey oe eed Tres dur eet od 31 Application events 45 0 4 31 Program execution CR ced eu Wo ae eat a WT ee fedes 31 Solution program licensing and protection 32 Operation modes e EVE AS LP RE Ve Le IRE EE 32 Drive control and features What this chapter contalns us esee ER nex EC nep IRURE Re do e DR RATE ena 35 Local control vs external 35 Operating modes of the drive 36 Speed control mode 36 Torque controlimode epo EDI SE 36 Drive control chain for speed and torque control 37 Motor control features occ Saat oak ________ do ass 38 Scalar motor controls 25 5 2061 e Rt tet m e ius DONA Erat 38 batte gd BAN iad ite quet deu
12. Enter a small speed reference value for example 3 of the nominal motor speed P rpm Start the motor Check that the estimated 1 14 SPEED ESTIMATED and actual 1 14 SPEED ESTIMATED speed 1 08 ENCODER 1 SPEED 1 10 ENCODER 2 SPEED are equal If the values differ check the encoder resolver parameter settings Hint If the actual speed with absolute or pulse encoder differs form the reference value by a factor of 2 check the pulse number setting 91 01 SINE COSINE NR 93 01 ENC1 PULSE NR 93 11 ENC2 PULSE NR 1 08 ENCODER 1 SPEED 1 10 ENCODER 2 SPEED Start up 23 If the direction of rotation is selected as forward check that actual speed 1 08 ENCODER 1 SPEED 1 10 ENCODER 2 SPEED is positive f the actual direction of rotation is forward and the actual speed negative the phasing of the pulse encoder wires is reversed f the actual direction of rotation is reverse and the actual speed negative the motor cables are incorrectly connected Changing the connection Disconnect the main power and wait for 5 minutes for the intermediate circuit capacitors to discharge Do the necessary changes Switch the power on and start the motor again Check that the estimated and actual speed values are correct f the direction of rotation is selected as reverse the actual speed must be negative Note Resolver autotuning routines should always be performed afte
13. 5 ADD A B 99 05 MOTOR CTRL MODE 3 12 TORQUE REF ADD Firmware block REFERENCE CTRL REFERENCE CTRL TLFS_250 psec 34 3 13 TORQ REF TO TC This block 6 12 OP MODE ACK is bloc __________ lt 34 01 EXTI EXT2 SEL defines selection method lt 34 02 MODE 1 2SEL between external control locations ssi S405 EXTLCTRI MODEL EXT1 and EXT2 34 04 EXT1 CTRL MODE2 configures control mode SPEED Pesmi ________ 34 05 2 CTRL MODEL TORQUE MIN MAX ADD 34 07 LOCAL CTRL selection TIe lt 34 08 TREF SPEED SRC selects the torque reference used 34 09 TREF TORQ SRC in local and external control 8 IIT shows the torque reference for torque control and operating mode Block outputs located in other 3 13 REF TO TC page 68 parameter groups 6 12 OP MODE ACK page 73 34 01 EXT1 EXT2 SEL FW block REFERENCE CTRL see above Selects the source for external control location EXT1 EXT2 selection 0 EXT1 1 EXT2 Bit pointer Group index and bit 34 02 EXT1 MODE 1 2SEL FW block REFERENCE CTRL see above Selects the source for EXT1 control mode 1 2 selection 1 lt mode 2 0 lt mode 1 Control mode 1 2 is selected by parameter 34 03 EXT1 CTRL MODE1 34 04 EXT1 CTRL MODE2 Bit pointer Group index and bit 34 03 EXT1 CTRL MODE1 FW block
14. 8 Internal No external sources are used as master real time clock Parameters and firmware blocks 101 Group 17 PANEL DISPLAY Selection of signals for panel display 17 01 SIGNAL1 PARAM FW block None Selects the first signal to be displayed on the control panel The default signal is 1 05 FREQUENCY Value pointer Group and index 17 02 SIGNAL2 PARAM FW block None Selects the second signal to be displayed on the control panel The default signal is 1 04 CURRENT Value pointer Group and index 17 03 SIGNAL3 PARAM FW block None Selects the third signal to be displayed on the control panel The default signal is 1 06 TORQUE Value pointer Group and index Parameters and firmware blocks 102 Group 20 LIMITS Definition of drive operation limits Firmware block LIMITS LIMITS TLF10 2 msec 5 20 500 1 20 01 MAXIMUM SPEED 20 02 MINIMUM SPEED Adjusts the drive speed current and GME OS SHEED IE torque limits selects the source for eO OT eee SEEN the positive negative speed reference 20 06 MAXIMUM TORQUE enable command and enables the TENUES dapi 20 07 MINIMUM TORQUE thermal current limitation 20 01 MAXIMUM SPEED FW block LIMITS see above Defines the allowed maximum speed See also parameter 22 08 SPEED TRIPMARGIN 0 30000 rpm Allowed max
15. Code Fault Cause What to do fieldbus code 0001 OVERCURRENT Output current has exceeded Check motor load 0x2310 internal fault limit Check acceleration time See parameter group 25 SPEED REF RAMP on page 114 Check motor and motor cable including phasing and delta star connection Check that the start up data in parameter group 99 corresponds to the motor rating plate Check that there are no power factor correction capacitors or surge absorbers in motor cable Check encoder cable including phasing 0002 DC OVERVOLTAGE Excessive intermediate circuit Check that overvoltage controller is on 0x3210 DC voltage parameter 47 01 OVERVOLTAGE CTRL Check mains for static or transient overvoltage Check brake chopper and resistor if used Check deceleration time Use coast to stop function if applicable Retrofit frequency converter with brake chopper and brake resistor 0003 DEVICE OVERTEMP Measured drive temperature Check ambient conditions 0x4210 has exceeded internal fault limit Check air flow and fan operation Check heatsink fins for dust pick up Check motor power against unit power 0004 SHORT CIRCUIT Short circuit in motor cable s or Check motor and motor cable 0x2340 motor Check there are no power factor correction capacitors or surge absorbers in motor cable 0005 DC UNDERVOLTAGE Intermediate circuit DC voltage Check mains supply and fuses 0x3220 is not sufficient due to miss
16. 0 1800 5 121000 10ms 32 1 114 25 04 DEC TIME REAL 0 1800 S 121000 10ms 32 1 115 25 05 SHAPE TIME ACC1 REAL 0 1000 S 151000 10 32 0 115 25 06 SHAPE TIME ACC2 REAL 0 1000 S 151000 10ms 32 0 115 25 07 SHAPE TIME DEC1 REAL 0 1000 S 151000 10ms 32 0 115 25 08 SHAPE TIME DEC2 REAL 0 1000 S 121000 10ms 32 0 116 25 09 ACC TIME JOGGING REAL 0 1800 S 121000 10ms 32 0 116 25 10 DEC TIME JOGGING REAL 0 1800 S 121000 10ms 32 0 116 25 11 EM STOP TIME REAL 0 1800 S 121000 10ms 32 1 116 25 12 SPEEDREF BAL REAL 30000 rpm 121000 2ms 32 0 116 30000 25 13 SPEEDREF BAL ENA Bit pointer 2ms 32 C False 116 26 SPEED ERROR 26 01 SPEED ACT NCTRL Val pointer 2ms 32 P 01 01 WP 118 26 02 SPEED REF NCTRL Val pointer 2ms 32 03 04 WP 118 26 03 SPEED REF PCTRL Val pointer 2ms 32 P 04 01 118 26 04 SPEED FEED PCTRL Val pointer 2ms 32 P 04 20 118 26 05 SPEED STEP REAL 30000 rpm 15100 2 32 0 119 30000 26 06 SPD ERR 0 1000 ms 1 10 2 16 0 119 26 07 SPEED WINDOW REAL 0 30000 rpm 15 250 us 16 100 119 26 08 ACC COMP REAL 0 600 S 1 100 2 ms 32 0 119 DERTIME 26 09 ACC COMP FTIME REAL 0 1000 ms 1 10 2 ms 16 8 120 Parameter data 202 Index Parameter Type Range Unit FbEq
17. be ek NA TRE RAS 255 DINT BOOL Vane RENT XN WS 256 DINT TOJNT eid tata ated ep NR end boe ERR AG 257 DINT sus ech ce RR EE CO Sle RAT 257 DINT 5 em Deoque amp ns ke au gs 258 INT TOSBOQOL etude quads e qu Rode s eas rh 259 INT TOS DINTE eso eee ee te ob op e eet be tei 259 REAL T OSREAD24 te cat ee i cred Motu 260 24 1 Piso hadi e ELSE TEE ea 260 REAEncrO DIBNT ii emu he QI de to E fet dae 261 DINT SIMP iius soU UR AC Ead os 261 COUNTES en eR eec AA ped o ud o e RC e e odo gene 263 MELDE 263 545 3 542 ARS meh Se REVUES RAS qat 263 uda t E EO NER E tU RN es 264 deg cee ER eed ep e o er ow I en ORO RU TS 265 tee 266 CLUDUDINGT ete ee ORE 268
18. 236 CHOR PEN 272 245 edi uds 236 SWITCH 307 SWITCH Carte 308 310 310 311 NOR 240 Standard function blocks Arithmetic ABS 10001 Illustration ADD 10000 DIV 10002 Execution time Operation Inputs Outputs Illustration Execution time Operation Inputs Outputs Illustration Execution time 233 OUT 46 0 53 us The output OUT is the absolute value of the input IN OUT The input data type is selected by the user Input IN DINT INT REAL or REAL24 Output OUT DINT INT REAL or REAL24 OUT 47 3 36 us when two inputs are used 0 52 us for every additional input When all inputs are used the execution time is 18 87 us The output OUT is the sum of the inputs IN1 IN32 OUT IN1 IN2 IN32 The output value is limited to the maximum and minimum values defined by the selected data type range The input data type and the number of the inputs 2 32 are selected by the user Input IN1 IN32 DINT INT REAL REAL24 Output OUT DINT INT REAL or REAL24 OUT 48 2 55 us Standard function blocks 234 10003 10004 Operation Inputs Outputs Illustration Execution time Operation Inputs Outputs Illustration Exec
19. 6092 5 NOILISOd 300 90 5 S 14 2 AYOM SNLWLS 2090 SNI990f 04 19 9 434033dS 0 2 5 03395 9072 TAS 21 434 03395 8072 2388 03395 206 84 634 AYOM SNLYLS 1090 03395 WANWIXYN 10 02 43385 604 60 02 GOW 0348 1333 03395 106 03345 1SNOO 8072 43395 1SNOO 6092 G3LVWILSS 03395 vV V 43385 OFF 80 9022 785 83 03395 1022 TNW YOLOW 2022 LOV Q33ds 072 43395 43395 1 0832 Tas 2388 43395 2072 t438 0832 Tas 3384 43395 092 Appendix C Control chain and drive logic diagrams 345 t438 Vas Vas 43H 3 0482 3000 1412 SOLON 90 66 Tas aav 0401 20726 8 aav s TALO dS 434 0401 806 9101 4 OYOL 993395 WNL 9 19 NIW 43H 0801 99345 WIL 514 338 0801 6 2 L 5090 90790 1 WIIHSO
20. 2 18 duo OW L338 2 76 1438 11 18 ONAS T3NH3 S440 ONAS IANYA 01 6 3GOW ONAS 6078 MO ZV ozz lt 1 2946 MO 80 49 085 2484 1019 a SH3MOTIOJ 085 14349018 H3MOTIO4 80 28 ASYN H3MOTIO 70 18 M3ISV sso1WWOO 20 5 SONILLAS NOWWOO NOILVOINDININOO aav 0 19 YANIT 1048 81 20 QHOM SNLVLS 20790 SNINNOM CHOM SNLVLS 10790 A ANIHOVW 1 15 3 I8VN3 LNVIS 1404 18588 L0 v4 8070 LYVLS CV OL AGOW LNVIS 0 4 8015 6011 15 Em Jd 83015 2440 14301 4015 440 4018 01 01 1440 4018 11 09 4016 1X3 JI8VN3 OOF 81 09 c LYVLS SOF vVOL L 14 18 90 2001 14916 201 Jeued Od AGOW W907 60 01 31901 eAug 1 18 1X4 338 TAS CLX3 VLX3 LOVE LYVLS v0 OL SENI Vad LNI LYVLS 00 Appendix Control chain and drive logic diagrams 347
21. 20 02 MINIMUM SPEED 20 04 NEG SPEED ENA 06 02 STATUS WORD 2 bit 12 RAMP Selects the sources for two speed references REF1 or REF2 from a selection list Also shows the values of both speed references The sources can alternatively be selected with value pointer parameters See firmware block SPEED REF MOD on page 111 Firmware block ___6 SPEED REF SEL TLF2 500 psec m 23 3 01 SPEED REF1 3 02 SPEED REF2 fat 124 01 SPEED SEL 24 02 SPEED REF2 SEL Block outputs located in other 3 01 SPEED REF1 page 68 parameter groups 3 02 SPEED 2 page 68 24 01 SPEED REF1 SEL FW block SPEED REF SEL see above Selects the source for speed reference 1 3 01 SPEED REF 1 Source for speed reference 1 2 can also be selected by value pointer parameter 24 03 SPEED REF1 IN 24 04 SPEED REF2 IN 0 ZERO Zero reference 1 Analogue input 2 12 Analogue input AI2 3 FBA REF1 Fieldbus reference 1 4 FBA REF2 Fieldbus reference 2 5 D2D REF1 Drive to drive reference 1 Parameters and firmware blocks 111 6 020 REF2 Drive to drive reference 2 7 ENC1 SPEED Encoder 1 1 08 ENCODER 1 SPEED 8 ENC2 SPEED Encoder 2 1 10 ENCODER 2 SPEED 24 02 SPEED REF2 SEL FW block SPEED REF SEL see above Selects
22. Parameters and firmware blocks 135 Group 34 REFERENCE CTRL Reference source and type selection Using the parameters in this group it is possible to select whether external control location EXT1 or EXT2 is used either one is active at a time These parameters also select the control mode SPEED TORQUE MIN MAX ADD and the used torque reference in local and external control It is possible to select two different control modes for the EXT1 location by using parameters 34 03 EXT1 CTRL and 34 04 EXT1 CTRL MODE2 the same start stop commands used in both modes For more information on control locations and control modes see chapter Drive control and features For start stop control in different control locations see parameter group 10 START STOP page 78 34 07 LOCAL CTRL MODE SPEED TORQUE POSITION 34 02 EXT1 MODE 1 2SEL 34 01 EXT1 CTRL MODE1 POSITION SYNCHRON HOMING PROF VEL JOGGING 34 01 EXT1 CTRL MODE2 LOCAL FIELDBUS 6 12 OP MODE ACK LOCAL EXT1 EXT2 POSITION SYNCHRON HOMING PROF VEL IN1F IN2R IN1S IN2DIR 34 05 EXT2 CTRL MODE1 POSITION SYNCHRON HOMING PROF VEL 10 04 EXT2 START FUNC IN1F IN2R IN1S 2 34 01 EXT1 EXT2 SEL Parameters and firmware blocks 136 6 12 15 SPEED B 3 11 TORQ REF RUSHLIM 2 TORQUE A 3 MIN A B 3 13 TORQ REF TO TC 3 08 TORQ REF SP CTRL B 4
23. TLA1 3 msec TLA1 6 msec 0 24 30 Ema m Data1 16B Datal 210 Data 2 Sent msg counti Data2 328 5566542 05750 5 020 SendMessage DS WriteLocal 51 4 TLAL 3 msec TLAL 6 msec 3 Msg ineft LocalDsNr 2 Sent msg count Sen mig c 50753 Target Node Grp Eroen Datal 168 24 Error 0 LocalDsNr ey a 46 Data2 328 15 746 20 RemoteDsNr D2D SendMessage 46 TLAL 6 msec 3 DS Msg TLAL 3 msec 3 Target Node Grp Error 46 Error 0 28 33 LocalDsNr Datal 168 Data 328 Emor Roy Data 1 pr 28 RemoteDsNr Data2 2516 2 4 2 5 Um 1 Follower 1 writes local dataset 24 to follower 2 dataset 30 3 ms interval 2 Follower 2 writes local dataset 33 to follower 1 dataset 28 6 ms interval 3 In addition both followers read received data from local datasets Appendix B Drive to drive link 342 Example of standard master to follower s multicast messaging Master Follower s in Std Mcast Group 10 DS WriteLacal 020 Conf 53 4 TLAL 1 msec 0 TLA2 10 msec 18 Refi Cycle Sel Enon Emo 3876 Ref2 Cycle Sel Sent msg count 54 10 Std Mcast Group 15 54 020 SendMessage DS 54 49 TLAL 1 2 TLAL 1 msec 0 4 Msg 1 1 188144 10 Sent msg count Sent misgie 57637 Data
24. FW block D2D COMMUNICATION see above Specifies the next multicast group of drives the multicast message is relayed to See parameter 57 11 REF 1 MSG TYPE This parameter is effective only in the master or in submasters followers in which parameters 57 03 NODE ADDRESS and 57 12 REF1 MC GROUP are set to the same value 0 62 Next multicast group in message chain Parameters and firmware blocks 167 57 14 GRPS FW block 020 COMMUNICATION see above Sets the number of drives sending messages in the message chain The value is typically equal to the number of multicast groups in the chain assuming that the last drive is NOT sending an acknowledgement to the master See parameter 57 11 REF 1 MSG TYPE Notes This parameter is only effective in the master 1 62 Total number of links in multicast message chain 57 15 D2D COMM PORT FW block None Defines the hardware to which the drive to drive link is connected In special cases such as harsh operating conditions the galvanic isolation provided by the RS 485 interface of the FMBA module may make for more robust communication than the standard drive to drive connection 0 on board Connector X5 on the JCU Control Unit is used ot n module installed in option slot 1 is used 1 Slot 1 An FMBA module i lled in JCU opti lot1i d 2 Slot 2 An FMBA module installed in
25. Parameters and firmware blocks 65 2 13 MAIN SW FW block FIELDBUS page 156 Status Word for fieldbus communication See State diagram on page 330 Bit Name Value Information 0 READY 1 Drive is ready to receive start command 0 Drive is not ready 1 ENABLED 1 External run enable signal is received 0 No external run enable signal is received 2 RUNNING 1 Drive is modulating 0 Drive is not modulating 3 RUNNING 1 Normal operation is enabled Drive is running and following given reference 0 Normal operation is disabled Drive is not following given reference for example modulating during magnetization 4 EM OFF 1 Emergency OFF2 is active OFF2 0 Emergency OFF2 is inactive 5 EM STOP 1 Emergency stop OFF3 ramp stop is active OFF3 0 Emergency OFF3 is inactive 6 1 Start inhibit is active STARTINH 0 Start inhibit is inactive 7 ALARM 1 An alarm is active See chapter Fault tracing 0 No alarm is active 8 AT SETPOINT 1 Drive is setpoint Actual value equals reference value i e the difference between the actual speed and the speed reference is within the speed window defined by 26 07 SPEED WINDOW 0 Drive has not reached setpoint 9 1 Operation is limited by any torque or current limit 0 Operation is within torque current limits
26. 13 10 32768 32768 Real value corresponding to value of parameter 13 07 13 10 AI2 MIN SCALE FW block AI2 see above Defines the real value that corresponds to the minimum analogue input value defined by parameter 13 08 AI2 MIN See parameter 13 09 AI2 MAX SCALE 32768 32768 Real value corresponding to value of parameter 13 08 13 11 AITUNE FW block None Triggers the AI tuning function Connect the signal to the input and select the appropriate tuning function 0 No action Al tune is not activated 1 AI1 min tune Current analogue input Al1 signal value is set as minimum value for parameter 13 03 MIN The value reverts back to 0 No action automatically 2 max tune Current analogue input AI1 signal value is set as maximum value for parameter 13 02 MAX value reverts back to 0 action automatically Parameters and firmware blocks 94 3 12 min tune Current analogue input AI2 signal value is set as minimum value for AI2 parameter 13 08 AI2 MIN The value reverts back to 0 No action automatically 4 AI2 max tune Current analogue input AI2 signal value is set as maximum value for AI2 parameter 13 07 AI2 MAX The value reverts back to 0 No action automatically 13 12 Al SUPERVISION FW block None Selects how the drive reacts when analogue input signal limit is reached The limit is selected by parameter
27. 32768 32768 Real value corresponding to value of parameter 13 03 Firmware block 12 12 TLF7 2 msec e 13 2 06 AI2 2 07 AI2 SCALED Filters and scales the analogue input AI2 signal and selects the AI2 13 06 AI2 FILT TIME 100005 10900 mA supervision Also shows the value of rasa 2 the input 13 09 AI2 MAX SCALE Eom 13 10 AI2 MIN SCALE Block outputs located in other 2 06 AI2 page 62 parameter groups 2 07 AI2 SCALED page 62 13 06 AI2 FILT TIME FW block AI2 see above Defines the filter time constant for analogue input AI2 See parameter 13 01 FILT TIME 0 30s Filter time constant for Al2 Parameters and firmware blocks 93 13 07 12 FW block 2 see above Defines the maximum value for analogue input AI2 The type is selected with jumper J2 on the JCU Control Unit 11 11 V 22 22 mA Maximum AI2 input value 13 08 AI2 MIN FW block 2 see above Defines the minimum value for analogue input AI2 The type is selected with jumper J2 on the JCU Control Unit 11 11 V 22 22 mA Minimum AI2 input value 13 09 AI2 MAX SCALE FW block 2 see above Defines the real value that corresponds to the maximum analogue input value defined by parameter 13 07 AI2 MAX scaled 13 09 13 07 See
28. 3570 TT 1 0000 at pefaid 1 067 PAA 20d pojedaig peseg 20 day 43s DYOL gt DUS DYOL AJAL 60 6 gt DUS 09345 4841 80 gt IQON 141219201 20 96 TAGOW TALI 21 3 50 ZAGOW TALI TXF TAGOW TALI 60 7852 1 TLA Z0 gt 195 1 10 6 gt GOW 40279 2101 34 DYOL 8 3nou01 8 51052 T OSIW 3H HH WIIHSmi BY O4 OL gor 2 THD 890901 rea aaya ne eng NMOG DYOL 80726 dn DYOL 20726 5 QVO190 7 388 WNWINIW 50726 DYOL 40726 NI 434 DYOL 0726 gt 434 DYOL 434 DYOL 0 ne eau Gor 8 si 005 433081 _ GOW 338 0801 Tray 135 Gav 434 20726 135 10726 BY ZTE 1588 DYOL 60 0 005 33804 5 135 338 Application program template 322 200 3570
29. Defines the minimum torque reference 1000 096 Minimum torque reference 32 06 LOAD SHARE FW block TORQ REF MOD see above Scales the external torque reference to a required level external torque reference is multiplied by the selected value Note If local torque reference is used no load share scaling is applied 8 8 External torque reference multiplier 32 07 TORQ RAMP UP FW block TORQ REF MOD see above Defines the torque reference ramp up time i e the time for the reference to increase from zero to the nominal motor torque 0 605 Torque reference time 32 08 RAMP DOWN FW block TORQ REF MOD see above Defines the torque reference ramp down time i e the time for the reference to decrease from the nominal motor torque to zero Parameters and firmware blocks 131 0 60 8 Torque reference ramp down time Parameters and firmware blocks Group 33 SUPERVISION Configuration of signal supervision Firmware block SUPERVISION 17 SUPERVISION 45 TLF11 10 msec 6 6 14 SUPERV STATUS 33 94 SUPERVI FUNC PR EE lt 33 02 SUPERVI ACT 33 03 SUPERV1 LIM HI 1090 ___________ 33 04 SUPERV1 LIM LO 33 05 SUPERV2 FUNC UN 33 06 SUPERV2 ACT 33 97 SUPERV2 LIM HI 100 33 08 SUPERV2 LIM LO Toisaa
30. 11 100000 32 0 183 97 03 USER REAL24 0 0 5 1 100000 32 0 183 97 04 USER REAL24 0 10 1 100000 32 0 183 97 05 SIGMAL USER REAL24 0 1 1 100000 32 0 183 97 06 LD USER REAL24 0 10 11 100000 32 0 183 97 07 USER 24 0 10 1 100000 32 0 184 97 08 PM FLUX USER REAL24 0 2 1 100000 32 0 184 97 09 RS USER SI REAL24 0 100 ohm 1 100000 32 0 184 97 10 RR USER SI REAL24 0 100 ohm 1 100000 32 0 184 Parameter data 208 Index Parameter Type Range Unit FbEq Update Data Def PT Save Page time len PF no 97 11 LM USER SI REAL24 0 100000 mH 1 100000 32 0 184 97 12 SIGL USER SI REAL24 0 100000 mH 1 100000 32 0 184 97 13 LD USER SI REAL24 0 100000 mH 1 100000 32 0 184 97 14 USER SI REAL24 0 100000 mH 1 100000 32 0 184 97 20 POS OFFSET USER REAL 0 360 1 1 32 0 185 98 MOTOR CALC VALUES 98 01 NOM SCALE UINT32 10 2147483 Nm 1 1000 32 0 WP 186 98 02 POLEPAIRS UINT32 0 1000 1 16 0 WP 186 99 START UP DATA 99 01 LANGUAGE enum 1 1 16 187 99 04 MOTOR TYPE enum 0 1 1 1 16 0 187 99 05 CTRL enum 0 1 1 1 16 0 188 99 06 NOM CURRENT REAL 0 6400 1510 32 0 188 99 07 NOM VOLTAGE 120 960 V 1510 32 0 188 99 08
31. start command is inactive 1 STOP ACT 1 Drive stop command is active 0 stop command is inactive 2 READY RELAY 1 to function run enable signal on no fault emergency stop signal off no ID run inhibition Connected by default to DIO1 by par 12 04 DIO1 OUT PTR Can be freely connected anywhere 0 ready to function 3 MODULATING 1 Modulating IGBTs are controlled i e the drive is RUNNING 0 modulation IGBTs are not controlled 4 REF RUNNING 1 Normal operation is enabled Running Drive follows the given reference 0 Normal operation is disabled Drive is not following the given reference e g in magnetisation phase drive is modulating 5 JOGGING 1 Jogging function 1 or 2 is active 0 Jogging function is inactive 6 OFF1 1 Emergency stop OFF 1 is active 0 Emergency stop 1 is inactive 7 START 1 Maskable by par 10 12 START INHIBIT start inhibit is active MASK O start inhibit maskable 8 START INH 1 Non maskable start inhibit is active NOMASK O start inhibit non maskable 9 CHRG REL 1 Charging relay is closed CLOSED 0 Charging relay is open 10 5 ACT 1 Safe Torque Off function is active See parameter 46 07 STO DIAG NOSTIC 0 Torque Off function is inactive 11 Reserved 12 RAMP IN O 1 Ramp Function Generator input is forced to zero 0 operation 13 RAMP HOLD 1 Ramp Function Generator output is held 0 Normal ope
32. 1 Follower 57 13 NEXT REF1 MC 2 57 12 REF1 MC GROUP 2 57 11 REF 1 MSG TYPE 1 MC Grps 57 03 NODE ADDRESS 5 57 14 NR REF1 MC GRPS 3 57 13 NEXT REF1 MC GRP 4 57 12 REF1 MC GROUP 4 57 11 REF 1 MSG TYPE lt 0 Broadcast 57 14 NR REF1 MC GRPS lt don t care 57 13 NEXT REF1 MC GRP 5 57 12 REF1 MC GROUP 5 57 14 NR REF1 GRPS don t 57 13 NEXT REF1 MC GRP lt don t care 57 14 NR REF1 MC GRPS lt don t care Follower 2 17 D2D MAIN CW Follower 2 19 D2D REF1 2 17 D2D MAIN CW 2 19 D2D REF1 57 01 LINK MODE 1 Follower 57 03 NODE ADDRESS 1 57 11 REF 1 MSG TYPE don t care 57 12 REF1 MC GROUP 2 57 13 NEXT REF1 MC GRP lt don t care 57 14 NR REF1 MC GRPS don t care 57 01 LINK MODE 1 Follower 57 03 NODE ADDRESS 3 57 11 REF 1 MSG TYPE lt don t care 57 12 REF1 MC GROUP 4 57 13 NEXT REF1 MC GRP don t care 57 14 NR REF1 MC GRPS don t care Acknowledgement from last follower to master can be prevented by setting parameter 57 11 REF 1 MSG TYPE to 0 Broadcast required because parameters 57 03 NODE ADDRESS and 57 12 REF1 MC GROUP are set to the same value Alternatively node group addresses parameters
33. 205 and SCALE 100 I SCALE 205 100 2 05 and 2 04999 Inputs Input 1 DINT Scale input SCALE DINT Outputs The output data type is selected by the user Output O REAL REAL24 Error output ERRC DINT Standard function blocks 259 INT BOOL 10024 Illustration INT TO ixi 87 1 msec 1 87 OUT2 87 OUT3 87 OUTA 87 OUT5 87 QUT6 87 0UT7 87 018 87 OUT9 87 OUT10 87 OUT11 87 OUT12 87 OUT13 87 OUT14 87 OUT15 87 OUT16 87 SIGN87 Execution time 4 31 us Operation The boolean output OUT1 OUT16 values are formed from the 16 bit integer input IN value Example IN 0111 1111 1111 1111 OUT16 OUT1 SIGN Inputs Input IN INT Outputs Output OUT1 OUT16 Boolean Sign output SIGN Boolean INT TO DINT 10025 Illustration INT TO DINT 88 1 msec 1 0 88 Execution time 0 33 us Standard function blocks 260 Operation Inputs Outputs REAL TO REAL24 10026 Illustration Execution time Operation Inputs Outputs The output value is a 32 bit integer value of the 16 bit integer input 1 value 1 0 32767 32767 32767 32767 0 0 Input 1 INT Output O DINT O 89 1 35 us Output is the REAL24 equivalent of the REAL input 1 The
34. 45 10 THERM TIME FW block MOT THERM PROT see above Defines the thermal time constant for the motor thermal protection model i e time inside which the temperature has reached 63 of the nominal temperature See the motor manufacturer s recommendations The motor thermal protection model is used when parameter 45 02 MOT TEMP SOURCE is set to 0 ESTIMATED Motor load 10096 Temp t rise i 100 63 Motor thermal time 100 10000 s Motor thermal time Parameters and firmware blocks 149 Group 46 FAULT FUNCTIONS Definition of drive behaviour upon a fault situation An alarm or a fault message indicates abnormal drive status For the possible causes and remedies see chapter Fault tracing Firmware block FAULT FUNCTIONS FAULT FUNCTIONS 2msec d 46 8 01 ACTIVE FAULT 8 02 LAST FAULT This block 8 03 FAULT TIME HI configures supervision of external 8 04 FAULT TIME LO faults by defining the source for 8 06 ALARM WORD 2 8 07 ALARM WORD 8 08 ALARM WORD 4 example a digital input for external fault indication signal selects the reaction of the drive alarm fault continuation at safe speed in some cases upon situations like local control communication break motor supply phase loss earth fault or Safe Torque Off function activation shows the codes of the latest
35. 5 1 efesotomasyon com Firmware Manual ACSM1 Speed and Torque Control Program 5 1 Speed Torque Control Program Firmware Manual efesotomasyon com 3AFE68848261 REV F EN EFFECTIVE 2009 12 21 2009 ABB Rights Reserved Table of contents Table of contents Introduction to the manual What this chapter contains 1 13 Compatibilty e e dee afe 13 Safety instructions ee ec RO Cox Rei ead AGI ICI Bh CA 13 SA ae Bae es 13 Contents Lic EG D PEE Wap WE XO eR Ne E NAE Ra E PO dede 14 Product and service inquiries 14 Product training soser eh eee EH ERE ERE pU 14 Providing feedback on ABB Drives 14 Start up What this chapter contains ub aa A ed ee id Sk 15 How to start up the drive ERREUR RH RATER Enni 15 How to control the drive through the I O 27 Drive programming using PC tools What this chapter contains 29 General osaeran day vib ate a Abe
36. FIO 11 AO slot2 10091 Illustration FIO 11 AO slot2 T 54 1 msec 1 4064 AO Max Error 54 AO Min Scale AO Max Scale AO scaled Execution time 4 9 us Standard function blocks Operation Inputs Outputs 281 The block controls the analogue output AO1 of a FIO 11 Analog I O Extension mounted on slot 2 of the drive control unit The block converts the input signal AO scaled to a 0 20 mA signal AO that drives the analogue output the input range AO Min Scale AO Max Scale corresponds to the current signal range of AO Min AO Max AO Min Scale must be smaller than AO Max Scale AO Max can be greater or smaller than AO Min AO Min AO Max AO mA 1 Min lt 0 gt AO scaled 32768 gt 0 gt 32768 5 o 5 8 27 5 gt mA 204 _ Min AO Max gt a 0 scaled 32768 0 32768 epos XLW OV Minimum current signal AO Min REAL 0 20 mA Maximum current signal AO Max REAL 0 20 mA Minimum input signal AO Min Scale REAL Maximum input signal AO Max Scale REAL Input signal AO scaled REAL Analogue output current value AO REAL Error output Error DINT 0 No error 1 Application program memory full Standard function blocks 282 FIO 11
37. Fault tracing 226 Code Fault Cause What to do fieldbus code 0050 ENCODER 1 CABLE Encoder 1 cable fault detected Check cable between FEN xx interface and 0x7389 encoder 1 After any modifications in cabling Programmable fault 90 05 re configure interface by switching drive ENC CABLE FAULT power off and on or by activating parameter 90 10 ENC PAR REFRESH 0051 ENCODER 2 CABLE Encoder 2 cable fault detected Check cable between FEN xx interface and 0x738A encoder 2 After any modifications in cabling Programmable fault 90 05 re configure interface by switching drive ENC CABLE FAULT power off and on or by activating parameter 90 10 ENC PAR REFRESH 0052 D2D CONFIG Configuration of the drive to Contact your local ABB representative 0x7583 drive link has failed for a reason other than those indicated by alarm 2042 for example start inhibition is requested but not granted 0053 D2D COMM On the master drive The drive Check that all drives that are polled 0x7520 has not been replied to by an parameters 57 04 FOLLOWER MASK 1 and Programmable fault 57 02 activated follower for five 57 05 FOLLOWER MASK 2 on the drive to COMM LOSS FUNC consecutive polling cycles drive link are powered properly connected to the link and have the correct node address Check the drive to drive link wiring follower drive The drive Check the settings of parameters 57 06 REF has not re
38. General This chapter describes the wiring of and available communication methods on the drive to drive link Examples of using standard function blocks in the communication are also given starting on page 339 The drive to drive link is a daisy chained RS 485 transmission line constructed by connecting the X5 terminal blocks of the JCU Control Units of several drives It is also possible to use an FMBA Modbus extension module installed into an option slot on the JCU The firmware supports up to 63 nodes on the link The link has one master drive the rest of the drives are followers By default the master broadcasts control commands as well as speed and torque references for all followers The master can send 8 messages per millisecond at 100 150 microsecond intervals Sending one message takes approximately 15 microseconds which results in a theoretical link capacity of roughly 6 messages per 100 microseconds Multicasting the control data and reference 1 to a pre defined group of drives is possible as is chained multicast messaging Reference 2 is always broadcast by the master to all followers See parameters 57 11 57 14 Wiring Shielded twisted pair cable 100 ohm e g PROFIBUS compatible cable must be used for the wiring The maximum length of the link is 50 metres 164 ft The JCU Control Unit has a jumper J3 T next to the X5 terminal block for bus termination Termination must be ON on the drives at the ends of th
39. INT DINT 0 60 1 28 Input bits 1 are rotated to the right by the number of bits defined by BITCNT The least significant bits LSB of the input are stored as the most significant bits MSB of the output Example If BITCNT 3 3 LSB p 1 11100000111001011101001100110101 0110111100000111001011101001100110 3 MSB The input data type is selected by the user Number of bits input BITCNT INT DINT Input I INT DINT Output O INT DINT 0 61 0 80 Input bits 1 are rotated to the left by the number of bits defined by BITCNT The most significant bits MSB of the input are lost and the N least significant bits LSB of the output are set to 0 Example If BITCNT 3 3 MSB Lat 1111100000111001011101001100110101 000000111001011101001100110101000 3158 Standard function blocks 240 Inputs Outputs SHR 10016 Illustration Execution time Operation Inputs Outputs XOR 10017 Illustration Execution time The input data type is selected by the user Number of bits BITCNT INT DINT Input I INT DINT Output O INT DINT 0 62 0 80 Input bits I are rotated to the right by the number of bits defined by BITCNT The least significant bits LSB of the input are lost and the N most significant bits MSB of the output are set to O
40. Types of messaging Each drive on the link has a unique node address allowing point to point communication between two drives The node address 0 is automatically assigned to the master drive on other drives the node address is defined by parameter 57 03 NODE ADDRESS Multicast addressing is supported allowing the composition of groups of drives Data sent to a multicast address is received by all drives that have that address A multicast group can consist of 1 62 drives In broadcast messaging data can be sent to all drives actually all followers on the link Both master to follower s and follower to follower s communication is supported A follower can send one message to another follower or a group of followers after receiving a token message from the master Type of messaging Note Point to point Master point to point Supported only at master Read remote Supported only at master Follower point to point Supported only at followers Standard multicast For both master and followers Broadcast For both master and followers Token message for follower to follower communication Chained multicast Supported only for drive to drive reference 1 and control word Appendix B Drive to drive link 334 Master point to point messaging In this type of messaging the master sends one dataset LocalDsNr from its own dataset table to the follower s TargetNode stands for the node addre
41. 0000 0000 1111 1111 0000 0000 1111 0111 The input data type is selected by the user Enable input EN Boolean Number of the bit BITNR DINT Bit value input BIT Boolean Input I INT DINT Standard function blocks 244 Outputs REG 10038 Illustration Execution time Operation Inputs Outputs Output O INT DINT 0168 0268 2 27 us when two inputs are used 1 02 us for every additional input When all inputs are used the execution time is 32 87 us The input 132 value is stored to the corresponding output O1 032 if the load input L is setto 1 or the set input S is 1 When the load input is set to 1 the input value is stored to the output only once When the set input is 1 the input value is stored to the output every time the block is executed The set input overrides the load input If the reset input R is 1 all connected outputs are 0 Example S R L 1 O1 previous 01 0 0 0 10 15 15 0 0 0 gt 1 20 15 20 0 1 0 30 20 0 1 0 gt 1 40 0 1 0 0 50 0 50 1 0 0 gt 1 60 50 60 1 1 0 70 60 1 1 0 gt 1 80 0 O1 previous 5 the previous cycle output value The input data type and number of inputs 1 32 are selected by the user Set input S Boolean Load input L Boolean Reset input R Boolean Input 11 132 Boolean INT DINT REAL REAL24 Output O1 032 Boolean INT
42. 1 1 1 16 0 156 50 02 1088 0 3 1 1 16 0 156 50 03 LOSS T OUT UINT32 0 3 6553 5 s 1510 16 0 3 157 50 04 enum 0 2 0 4 1 1 10ms 16 2 157 for pos appl 50 05 FBA REF2 MODESEL enum 0 2 0 4 1 1 10ms 16 3 157 for pos appl 50 06 FBA ACT1 TR SRC Val pointer 10ms 32 P 01 01 157 50 07 ACT2 TR SRC Val pointer 10ms 32 P 01 06 157 50 08 SW B12 SRC Bit pointer 500 5 32 C False 158 50 09 SW B13 SRC Bit pointer 500 us 32 C False 158 50 10 SW B14 SRC Bit pointer 500 5 32 C False 158 50 11 SW B15 SRC Bit pointer 500 5 32 C False 158 51 FBA SETTINGS 51 01 UINT32 0 65536 1 1 16 0 159 51 02 2 UINT32 0 65536 151 16 0 159 51 26 PAR26 UINT32 0 65536 15 16 0 x 159 51 27 FBA PAR REFRESH UINT32 0 1 1 16 0 WPD x 159 51 28 TABLE VER UINT32 0 65536 1 7 16 0 x 159 51 29 DRIVE TYPE CODE UINT32 0 65536 1 16 0 x 159 51 30 MAPPING FILE VER UINT32 0 65536 1 7 16 0 x 160 51 31 D2FBA COMM STA UINT32 0 6 1 16 0 x 160 51 32 FBA COMM SW VER UINT32 0 65536 1 16 0 x 160 51 33 APPL SW VER UINT32 0 65536 1 16 0 x 160 52 FBA DATA IN 52 01 FBA DATA IN1 UINT32 0 9999 151 16 0 x 161 52 12 FBA DATA IN12 UINT32 0 9999 151 16 0 x 161 53 FBA DATA OUT 53 01 FBA DATA OUT1 UINT32 0 9999 1
43. 2 100 kbit s 100 kbit s 3 200 kbit s 200 kbit s 4 500 kbit s 500 kbit s 5 1000 kbit s 1000 kbit s 91 25 551 MODE FW block ABSOL CONF see above Selects the 551 encoder mode Note Parameter needs to be set only when an SSI encoder is used in continuous mode i e SSI encoder without incremental sin cos signals supported only as encoder 1 SSI encoder is selected by setting parameter 91 02 ABS ENC to 4 SSI 0 Initial pos Single position transfer mode initial position 1 Continuous Continuous position transfer mode 91 26 SSI TRANSMIT CYC FW block ABSOL ENC CONF see above Selects the transmission cycle for SSI encoder Note This parameter needs to be set only when an SSI encoder is used in continuous mode i e SSI encoder without incremental sin cos signals supported only as encoder 1 SSI encoder is selected by setting parameter 91 02 ABS ENC to 4 SSI 0 50 us 50 us 1 100 us 100 us 2 200 us 200 us 3 500 us 500 us 4 1 ms 1 ms 5 2 ms 2 ms 91 27 SSI ZERO PHASE FW block ABSOL ENC CONF see above Defines the phase angle within one sine cosine signal period that corresponds to the value of zero on the SSI serial link data The parameter is used to adjust the synchronization of the SSI position data and the position based on sine cosine incremental signals Incorrect synchronization may cause an error of 1 incremental period Note This parameter needs to be set on
44. 277 FIO 11 AO slot1 279 FIO 11 AO slot2 280 FIO 11 DIO slot1 282 FIO 11 DIO slot2 282 ETRIG 270 1 286 GE eh etiem 251 298 298 251 302 heu t 287 BOOL 259 INT TO 259 LE nr deg wee cats 252 LEADIEAG v mee 297 eerta 304 lox eos 252 eaux TEN S 304 MIN mts utn ut 304 MOD Pe 234 309 288 MOVE ies ated 235 MUI Lad ek 235 MULDIV 235 MUX ug n etos eere re d 305 NE matu E ted 253 NOT Eod cista duo sd 237 OR est oda ed edu 238 298 299 PARRDPTR 299 300 289 RAMP 291 124 260 24 TO REAL 260 REALn TO DINT 261 REALn TO DINT SIMP 261 REG 244 292 238 tint tania 239 ROA roe 270 271 305 UE E 239 SHR fins hice 240 SOLUTION FAULT 294 SQRT
45. 285 218 MS 80705 gt 285 UL 20705 gt 245 UL 90705 gt 7I3S3GOW 50705 1454004 T H3 V8H 90705 100 1 5501 WWOD 60705 INM 5501 WWOD 20705 NAYNI Vas 10 05 aaua Enea Erea ZAY Vas STZ TAY NIVW Vas HTZ NS 2172 1006 2 SIN Application program template 318 ON 20d 380 00001 GI bp aweu pafoid OT GI 1 8 paredaid vo poseg 10100 9 0 5 1 AlddNs 0 GaroinvrioATddns 60 29 TAL 20 0 14405 5 6 o p ISW TALO JDVLIOA 4 1 20789 dWAL 9088 LND 4 508 ASNOOSMWLLIWSSHINS 60 89 YNI IWLL NNY 28 2089 gt 18 28 108 OSIN ava Application program template 319 mm ERES 00007 er 5 me pex ure nm 20d pojedaid peseg Py peads 9 Ta ET
46. 33 09 SUPERV3 FUNC UN lt 33 10 SUPERV3 1000 __________ 33 11 SUPERV3 LIM HI 1000 33 12 SUPERV3 LIM LO Block outputs located in other parameter groups 6 14 SUPERV STATUS page 73 33 01 SUPERV1 FUNC FW block SUPERVISION see above Selects the mode of supervision 1 0 Disabled Supervision 1 not in use 1 Low When the signal selected by parameter 33 02 SUPERV1 ACT falls below the value of parameter 33 04 SUPERV1 LIM LO bit 0 of 6 14 SUPERV STATUS is activated To clear the bit the signal must exceed the value of parameter 33 03 SUPERV1 LIM HI 2 High When the signal selected by parameter 33 02 SUPERV1 ACT exceeds the value of parameter 33 03 SUPERV1 LIM HI bit of 6 14 SUPERV STATUS is activated To clear the bit the signal must fall below the value of parameter 33 04 SUPERV1 LIM LO 3 Abs Low When the absolute value of the signal selected by parameter 33 02 SUPERV1 ACT falls below the value of parameter 33 04 SUPERV 1 LIM LO bit 0 of 6 14 SUPERV STATUS is activated To clear the bit the absolute value of the signal must exceed the value of parameter 33 03 SUPERV 1 LIM HI 4 Abs High When the absolute value of the signal selected by parameter 33 02 SUPERV1 ACT exceeds the value of parameter 33 03 SUPERV1 HI bit O of 6 14 SUPERV STATUS is activated To clear the bit the absolute value of the signal must fall below the value of para
47. 343 Appendix C Control chain and drive logic diagrams What this chapter contains This chapter presents the drive control chain and logic Appendix C Control chain and drive logic diagrams 344 1V8 1916 1412 5090 NIW WL 110 t QHOM 50790 2082 095 1 Id 6 82 4309 144 51 82 X H TAHLO dS 0801 NIW 01 82 151943395 6082 4 10vaaads 0 4300 140 NIVO 182 8082 dS 1 Id 21 82 pf 1910 dS 488 0801 806 2 WIL 119 0486 219 50790 INIL 60782 03346 906 20782 0346 21 92 INN 93395 01 92 H3 9092 19v 3398 101 93395 WNWINIW 2070 0 SNLYLS 2090 01 vL SNLVLS 2090 0 9315 03385 50792 43395 MOV 9 1713 5082 504 03395 0 MOVSQO334 93385 4
48. 61131 standard Drive control program Application program Speed control Function block program Firmware Torque control blocks Drive logic parameter interface and signal Fieldbus interface block library block library interface Feedback Drive programming using PC tools 30 The following picture presents from DriveSPC Tun 3 Firmware 5n function blocks Standard function block The application program template visible through DriveSPC is presented in chapter Application program template page 313 Programming via parameters Parameters can be set via DriveStudio drive control panel keypad or the fieldbus interface All parameter settings are stored automatically to the permanent memory of the drive However it is highly recommended to force a save by using parameter 16 07 PARAM SAVE before powering down the drive immediately after any parameter changes Values are restored after the power switch off If necessary the default values can be restored by parameter 16 04 PARAM RESTORE Because most parameters are used as firmware function block inputs parameter values can also be modified via the application program Application programming Application progr
49. Alarm word 4 For possible causes and remedies see chapter Fault tracing Bit Alarm 0 OPTION COMM LOSS 1 8 Reserved 9 DC NOT CHARGED 10 SPEED TUNE FAIL 11 15 Reserved 8 09 ALARM WORD 5 FW block None Alarm word 5 For possible causes and remedies see chapter Fault tracing Bit Alarm 0 15 Reserved 8 10 ALARM WORD 6 FW block None Alarm word 6 For possible causes and remedies see chapter Fault tracing Bit Alarm 0 1 2 LOW VOLT MOD CON 3 15 Reserved Parameters and firmware blocks 77 Group 09 SYSTEM INFO 9 01 DRIVE TYPE FW block None Displays the drive application type 1 ACSM1 Speed Speed and torque control application 9 02 DRIVE RATING ID FW block None Displays the inverter type of the drive 0 Unconfigured 1 ACSM1 xxAx 02A5 4 2 ACSM1 xxAx 03A0 4 3 ACSM1 xxAx 04A0 4 4 ACSM1 xxAx 05A0 4 5 ACSM 1 xxAx 07A0 4 6 ACSM1 xxAx 09A5 4 7 ACSM1 xxAx 012A 4 8 ACSM1 xxAx 016A 4 9 ACSM1 xxAx 024A 4 10 ACSM1 xxAx 031A 4 11 ACSM1 xxAx 040A 4 12 ACSM1 xxAx 046A 4 13 ACSM1 xxAx 060A 4 14 ACSM1 xxAx 073A 4 15 ACSM1 xxAx 090A 4 20 ACSM1 xxAx 110A 4 21 ACSM1 xxAx 135A 4 22 ACSM1 xxAx 175A 4 23 ACSM1 xxAx 210A 4 24 ACSM1 xxCx 024A 4 25 ACSM1 xxCx 031A 4 26 ACSM1 xxCx 040A 4 27 ACSM1 xxCx 046A 4 28
50. CH B32 INT DINT REAL REAL24 Boolean Output OUT1 0UT32 INT DINT REAL REAL24 Boolean Standard function blocks 309 5 10057 85 1 msec 1 0 85 85 Execution 1 46 us Operation The output is set to 1 and the timer is started if the input 1 is to 1 The output is reset to 0 when the time defined by the time pulse input TP has elapsed Elapsed time TE count starts when the output is set to 1 and stops when the output is set to O If is 0 a new input pulse during the time defined by TP has no effect on the function The function can be restarted only after the time defined by TP has elapsed If RTG is 1 a new input pulse during the time defined by TP restarts the timer and sets the elapsed time TE to 0 Example 1 is not re triggable i e 0 RTG 0 45 1 0 4 2 94 9749 RS TE 0s 05 TE 4s 08 48 Example 2 is re triggable i e 1 RTG 1 25 gt l 25 213 4 516 7 8 9 10 E Ll 4 05 is set to 0 25 Inputs Re trigger input RTG Boolean Time pulse input TP DINT 1 us Input 1 Boolean Outputs Output O Boolean Time elapsed output TE DINT 1 1 us Standard functio
51. Fault tracing 221 Code Fault Cause What to do fieldbus code 0017 ID RUN FAULT Motor ID Run is not completed Check the fault logger for a fault code OxFF84 successfully extension See appropriate actions for each extension below Fault code extension 1 The ID run cannot be completed Check setting of parameters 99 06 MOT because the maximum current NOM CURRENT and 20 05 MAXIMUM setting and or the internal CURRENT Make sure that 20 05 MAXIMUM current limit of the drive is too CURRENT 2 99 06 MOT NOM CURRENT low Check that the drive is dimensioned correctly according to the motor Fault code extension 2 The ID run cannot be completed Check setting of parameters 99 07 MOT because the maximum speed NOM VOLTAGE 99 08 MOT NOM FREQ setting and or calculated field 99 09 MOT NOM SPEED 20 01 MAXIMUM weakening point is too low SPEED and 20 02 MINIMUM SPEED Make sure that 20 01 MAXIMUM SPEED gt 0 55 x 99 09 MOT NOM SPEED 0 50 x synchronous speed 20 02 MINIMUM SPEED lt 0 and supply voltage gt 0 66 x 99 07 MOT NOM VOLTAGE Fault code extension 3 The ID run cannot be completed Check setting of parameters 99 12 MOT because the maximum torque NOM TORQUE and 20 06 MAXIMUM setting is too low TORQUE Make sure that 20 06 MAXIMUM TORQUE gt 100 Fault code extension Internal error Contact your local ABB representative 4 16 0018 CURR 02 MEAS Measured offset
52. If the fault still occurs contact your local ABB representative 0312 UFF OVERSIZE UFF file is too big Contact your local ABB representative 0x6300 0313 UFF EOF UFF file structure failure Contact your local ABB representative 0x6300 0314 TECH LIB INTERFACE Incompatible firmware interface Contact your local ABB representative 0x6100 Note This fault cannot be reset 0315 RESTORE FILE Restoration of backed up Contact your local ABB representative 0x630D parameters failed 0316 DAPS MISMATCH Mismatch between JCU Control Contact your local ABB representative 0x5484 Unit firmware and power unit logic versions 0317 SOLUTION FAULT Fault generated by function Check the usage of the SOLUTION FAULT 0x6200 block SOLUTION FAULT in the application program block in the application program Fault tracing 230 Fault tracing Standard function blocks What this chapter contains Terms 231 This chapter describes the standard function blocks The blocks are grouped according to the grouping in the DriveSPC tool The number in brackets in the standard block heading is the block number Note The given execution times can vary depending on the used drive application Data type Description Range Boolean Boolean 0 or 1 DINT 32 bit integer value 31 bits sign 2147483648 2147483647 INT 16 bit integer value 15 bits sign 32768 32767
53. PB DS ReadLocal 73 1 msec 1 LocalDsNr 1 168 Data1 16B 73 Data2 328 Data2 328 73 Error Error 73 Standard function blocks 250 Operation Inputs Outputs DS WriteLocal 10093 Illustration Execution time Operation Inputs Outputs Reads the dataset defined by the LocalDsNr input from the local dataset table One dataset contains one 16 bit and one 32 bit word which are directed to the Data1 16B and Data2 32B outputs respectively The LocalDsNr input defines the number of the dataset to be read The error codes indicated by the Error output are as follows Bit Description 1 LOCAL DS ERR LocalDsNr out of range 16 199 See also section Examples of using standard function blocks in drive to drive communication starting on page 339 Local dataset number LocalDsNr INT Contents of dataset Data1 16B INT Contents of dataset Data2 32B DINT Error output Error DINT DS WriteLocal 74 1 msec 1 LocalDsNr Error 74 Data1 168 Data2 32B Writes data into the local dataset table Each dataset contains 48 bits the data is input through the Data1 16B 16 bits and Data2 32B 32 bits inputs The dataset number is defined by the LocalDsNr input The error codes indicated by the Error output are as follows Bit Description 1 LOCAL_DS_ERR LocalDsNr out of range 16 199 See also
54. 1 A all Channel A Rising and falling edges are used for speed calculation Channel B Defines the direction of rotation 2 A rising Channel A Rising edges are used for speed calculation Channel B Defines the direction of rotation 3 A falling Channel A Falling edges are used for speed calculation Channel B Defines the direction of rotation 4 auto rising 5 auto falling Used mode 0 1 2 or 3 is changed automatically depending on the pulse frequency according to the following table 9503 Pulse frequency of the channel s 0 0 lt 2442 Hz 1 1 2442 4884 2 2 3 gt 4884 2 93 04 1 5 5 FW block PULSE CONF see above Selects whether position estim ation is used with encoder 1 to increase position data resolution or not 0 FALSE Measured position Resolution 4 x pulses per revolution for quadrature encoders 2 x pulses per revolution for single track encoders 1 TRUE Estimated position Uses position extrapolation Extrapolated at the time of data request 93 05 ENC1 SP EST ENA FW block PULSE ENC CONF see above Selects whether calculated or estimated speed is used with encoder 1 0 FALSE Last calculated speed calculation interval is 62 5 5 4 ms 1 TRUE Estimated speed estimated at the time of data request Estimation increases the speed ripple in steady
55. 10 ABOVE LIMIT 1 Actual speed exceeds the defined limit 22 07 ABOVE SPEED LIM 0 Actual speed is within the defined limits 11 EXT2 ACT 1 External control location EXT2 is active 0 External control location EXT1 is active 12 LOCAL FB 1 Fieldbus local control is active 0 Fieldbus local control is inactive 13 ZERO SPEED 1 Drive speed is below limit set by par 22 05 ZERO SPEED LIMIT 0 Drive has not reached zero speed limit 14 REV ACT 1 Drive is running in reverse direction 0 Drive is running in forward direction 15 Not in use 16 FAULT 1 Fault is active See chapter Fault tracing 0 No fault is active 17 LOCAL PANEL 1 Local control is active i e drive is controlled from PC tool or control panel 0 Local control is inactive Parameters and firmware blocks 66 2 13 MAIN SW continued from previous page Bit Name Value Information 18 26 Not in use with Speed and Torque Control Program 27 REQUEST CTL 1 Control word is requested from fieldbus 0 Control word is not requested from fieldbus 28 SW B28 Programmable status bits unless fixed by the used 29 SW B29 profile See parameters 50 08 50 11 and the user 30 SW B30 manual of the fieldbus adapter 31 SW B31 2 14 MAIN FW block FIELDBUS 156 Scaled fieldbus reference 1 See parameter 50 04 FBA REF1 MODESEL 2 15 MAIN REF2 FW block FIELDBUS page
56. 1600 Maximum speed controller output torque Parameters and firmware blocks 126 28 12 PI ADAPT SPD FW block SPEED CONTROL see above Maximum actual speed for speed controller adaptation Speed controller gain and integration time can be adapted according to actual speed This is done by multiplying the gain 28 02 PROPORT GAIN and integration time 28 03 INTEGRATION TIME by coefficients at certain speeds The coefficients are defined individually for both gain and integration time When the actual speed is below or equal to 28 13 PI ADAPT MIN SPD 28 02 PROPORT GAIN and 28 03 INTEGRATION TIME are multiplied by 28 14 P GAIN ADPT COEF and 28 15 TIME ADPT COEF respectively When the actual speed is equal to or exceeds 28 12 ADAPT MAX SPD no adaptation takes place in other words 28 02 PROPORT GAIN and 28 03 INTEGRATION TIME are used as such Between 28 13 ADAPT MIN SPD and 28 12 ADAPT SPD the coefficients are calculated linearly on the basis of the breakpoints Coefficient for or T Proportional gain 1 T Integration time 1 000 28 14 P GAIN ADPT COEF 28 15 TIME ADPT COEF Actual speed 0 28 13 PI ADAPT 28 12 ADAPT rpm MIN SPD MAX SPD 0 30000 rpm Maximum actual speed for speed controller adaptation 28 13 ADAPT MIN SPD FW block SPEED CONTROL see above Minimum actual speed for
57. 2147483 ms Integrator reset input RINT Boolean Balance input BAL Boolean Balance reference input BALREF REAL Output high limit input OHL REAL Output low limit input OLL REAL Standard function blocks 288 Outputs MOTPOT 10067 Illustration Execution time Operation Inputs Outputs Output O REAL High limit output OZHL Boolean Low limit output O LL Boolean MOTPOT 62 1 msec 1 OUTPUT 62 2 92 us The motor potentiometer function controls the rate of change of the output from the minimum to the maximum value and vice versa The function is enabled by setting the ENABLE input to 1 If the up input UP is 1 the output reference OUTPUT is increased to the maximum value MAXVAL with the defined ramp time RAMPTIME If the down input DOWN is 1 the output value is decreased to the minimum value MINVAL with the defined ramp time If the up and down inputs are activated deactivated simultaneously the output value is not increased decreased If the RESET input is 1 the output will be reset to the value defined by the reset value input RESETVAL or to the value defined by the minimum input MINVAL whichever is higher If the ENABLE input is 0 the output is zero Digital inputs are normally used as up and down inputs Function enable input ENABLE Boolean Up input UP Boolean Down input DOWN Boolean Ramp time input RAM
58. 47 07 LOW VOLT DC gt 47 06 LOW VOLT DC 50 V The value of parameter 47 08 EXT PU SUPPLY or its source should be set to 1 true when a supply below 270 V DC such as a battery is used In such a configuration an additional DC power supply JPO 01 is needed to power the main circuit electronics With an AC supply the value of parameter 47 08 EXT PU SUPPLY or its source should be set to 0 false Parameters 47 06 47 08 are effective only when Low voltage mode is active i e value of parameter 47 05 LOW VOLT MOD ENA or its source is 1 Drive control and features 44 In Low voltage mode the default voltage control and trip levels as well as the braking chopper operation levels see sections Voltage control and trip limits and Braking chopper elsewhere in this chapter are changed as follows Level Value of parameter 47 08 EXT PU SUPPLY FALSE TRUE Supply voltage range 200 240 V AC 1090 270 324 V DC 10 48 270 V DC 1090 Overvoltage trip level Unaffected Unaffected Overvoltage control level 47 07 LOW VOLT DC MAX 47 07 LOW VOLT DC MAX Undervoltage control level 47 06 LOW VOLT DC MIN Disabled Undervoltage trip level 47 06 LOW VOLT DC MIN 50V Disabled Braking chopper activation level 47 07 LOW VOLT DC MAX 30V 47 07 LOW VOLT DC MAX 30V Braking chopper maximum power level 47 07 LOW VOLT DC MAX 30V 47 07 LOW VOLT DC MAX 30V Re
59. ACSM1 xxCx 060A 4 29 ACSM1 xxCx 073A 4 30 ACSM1 xxCx 090A 4 31 ACSM1 xxLx 110A 4 32 ACSM1 xxLx 135A 4 33 ACSM1 xxLx 175A 4 34 ACSM1 xxLx 210A 4 35 ACSM1 xxLx 260A 4 9 03 FIRMWARE ID FW block None Displays the firmware name E g UMFI 9 04 FIRMWARE VER FW block None Displays the version of the firmware package in the drive e g 0x1510 9 05 FIRMWARE PATCH FW block None Displays the version of the firmware patch in the drive 9 10 INT LOGIC VER FW block None Displays the version of the logic in the power unit interface 9 20 OPTION SLOT 1 FW block None Displays the type of the optional module in option Slot 1 0 NO OPTION 1 NO COMM 2 UNKNOWN 3 FEN 01 4 FEN 11 5 FEN 21 6 01 7 11 8 FPBA 01 9 FPBA 02 10 FCAN 01 11 FDNA 01 12 FENA 01 13 FENA 02 14 FLON 01 15 FRSA 00 16 FMBA 01 17 FFOA 01 18 FFOA 02 19 FSEN 01 20 FEN 31 21 10 21 22 FSCA 01 23 FSEA 21 9 21 OPTION SLOT 2 FW block None Displays the type of the optional module in option Slot 2 See 9 20 OPTION SLOT 1 9 22 OPTION SLOT 3 FW block None Displays the type of the optional module in option Slot 3 See 9 20 OPTION SLOT 1 Parameters and firmware blocks 78 Group 10 START STOP Settings for selecting start stop direction signal sources for external control location
60. Boolean Standard function blocks 246 Communication See also Appendix B Drive to drive link page 331 D2D Conf 10092 Illustration Execution time Operation Inputs Outputs D2D_Conf 70 Cycle Sel Erro 70 Ref2 Cycle Sel Std Mcast Group Defines handling interval for drive to drive references 1 and 2 and the address group number for standard non chained multicast messages The values of the Ref1 2 Cycle Sel inputs correspond to the following intervals Value Handling interval 0 Default 500 us for reference 1 2 ms for reference 2 1 250 us 2 500 us 3 2 Note Negative value of Ref2 Cycle Sel disables the handling of Ref2 if disabled in the master it must be disabled in all follower drives as well Allowable values for the Std Mcast Group input are 0 7 multicasting not used and 1 62 multicast group An unconnected input or an input in an error state is interpreted as having the value 0 The error codes indicated by the Error output are as follows Bit Description 0 REF1 CYCLE ERR Value of input Ref1 Cycle Sel out of range REF2 CYCLE ERR Value of input Ref2 Cycle Sel out of range 2 STD MCAST ERR Value of input Std Mcast Group out of range See also section Examples of using standard function blocks in drive to drive communication starting on page 339 Drive to drive reference 1 handl
61. DINT Parameter index Index DINT Output Output Boolean INT DINT REAL REAL24 Error output Error DINT PARRDPTR BOOL 74 a Output 74 74 Standard function blocks 300 Operation Inputs Outputs PARWR 10080 Illustration Execution time Operation Inputs Outputs Reads the internal non scaled value of the source of a pointer parameter The pointer parameter is specified using the Group and Index inputs The value of the source selected by the pointer parameter is provided by the Output pin Error codes are indicated by the error output Error as follows Error code Description 0 No error or busy lt gt 0 Error Parameter group Group DINT Parameter index Index DINT Output Output Boolean INT DINT REAL REAL24 Error output Error DINT PARWR 75 14 50 The input value IN is written to the defined parameter Group and Index The new parameter value is stored to the flash memory if the store input Store is 1 Note Cyclic parameter value storing can damage the memory unit Parameter values should be stored only when necessary Error codes are indicated by the error output Error as follows Error code Description 0 No error lt gt 0 Error Input IN DINT Parameter group input Group DINT Parameter index input Index DINT Store input Store Boolean E
62. Displays the type of the fieldbus adapter module 51 02 FBA PAR2 51 26 FBA PAR26 These parameters are adapter module specific For more information see the User s Manual of the fieldbus adapter module Note that not all of these parameters are necessarily used 51 27 FBA PAR REFRESH 0 DONE 1 REFRESH Validates any changed adapter module configuration parameter settings 51 28 PAR TABLE VER Displays the parameter table revision of the fieldbus adapter module mapping file stored in the memory of the drive 51 29 DRIVE TYPE CODE Displays the drive type code of the fieldbus adapter module mapping file stored in the memory of the drive 51 30 MAPPING FILE VER Displays the fieldbus adapter module mapping file revision stored in the memory of the drive 51 31 D2FBA COMM STA Displays the status of the fieldbus adapter module communication 51 32 FBA COMM SW VER Displays the common program revision of the adapter module 51 33 FBA APPL SW VER Displays the application program revision of the adapter module Note In the User s Manual of the fieldbus adapter module the parameter group number is 1 or A for parameters 51 01 51 26 Appendix A Fieldbus control 327 Parameter Setting for Function Information fieldbus control TRANSMITTED DATA SELECTION 52 01 FBA DATA IN1 0 Defines the data transmitted
63. EM STOP OFF3 Bit pointer 2ms 32 C True WPD 81 10 11 EM STOP OFF1 Bit pointer 2ms 32 C True WPD 82 10 12 START INHIBIT enum 0 1 1 1 2 ms 16 0 82 10 13 CW USED 2 ms 32 02 12 WPD 82 10 14 JOG2 START Bit pointer 2ms 32 C False WPD 82 10 15 JOG ENABLE Bit pointer 2ms 32 C False WPD 82 10 16 020 CW USED Val pointer 2ms 32 P 02 17 WPD 82 10 17 ENABLE Bit pointer 2ms 32 WPD 83 11 START STOP MODE 11 01 START MODE enum 0 2 1 1 16 1 84 11 02 MAGN TIME UINT32 0 10000 ms 1 1 16 500 85 11 03 STOP MODE enum 1 2 1 1 2 ms 16 2 85 11 04 HOLD SPEED REAL 0 1000 rpm 1510 2 ms 16 5 85 11 05 DC HOLD CUR REF UINT32 0 100 96 1 1 2 ms 16 30 85 11 06 DC HOLD enum 0 1 1 1 2 ms 16 0 86 11 07 AUTOPHASING 0 2 1 1 16 1 86 12 DIGITAL IO 12 01 0101 CONF enum 0 1 1 1 10 16 0 87 12 02 DIO2 0 2 1 1 10 16 0 88 12 03 DIO3 Nc 1 1 10 16 0 88 12 04 DIO1 OUT PTR Bit pointer 10ms 32 06 02 02 88 Parameter data 199 Index Parameter Type Range Unit FbEq Update Data Def PT Save Page time len PF no 12 05 0102 OUT PTR Bit pointer 10ms 32 P 06 02 03 88 12 06 0103 OUT PTR Bit pointer 10
64. Fault messages generated by the drive 219 Standard function blocks What this chapter contains 231 TEC 231 Alphabetical index 232 uunc Me CCELI 233 ABS a cata 233 ADD nt 9k ERR E E RR ERE daw RR 233 BP ce ete 233 EXPT TRUE DR Ge ee ee eee 234 ep 234 MOVE 4 ce ei aee ed ata ce oe e Re e ed DC ann de ee RR 235 BMC 235 QUEBEC 235 SORT TEE 236 SUB 236 ics MEI E 237 ANDA 237 222 5550 237 OR cnr 238 ROL gx POE OR Re e 238 ROR RUMPIT 239 enr oe 239 Sac Cm 240 XOR TT 240 Table of contents UII a beens bah det nar dane ae dered 242 BGET V paa os 242 edd og eC be RO RO CY RC te QUE o eC NR UR REX CRY die 242
65. For the parameter descriptions see chapter Parameters and firmware blocks Terms Term Definition Actual signal Signal measured or calculated by the drive Can be monitored by the user No user setting is possible Def Default value enum Enumerated list i e selection list FbEq Fieldbus equivalent The scaling between the value shown on the panel and the integer used in serial communication Page no Page number for more information INT32 32 bit integer value 31 bits sign Bit pointer Bit pointer A bit pointer points to a single bit in the value of another parameter Val pointer Value pointer A value pointer points to the value of another parameter Parameter An operation instruction of the drive that is often user adjustable Parameters that are signals measured or calculated by the drive are called actual signals Pb Packed boolean PT Parameter protection type See WP WPD and WPO REAL 16 bit value 16 bit value 31 bits sign integer value fractional value REAL24 8 bit value 24 bit value 31 bits sign integer value fractional value Save PF Parameter setting is protected against power failure Type Data type See enum INT32 Bit pointer Val pointer Pb REAL REAL24 UINT32 UINT32 32 bit unsigned integer value WP Write protected parameter i e read only
66. L ID Note in this procedure This is completely normal The drive will indicate an alarm 2021 NO MOTOR DATA until the motor data is entered later Start the DriveStudio program by clicking the DriveStudio icon on the PC desktop 7 DriveStudio exe Check whether an application program exists using the DriveStudio tool If it does the rows SOLUTION PROGRAM SP and SP EMPTY TEMPLATE are displayed in drive properties View Properties Software category If an application program already exists NOTE that some of the drive functions may have been disabled ENSURE that the application program is suitable for your drive application clicking the Take Release button of the DriveStudio tool control panel Switch to local control to ensure that external control is disabled by 4 Start up 17 Open the parameter and signal list by selecting the Parameter Browser of the appropriate drive Parameter Browser Select the language Parameters are set as follows Select the parameter group in this case 99 START UP DATA by double clicking it Select the appropriate parameter by double clicking it and set the new value 99 01 LANGUAGE Select the motor type asynchronous or permanent magnet motor 99 04 MOTOR TYPE Select the motor control mode DTC is suitable
67. Mes 285 FUNG AIV x Beans Be Be aed GMs amp ean Goud 286 287 MOTIF OT ised got del deh oak alas Ee scu eed ds 288 atin etd 289 RAMP were indy aul Dubia 291 Servet pi e ged 292 SOLUTION FAULT oe et hee qM 294 gll ESL MILITE 295 mick 295 De 6 2 5 cs Coe ee ertet duret Ed dire 295 A CPI 297 Parameters cet eis Peel dett BD EP ES 298 298 298 PARED toga eto es SOAs IRAE Orne ORAS E 298 299 utbs etur dele utu 299 nie Bate lense aud xu IER NS 300 Program eet ex OF PEA E AE wa ee ede 301
68. Motor control settings such as flux reference drive switching frequency motor slip compensation voltage reserve flux optimisation IR compensation for scalar control mode Flux optimisation Flux optimisation reduces the total energy consumption and motor noise level when the drive operates below the nominal load The total efficiency motor and drive can be improved by 196 to 1096 depending on the load torque and speed Note Flux optimisation limits the dynamic control performance of the drive because with a small flux reference the drive torque cannot be increased fast Firmware block MOTOR CONTROL MOTOR CONTROL TLFIO 2msec e 40 3 16 FLUX REF USED 3 17 TORQUE REF USED This block defines motor control settings such as 40 01 FLUX REF 40 02 SF REF 40 03 SLIP GAIN 40 04 VOLTAGE RESERVE 40 05 FLUX OPT 40 06 FORCE OPEN LOOP 40 07 IR COMPENSATION 10096 10096 drive switching frequency 0581 motor slip compensation TEBE voltage reserve flux optimisation compensation for scalar control mode The block also shows the flux and torque reference used Block outputs located in other 3 16 FLUX REF USED page 69 parameter groups 3 17 TORQUE REF USED page 69 40 01 FLUX REF FW block MOTOR CONTROL see above Defines the flux reference 0 200 Flux reference
69. NIW Ldvav Id Xv 1dvQV Id 2182 2227 TAL dS DYOL 11 82 nen 7812 dS 07 82 Na Ta 181203345 6082 gt Wg 80 82 ang 082 NOLIVSN3dWOO 20 9082 gt 22 12 50 82 82 222 6082 m NIVO 1 2082 TUON 5 1082 gt NIM 03345 2196 mera dS DYOL 806 NIM 03345 1 92 GRECI B oes 052 812045 INN NIM Q33dS 9 43385 20v 609 mE SLING 20 8092 TEL MOGNIM 88345 092 ES 43385 90792 4315 019345 50792 sara THIDd 4834 092 gt 09345 6092 gt sor ee TALON 434 09945 2092 gt 10 09945 1092 gt n DYOL dWOD DY Z0 Q33dS 906 qasn 43803346 507 2 ses 062 812045 oyaa 45 84 93345 60722 80722 83385 20722 93345 0832 90722 99345 0832 5072 239 YOLOW 0 TNW 239 YOLOW 60722 LV 345 2022 7195 84 99345 10 22 19 Q33dS 101 0 062 17254 43385 ENLA and Application program template 321 Ej 200 ON
70. Parameters and firmware blocks describes the drive parameters and firmware function blocks Parameter data contains more information on the parameters of the drive Fault tracing lists the warning and fault messages with the possible causes and remedies Standard function blocks Application program template Appendix A Fieldbus contro describes the communication between the drive and a fieldbus Appendix B Drive to drive link describes the communication between drives connected together by the drive to drive link Appendix C Control chain and drive logic diagrams Product and service inquiries Address any inquiries about the product to your local ABB representative quoting the type code and serial number of the unit in question A listing of ABB sales support and service contacts can be found by navigating to www abb com drives and selecting Drives Sales Support and Service network Product training For information on ABB product training navigate to www abb com drives and select Drives Training courses Providing feedback on ABB Drives manuals Your comments on our manuals are welcome Go to www abb com drives and select Document Library Manuals feedback form LV AC drives Introduction to the manual 15 Start up What this chapter contains This chapter describes the basic start up procedure of the drive and instructs in how to control the drive through the inte
71. REAL Error output Error DINT 0 No error 1 Application program memory full Standard function blocks 279 FIO 11 AO slot1 10090 Illustration FIO 11 AO sloti 7 7 7 53 A063 Error 53 AO Max Scale AO scaled Execution time 4 9 us The block controls the analogue output AO1 of a FIO 11 Analog I O Extension mounted on slot 1 of the drive control unit The block converts the input signal AO scaled to a 0 20 mA signal AO that drives the analogue output the input range AO Min Scale AO Max Scale corresponds to the current signal range of AO Min AO Max AO Min Scale must be smaller than AO Max Scale AO Max can be greater or smaller Operation than AO Min AO Min AO Max AO mA 20 gt AO Min gt AO scaled 32768 32768 9695 UIN OV T xew OY Standard function blocks 280 gt lt 0 gt AO scaled 32768 gt 0 gt 32768 5 x 0 8 S m Inputs Minimum current signal AO Min REAL 0 20 mA Maximum current signal AO Max REAL 0 20 mA Minimum input signal AO Min Scale REAL Maximum input signal AO Max Scale REAL Input signal AO scaled REAL Outputs Analogue output current value AO REAL Error output Error DINT 0 No error 1 Application program memory full
72. REAL 0 500 Hz 1 10 32 0 189 99 09 0 30000 1 32 0 189 99 10 0 10000 kW 1 100 32 0 189 99 11 NOM COSFII REAL24 0 1 1 100 32 0 189 99 12 2 10 2147483 Nm 1 1000 32 0 189 99 13 IDRUN MODE enum 0 5 1 16 0 190 Parameter data 209 Fault tracing What this chapter contains The chapter lists all alarm and fault messages including the possible cause and corrective actions Safety Instructions on the first pages of the appropriate hardware manual must be read WARNING Only qualified electricians are allowed to maintain the drive The Safety before you start working with the drive Alarm and fault indications An alarm or a fault message indicates abnormal drive status Most alarm and fault causes can be identified and corrected using this information If not an ABB representative should be contacted The four digit code number in brackets after the message is for the fieldbus communication The alarm fault code is displayed on the 7 segment display of the drive The following table describes the indications given by the 7 segment display Display Meaning E followed System error See appropriate drive hardware manual error code A followed Alarm See section Alarm mes
73. The number of cycles can be calculated by adding 1 to the number of the bits in a SSI message frame Used with SSI encoders i e when parameter 91 02 ABS INTERF is set to 4 SSI 2 127 SSI message length 91 21 SSI POSITION MSB FW block ABSOL see above Defines the location of the MSB main significant bit of the position data within a SSI message Used with SSI encoders i e when parameter 91 02 ABS ENC is set to 4 SSI 1 126 Position data MSB location bit number 91 22 SSI REVOL MSB FW block ABSOL ENC CONF see above Defines the location of the MSB main significant bit of the revolution count within a SSI message Used with SSI encoders i e when parameter 91 02 ABS INTERF is set to 4 SSI 1 126 Revolution count MSB location bit number 91 23 SSI DATA FORMAT FW block ABSOL ENC CONF see above Selects data format SSI encoder i e when parameter 91 02 ABS INTERF is set to 4 SSI 0 binary Binary code 1 gray Gray code Parameters and firmware blocks 176 91 24 551 BAUD FW block ABSOL see above Selects the baud rate for SSI encoder i e when parameter 91 02 ABS is set to 4 SSI 0 10 kbit s 10 kbit s 1 50 kbit s 50 kbit s
74. To determine whether problem is with acknowledgement signal or brake Check if brake is closed or open 0035 BRAKE NOT OPEN Mechanical brake control fault Check mechanical brake connection 0x7187 Fault is activated if brake Check mechanical brake settings parameters Programmable fault 35 09 a 35 01 35 08 BRAKE FAULT FUNC exp cted during rake opening To determine whether problem is with acknowledgement signal or brake Check if brake is closed or open 0036 LOCAL CTRL LOSS Control panel or PC tool Check PC tool or control panel connection 0x5300 selected as active control Check control panel connector Programmable fault 46 03 location for drive has ceased Replace control panel in mounting platform LOCAL CTRL LOSS communicating 0037 NVMEMCORRUPTED Drive internal fault Check the fault logger for a fault code 0x6320 Note This fault cannot be extension See appropriate actions for each reset extension below Fault code extension 2051 Total number of parameters Move parameters from the firmware groups to including unused space the application groups between parameters exceeds Reduce the number of parameters firmware maximum Fault code extension Drive internal fault Contact your local ABB representative Other 0038 OPTION COMM LOSS Communication between drive Check that option modules are properly 0x7000 and option module FEN xx and or 1 is lost connected to Slot 1 and
75. an FMBA module for MODE and 57 15 D2D COMM PORT Ensure communication but no module that the FMBA module has been detected by is detected in specified slot checking parameters 9 20 9 22 Check that the FMBA module is correctly wired Try installing the FMBA module into another slot If the problem persists contact your local ABB representative 0067 FPGA ERROR1 Drive internal fault Contact your local ABB representative 0x5401 0068 FPGA ERROR2 Drive internal fault Contact your local ABB representative 0x5402 0069 ADC ERROR Drive internal fault Contact your local ABB representative 0x5403 0201 T2 OVERLOAD Firmware time level 2 overload Contact your local ABB representative 0x0201 Note This fault cannot be reset 0202 T3 OVERLOAD Firmware time level 3 overload Contact your local ABB representative 0x6100 Note This fault cannot be reset 0203 T4 OVERLOAD Firmware time level 4 overload Contact your local ABB representative 0x6100 Note This fault cannot be reset 0204 T5 OVERLOAD Firmware time level 5 overload Contact your local ABB representative 0x6100 Note This fault cannot be reset 0205 A1 OVERLOAD Application time level 1 fault Contact your local ABB representative 0x6100 Note This fault cannot be reset 0206 A2 OVERLOAD Application time level 2 fault Contact your local ABB representative 0x6100 Note This fault cannot be reset 0207 A1 INIT FAULT Application task creation fault Contact y
76. aweu 88 TT A 001 piepuns OT semua 0S T 0 Uo poseg ated OH 1 15 2X3 60726 TWNOIS 2X3 20726 5 A1OS33 10726 V OSIW 33A 10S3N IWI LYONI T T6 SOW LYONI 0676 3SVHd 0832 ISS 2216 DAD LIWSNVUL ISS 9216 155 5276 ava ISS 92 16 ISS 22 16 ASW ISS 2216 ASW NOLLISOd ISS 1216 9910 0 32012155 0616 27276 4 11 16 0116 NUVI 5016 518 504 5016 518 LNNOD 20 16 2016 3NISOO 3NIS 1016 amp OSIM 1058 434 504 2266 gt YN 35104 NWI 12766 Vd 07 06 318 2 50706 135 OH23 006 135 SGOW 60706 TAS 2 2006 135 T 10 06 501915 IG 9 2 504 IT T 03345 504 YAGODNA 60 T 3345 807 0 050 17054 annua Enea SANG SAI Grv T 5041 250 9 6 1S3 dS ZONA 51766
77. contains information about the compatibility safety and intended audience Compatibility The manual is compatible with ACSM1 Speed and Torque Control program version UMF11510 and later See parameter 9 04 FIRMWARE VER or PC tool View Properties Safety instructions Follow all safety instructions delivered with the drive Read complete safety instructions before you install commission or use the drive The complete safety instructions are given at the beginning of the Hardware Manual Readthe software function specific warnings and notes before changing the default settings of the function For each function the warnings and notes are given in this manual in the section describing the related user adjustable parameters Reader The reader of the manual is expected to know the standard electrical wiring practices electronic components and electrical schematic symbols Introduction to the manual 14 Contents The manual consists of the following chapters Start up instructs in setting up the control program and how to control the drive through the 1 interface Drive programming using PC tools introduces programming via PC tool DriveStudio and or DriveSPC Drive control and features describes the control locations and operation modes of the drive and the features of the application program Default connections of the control unit presents the default connections of the JCU Control Unit
78. gt v vei LISIHNI LVLS 21707 579 THO 4015 TT OT gt 579 4015 VB OT OT gt IANI NNY 60701 gt 579 HS 13588 11044 80707 gt 5779 1 15 TOOL 20701 gt 212217 ZNI 1 16 ZLA 90701 gt EENI TNI 1815 ZDG 50701 gt 5579 ONN 1416 21 3 90707 LUVIS TLX 60701 gt EE TNI 1815 LDG 20701 gt INN 1 15 TLA 10701 5779 57115 3300 504 1179 25111415 TALI 504 9 511415 TALI 504 609 SNLWLS WN DYOL 2079 T AYOM 509 14151812 04845 509 Z SNLWIS 209 T AYOM 501416 109 3HMOTIOH Des Z SIN 21901 IMYA LINYA 60 56 N3dO 80 66 gt DIY 39012 20766 gt DYOL N3dO 90 dS 35070 JAVI 50 56 36010 SE AVG N3dO 60 56 20 66 gt 10 56 area ana SEE DYOL 2SIN DIVAI IOW SNISVHdOLYV 0 90 TT YND SO TT 0 TT 4015 60717 2G 20717 14 15 TO TT e 2 4015 1 15 Enea aana 245 STA MS YH 11 08 gt 285 MS 01 05 gt 285 218 MS 60705 gt
79. or Slot 2 Check that option modules or Slot 1 2 connectors are not damaged To determine whether module or connector is damaged Test each module individually in Slot 1 and Slot 2 Fault tracing 224 Code Fault Cause What to do fieldbus code 0039 ENCODER1 Encoder 1 feedback fault If fault appears during first start up before 0x7301 encoder feedback is used Check cable between encoder and encoder interface module FEN xx and order of connector signal wires at both ends of cable If absolute encoder EnDat Hiperface SSl with incremental sin cos pulses is used incorrect wiring can be located as follows Disable serial link zero position by setting parameter 91 02 ABS INTERF to 0 None and test encoder operation If encoder fault is not activated check serial link data wiring Note that zero position is not taken into account when serial link is disabled If encoder fault is activated check serial link and sin cos signal wiring Note Because only zero position is requested through serial link and during run position is updated according to sin cos pulses Check encoder parameter settings If fault appears after encoder feedback has already been used or during drive run Check that encoder connection wiring or encoder is not damaged Check that encoder interface module FEN Xx connection or module is not damaged Check earthings when disturbance
80. revision 1 07 51 31 D2FBA COMM STA FW block None Displays the status of the fieldbus adapter module communication 0 IDLE Adapter not configured 1 EXEC INIT Adapter initializing 2 TIME OUT A timeout has occurred in the communication between the adapter and the drive 3 CONFIG ERROR Adapter configuration error the major or minor revision code of the common program revision in the fieldbus adapter module is not the revision required by the module see par 51 32 FBA COMM SW VER or mapping file upload has failed more than three times 4 OFF LINE Adapter is off line 5 ON LINE Adapter is on line 6 RESET Adapter is performing a hardware reset 51 32 COMM SW VER FW block None Displays the common program revision of the adapter module In format axyz where a major revision number xy minor revision numbers z correction letter Example 190A lt revision 1 90A 51 33 FBA APPL SW VER FW block None Displays the application program revision of the adapter module In format axyz where a major revision number xy minor revision numbers z correction letter Example 190A lt revision 1 90A Parameters and firmware blocks 52 These parameters select the data to be sent by the drive to the fieldbus controller and need to be set only if a fieldbus adapter module is installed See also Appendix A Fieldbus control on page 325 Notes 1
81. status word bits cm 50 07 FBA ACT2 TR SRC shows the fieldbus control and ENS status words and references em S EIS REA SIUE EXC 50 10 FBA SW B14 SRC lt 50 11 SW 15 SRC Block outputs located other 2 12 FBA MAIN CW page 63 parameter groups 2 13 FBA MAIN SW page 65 2 14 MAIN page 66 2 15 FBA MAIN REF2 page 66 50 01 FBA ENABLE FW block FIELDBUS see above Enables communication between the drive and fieldbus adapter 0 Disable No communication 1 Enable Communication between drive and fieldbus adapter enabled 50 02 COMM LOSS FUNC FW block FIELDBUS see above Selects how the drive reacts upon a fieldbus communication break The time delay is defined by parameter 50 03 COMM LOSS T OUT 0 No Communication break detection disabled 1 Fault Communication break detection active Upon a communication break the drive trips on fault FIELDBUS COMM and coasts to stop 2 Spd ref Safe Communication break detection active Upon a communication break the drive generates alarm FIELDBUS COMM and sets the speed to the value defined by parameter 46 02 SPEED REF SAFE WARNING Make sure that it is safe to continue operation in A case of a communication break Parameters and firmware blocks 157 3 Last speed Communication break detection active Upon a communication break the drive generates alarm FIELDBUS
82. the format is as follows Bit 30 31 24 29 0 23 Name Source type Bit sel Address Value 2 0 31 0 224 1 Description Bit pointer is connected Bit selection Relative address of to application program application program variable Note Bit pointer parameters which are connected to an application program cannot be set via fieldbus i e read access only Parameter data 196 Actual signals Parameter groups 1 9 Index Name Type Range Unit FbEq Update Data PT Save time length PF no 01 ACTUAL VALUES 101 SPEED ACT REAL 30000 30000 rpm 1 100 250 32 WP 59 1 02 SPEED ACT REAL 1000 1000 1 100 2 ms 32 WP 59 1 03 FREQUENCY REAL 30000 30000 Hz 1 100 2ms 32 WP 59 1 04 0 30000 15100 10 ms 32 59 1 05 CURRENT REAL 0 1000 1 10 2 ms 16 59 1 06 TORQUE REAL 1600 1600 90 1 10 2 ms 16 59 107 DC VOLTAGE V 15100 2 ms 32 59 1 08 ENCODER 1 SPEED REAL rpm 15100 250 32 WP 59 1 00 ENCODER 1 POS REAL24 1 100000000 250 32 WP 59 1 10 ENCODER 2 SPEED REAL rpm 15100 250 32 WP 60 1 141 ENCODER 2 POS REAL24 1 100000000 250 32 WP 60 1 14 SPEED ESTIMATED REAL 30000 30000 rpm 15100 2 ms 32 60
83. user and offers a possibility to set the parameter manually User parameter sets The drive has four user parameter sets that can be saved to the permanent memory and recalled using drive parameters It is also possible to use digital inputs to switch between different user parameter sets See the descriptions of parameters 16 09 16 12 A user parameter set contains all values of parameter groups 10 to 99 except the fieldbus communication configuration settings As the motor settings are included in the user parameter sets make sure the settings correspond to the motor used in the application before recalling a user set In an application where different motors are used with one drive the motor ID run needs to be performed with each motor and saved to different user sets The appropriate set can then be recalled when the motor is switched Drive control and features 55 Default connections of the control unit What this chapter contains This chapter shows the default control connections of the JCU Control Unit More information on the connectivity of the JCU is given in the Hardware Manual of the drive Default connections of the control unit 56 Notes Total maximum current 200 mA 1 Selected by par 12 01 DIO1 CONF 2 Selected by par 12 02 DIO2 CONF 3 Selected by par 12 03 DIO3 CONF 4 Selected by jumper J1 5 Selected by jumper J2 Current J1 2 Alx Voltage 31 2
84. 0 Input I DINT Output O INT DINT TO REALn REAL 85 1 msec 1 OUT 85 7 25 us The output OUT is the REAL REAL24 equivalent of the input IN Input IN1 is the integer value and input IN2 is the fractional value If one or both of the input values is negative the output value is negative Example from DINT to REAL When IN1 2 and IN2 3276 OUT 2 04999 The output value is limited to the maximum value of the selected data type range Input IN1 IN2 DINT The output data type is selected by the user Output OUT REAL REAL24 Standard function blocks 258 DINT REALn 51 10022 Illustration DI IT TO REALn SIMP REAL 86 0 86 Execution time 6 53 us ERRC 86 Operation The output O is the REAL REAL24 equivalent of the input I divided by the scale input SCALE Error codes indicated at the error output ERRC are as follows Error code Description 0 No error 1001 The calculated REAL REAL24 value exceeds the minimum value of the selected data type range The output is set to the minimum value 1002 The calculated REAL REAL24 value exceeds the maximum value of the selected data type range The output is set to the maximum value 1003 The SCALE input is 0 The output is set to 0 1004 Incorrect SCALE input i e the scale input is O or is not a factor of 10 Example from DINT to REAL24 When
85. 02 MOT TEMP SOURCE setting is 3 KTY 2nd FEN or 6 PTC 2nd FEN the encoder installed in drive Slot 2 is used Error in temperature measurement when KTY sensor connected to encoder interface FEN 01 is used FEN 01 does not support temperature measurement with KTY sensor Use PTC sensor or other encoder interface module Fault tracing 216 Cause What to do fieldbus code 2028 ENC EMUL MAX FREQ TTL pulse frequency used in Decrease parameter 93 21 EMUL PULSE NR 0x7386 encoder emulation exceeds value maximum allowed limit Note The new setting will only take effect 500 kHz after parameter 90 10 ENC PAR REFRESH is used or after the JCU control unit is powered up the next time 2029 ENC EMUL REF ERROR Encoder emulation has failed Contact your local ABB representative 0x7387 due to failure in writing new position reference for emulation 2030 RESOLVER AUTOTUNE Resolver autotuning routines Check cable between resolver and resolver ERR which are automatically started interface module FEN 21 and order of 0x7388 when resolver input is activated connector signal wires at both ends of cable for the first time have failed Check resolver parameter settings For resolver parameters and information see parameter group 92 RESOLVER CONF on page 178 Note Resolver autotuning routines should always be performed after resolver cable connection has been modified
86. 0308 APPL FILE PAR CONF Corrupted application file Reload application 0x6300 Note This fault cannot be If fault is still active contact your local ABB reset representative 0309 APPL LOADING Application file incompatible or Check the fault logger for a fault code 0x6300 corrupted Note This fault cannot be reset extension See appropriate actions for each extension below Fault code extension 8 Template used in the application incompatible with drive firmware Change the template of the application in DriveSPC Fault code extension 10 Parameters defined in the application conflict with existing drive parameters Check the application for conflicting parameters Fault code extension 35 Application memory full Contact your local ABB representative Fault code extension Other Corrupted application file Reload application If fault is still active contact your local ABB representative Fault tracing 229 What to fieldbus code 0310 USERSET LOAD Loading of user set is not Reload OxFF69 successfully completed because requested user set does not exist user set is not compatible with drive program drive has been switched off during loading 0311 USERSET SAVE User set is not saved because Check the setting of parameter 95 01 CTRL OxFF69 of memory corruption UNIT SUPPLY
87. 03395 2099 LINW4 WNYADG 1096 gt Wa3viV 808 GUOM WYVIY 20 8 AYOM 908 5078 1 1 908 IH 6078 1577 20 8 LINY IALL 1078 on Z 2SIW LINY anu 3IALL WS3HL LOW 0775 3579 WONLOW 6075 ANIOd VIE 80 St 03445 0842 Z0 St QAYOT 10 90 St dWAL 50 55 WILY LOW pO St WW dWAL LOW 0 St 3041065 LOW 20756 dWAL LOW 1055 153 YOLOW 877 dWAL ZT T C 97051 WH3HL LOW end BANG 01 4 6 ZT EE 5 1 EANAANS gt 5 60 01 5 80 EE 5 Z0 19 4 5 90 gt INNA 5 SO EE 01 0 IH 5 07 19 4 5 20 gt INNA 5 TO E 501415 AYAdNS 9 2514 NOISIAM3dhS WAWINIW 20702 30090 WAWIXWW 90702 50702 03345 93N 0 02 gt 48385 504 60702 gt 03345 WNWINIW 20702 03345 10 02 05 ng anya eni nie
88. 1 24 11 SPEED REF JOG2 FW block SPEED REF MOD see above Defines the speed reference for jogging function 2 See section Jogging on page 45 30000 30000 rpm Speed reference for jogging 2 24 12 SPEED REFMIN ABS FW block SPEED REF MOD see above Defines the absolute minimum limit for the speed reference Limited speed reference 20 01 MAXIMUM SPEED 24 12 SPEED REFMIN ABS gt 24 12 SPEED REFMIN ABS Speed reference 20 02 MINIMUM SPEED 0 30000 rpm Absolute minimum limit for speed reference Parameters and firmware blocks 113 25 Speed reference ramp settings such as selection of source for speed ramp input acceleration and deceleration times also for jogging acceleration and deceleration ramp shapes emergency stop OFF3 ramp time the speed reference balancing function forcing the output of the ramp generator to a predefined value Note Emergency stop OFF1 uses the currently active ramp time 06 02 STATUS WORD 2 bit 14 RAMP OUT 0 25 13 SPEEDREF BAL ENA 06 02 STATUS WORD 2 bit 13 RAMP HOLD 1 8 03 03 SPEEDREF RAMP 4 SPEED REF RAMPED 25 02 SPEED SCALING 25 12 SPEEDREF BAL 25 04 DEC TIME 25 10 DEC TIME JOGGING 06 02 STATUS WORD 2 bit 5 JOGGING 25 11 EM STOP TIME 25 03 ACC TIME 25 09 ACC TIME JOGGING 06 01 STATUS WORD 1 bit 5 EM STOP 2
89. 1 2 ms 16 WPO 76 09 SYSTEM INFO 9 01 DRIVE TYPE INT32 0 65535 151 16 77 Parameter data 198 Index Name Type Range Unit FbEq Update Data PT Save time length PF no 9 02 DRIVE RATING ID INT32 0 65535 1 16 WP 74 9 03 FIRMWARE Pb 1 16 77 9 04 FIRMWARE Pb 1 16 77 9 05 FIRMWARE PATCH Pb 1 16 77 9 10 INT LOGIC VER Pb 1 32 77 9 20 OPTION SLOT 1 INT32 0 18 1 16 77 9 21 OPTION SLOT 2 INT32 0 18 1 16 77 922 OPTION SLOT 3 INT32 0 18 1 16 77 Parameter groups 10 99 Index Parameter Type Range Unit FbEq Update Data Def PT time len PF no 10 START STOP 10 01 EXT1 START FUNC enum 0 6 2ms 16 1 WPD 79 10 02 EXT1 START IN1 Bit pointer 2ms 32 P 02 01 00 WPD 79 10 03 EXT1 START IN2 Bit pointer 2ms 32 C False WPD 80 10 04 EXT2 START FUNC enum 0 6 2ms 16 1 WPD 80 10 05 EXT2 START IN1 Bit pointer 2ms 32 P 02 01 00 WPD 81 10 06 2 1 2 Bit pointer 2ms 32 C False WPD 81 10 07 JOG1 START Bit pointer 2ms 32 C False WPD 81 10 08 FAULT RESET SEL Bit pointer 2ms 32 P 02 01 02 81 10 09 ENABLE Bit pointer 2ms 32 C True WPD 81 10 10
90. 1 16 1 176 91 27 SSI ZERO PHASE UINT32 0 3 1 16 0 176 91 30 UINT32 0 1 1 16 0 177 91 31 ENDAT MAX CALC UINT32 0 3 1 16 3 177 92 92 01 RESOLV POLEPAIRS UINT32 1 32 121 16 1 178 92 02 EXC SIGNAL AMPL UINT32 4 12 Vrms 1 10 16 4 178 92 03 SIGNAL FREQ UINT32 1 20 kHz 121 16 1 178 93 PULSE ENC CONF 93 01 ENC1 PULSE NR UINT32 0 65535 151 16 0 179 93 02 1 TYPE 0 1 1 1 16 0 179 93 03 ENC1 SP enum 0 5 151 16 4 179 93 04 ENC1 POS EST enum 0 1 1 16 1 180 93 05 1 SP EST 0 1 1 16 0 180 93 06 1 OSC LIM 0 3 15 16 0 180 93 11 2 PULSE NR UINT32 0 65535 15 16 0 181 93 12 2 0 1 1 16 0 181 93 13 2 5 0 5 1 16 4 181 93 14 ENC2 POS EST enum 0 1 1 1 16 1 181 93 15 ENC2 SP EST enum 0 1 1 1 16 0 181 93 16 ENC2 OSC LIM 0 3 151 16 0 181 93 21 EMUL PULSE UINT32 0 65535 151 16 0 181 93 22 EMUL POS REF Val pointer 32 P 01 12 181 P 04 17 for pos appl 93 23 EMUL POS OFFSET REAL 0 1 100000 32 0 181 0 99998 95 HW CONFIGURATION 95 01 CTRL UNIT SUPPLY enum 0 1 1 1 16 0 182 95 02 EXTERNAL CHOKE enum 0 1 1 1 16 0 182 97 USER MOTOR PAR 97 01 USE GIVEN PARAMS enum 0 3 151 16 0 183 97 02 RS USER REAL24 0 0 5
91. 1 15 TEMP INVERTER REAL24 40 160 1 10 2 ms 16 WP 60 1 16 TEMP 24 40 160 C 1 10 2 ms 16 WP 60 117 TEMP REAL 10 250 C 1 10 10 ms 16 WP 60 1 18 TEMP EST INT32 60 1000 C 1 1 16 WP 60 119 USED SUPPLY VOLT 0 1000 V 1 10 10 ms 16 WP 60 1 20 BRAKE RES LOAD REAL24 0 1000 1 50 ms 16 WP 60 121 CPU USAGE UINT32 0 100 1 16 60 1 22 INVERTER POWER REAL 2 1 291 1 kW 1 100 10 ms 32 WP 60 1 26 ON TIME COUNTER INT32 0 35791394 1 h 1 100 10 32 WPO 60 1 27 COUNTER INT32 0 35791394 1 h 1 100 10 5 32 WPO 60 1 28 ON TIME INT32 0 35791394 1 1 100 10 ms 32 WPO 60 1 31 TIME CONST 0 32767 5 1 1000 10 32 WP 61 02 VALUES 2 01 DI STATUS Pb 0 0x3F 15 2 16 62 2 02 RO STATUS Pb 1 2ms 16 WP 62 2 03 010 STATUS Pb 15 2 16 WP 62 2 04 REAL VormA 1 1000 2 ms 16 62 2 05 SCALED 1 1000 250 32 WP 62 2 06 AI2 REAL VormA 1 1000 2 ms 16 WP 62 2 07 2 SCALED REAL 1 1000 250 us 32 WP 62 2 08 1 REAL mA 1 1000 2ms 16 WP 62 2 09 2 REAL V 151000 2 16 WP 62 2 10 0102 FREQ IN REAL 0 32767 Hz 1 1000 2ms 32 WP 62 2 11 DIO3 FREQ OUT REAL 0 32767 Hz 1 1000 2 ms 32 WP 62 2 12 MAIN CW Pb 0 15 500 us 32 WP 63 OxFFFFFFFF 2 13 MAIN SW Pb 1 1 500 us 32 WP 65 O
92. 1 2 3 4 0 0 7 0 Set S Boolean INT DINT REAL REAL24 Load L Boolean INT DINT REAL REAL24 Write WR Boolean INT DINT REAL REAL24 Write address AWR INT Reset R Boolean Expander EXP lArray Data input 1 132 Boolean INT DINT REAL REAL24 Error ERR INT Array data output O OC1 Standard function blocks 294 SOLUTION FAULT 10097 Illustration Execution time Operation When the block is enabled by setting the Enable input to 1 a fault F 0317 SOLUTION FAULT is generated by the drive The value of the Fit code ext input is recorded by the fault logger Inputs Fault code extension Flt code ext DINT Generate fault Enable Boolean Outputs Standard function blocks Filters FILT1 10069 FILT2 10070 Illustration Execution time Operation Inputs Outputs Illustration Execution time Operation 295 FILT1 67 1 msec 1 0 67 7 59 us The output is the filtered value of the input I value and the previous output value The FILT1 block acts as 1st order low pass filter Note Filter time constant T1 must be selected so that T1 Ts 32767 If the ratio exceeds 32767 it is considered as 32767 Ts is the cycle time of the program in ms If T1 lt Ts the output value is the input value The step response for a single pole low pass filter is O t Kt x 1 e T1 The trans
93. 10 08 FAULT RESET SEL lt 10 09 RUN ENABLE Parameters and firmware blocks 79 Block outputs located in other parameter groups 2 18 D2D FOLLOWER CW page 67 6 01 STATUS WORD 1 page 70 6 02 STATUS WORD 2 page 71 6 03 SPEED CTRL STAT page 72 6 05 LIMIT WORD 1 page 72 6 07 TORQ LIM STATUS page 73 Outputs 6 09 6 11 are not used with the Speed and Torque Control Program 10 01 EXT1 START FUNC FW block DRIVE LOGIC see above Selects the source for the start and stop control in external control location EXT1 Note This parameter cannot be changed while the drive is running 0 Not sel No source selected 1 In1 Source of the start and stop commands are selected by parameter 10 02 EXT1 START IN1 The start stop is controlled as follows Par 10 02 Command 0 1 1 gt 0 Stop 2 3 wire Source of the start and stop commands are selected by parameters 10 02 EXT1 START IN1 and 10 03 EXT1 START IN2 The start stop is controlled as follows Par 10 02 Par 10 03 Command 0 1 1 1 gt 0 Stop Any 0 Stop 3 FBA Start and stop control from the source selected by parameter 10 13 FB CW USED 4 D2D Start and stop control from another drive via D2D Control Word 5 IN1 F IN2R The source selected by 10 02 EXT1 START 1 1 is the forward start signal the source selected by 10 03 EXT1 START IN2 is the re
94. 10s Derivation time for speed controller 28 05 DERIV FILT TIME FW block SPEED CONTROL see above Defines the derivation filter time constant 0 1000 ms Derivation filter time constant 28 06 ACC COMPENSATION FW block SPEED CONTROL see above Selects the source for the acceleration compensation torque The default value is P 3 7 i e signal 3 07 ACC COMP which is the output of the SPEED ERROR firmware block Note This parameter has been locked i e no user setting is possible Value pointer Group and index Parameters and firmware blocks 125 28 07 DROOPING RATE FW block SPEED CONTROL see above Defines the droop rate in percent of the motor nominal speed The drooping slightly decreases the drive speed as the drive load increases The actual speed decrease at a certain operating point depends on the droop rate setting and the drive load 7 torque reference speed controller output At 10096 speed controller output drooping is at its nominal level i e equal to the value of this parameter The drooping effect decreases linearly to zero along with the decreasing load Drooping rate can be used e g to adjust the load sharing in a Master Follower application run by several drives In a Master Follower application the motor shafts are coupled to each other The correct droop rate for a process must be found out cas
95. 156 Scaled fieldbus reference 2 See parameter 50 05 FBA REF2 MODESEL 2 16 FEN DI STATUS FW block ENCODER page 169 Status of digital inputs of FEN xx encoder interfaces in drive option Slots 1 and 2 Examples 000001 01h 011 of FEN xx in Slot 1 is ON all others are OFF 000010 02h DI2 of FEN xx in Slot 1 is ON all others are OFF 010000 10h of FEN xx in Slot 2 is ON all others are OFF 100000 20h 7 DI2 of FEN xx in Slot 2 is ON all others are OFF 2 17 D2D MAIN CW FW block D2D COMMUNICATION page 164 Drive to drive control word received through the drive to drive link See also actual signal 2 18 below Bit Information 0 Stop 1 Start 2 6 Reserved 7 Run enable By default not connected in a follower drive 8 Reset By default not connected in a follower drive 9 14 Freely assignable through bit pointer parameters 15 EXT1 EXT2 selection 0 EXT1 active 1 EXT2 active By default not connected in follower drive Parameters and firmware blocks 67 2 18 020 FOLLOWER CW FW block DRIVE LOGIC page 78 Drive to drive control word sent to the followers by default See also firmware block D2D COMMUNICATION on page 164 Bit Information 0 Stop 1 Start 2 6 Reserved 7 Run enable 8 Reset 9 14 Reserved 15 EXT1 EXT2 selection 0 EXT1 a
96. 1S3 504 ZONA dS ZONA ZONA 2166 YN ASINd ZONA 6 250 9056 1S3 dS TON3 50766 153 504 5066 dS 60766 3dAL 2066 YN 3514 10766 Desi 35104 npea Application program template 323 ON ON 200 3570 00007 GI prepueis bp dex aueu efoid 1 amwa 051 fara 20a paedaid wo paseg AINON UI 20 0 4001 N3dO 32404 900 440 500 54 39V LI0A 4115 60709 389 45 60709 39 XNH 10709 qasn 434 ZTE 9351 XNH 97 6 SUZ SIN 310MINOO YOLOW Enen oni ng Application program template 324 a ON 300 1570 TT GL piepuejs gp O T GI perouddy 051 Uo poseg Suxpejud pT 2824 55082 809 5 OLS 09 5501 14415 90796 50799 5501 35 4 LOW 5098 55011412 1 201 0 9r 3395 434
97. 231 1 1 32 0 98 16 04 0 2 1 16 0 98 16 07 PARAM SAVE enum 0 1 1 16 0 98 16 09 USER SEL 1 10 1 32 1 99 16 10 06 0 7 1 32 0 WP 99 16 11 USER IO SET LO Bit pointer 32 C False 100 16 12 USER IO SET HI Bit pointer 32 C False 100 16 13 TIME SOURCE PRIO enum 0 8 121 16 0 100 17 PANEL DISPLAY 17 01 SIGNAL1 PARAM INT32 00 00 1 1 16 01 03 101 255 255 17 02 SIGNAL2 INT32 00 00 121 16 01 04 101 255 255 17 03 SIGNAL3 PARAM INT32 00 00 121 16 01 06 101 255 255 20 LIMITS 20 01 MAXIMUM SPEED REAL 0 30000 rpm 121 2ms 32 1500 102 20 02 MINIMUM SPEED REAL 30000 0 rpm 121 2ms 32 1500 102 20 03 POS SPEED ENA Bit pointer 2ms 32 C True 102 20 04 NEG SPEED ENA Bit pointer 2ms 32 C True 103 20 05 MAXIMUM CURRENT REAL 0 30000 A 12100 10ms 32 103 20 06 MAXIMUM TORQUE REAL 0 1600 1 10 2 ms 16 300 103 20 07 MINIMUM TORQUE REAL 1600 0 1 10 2 ms 16 300 103 20 08 CURR LIM 0 1 1 1 16 1 103 22 SPEED FEEDBACK 22 01 SPEED FB SEL enum 0 2 15 10 16 0 105 22 02 SPEED 0 10000 151000 10 32 3 105 22 03 GEAR MUL INT32 231 251 1 15 10 32 1 106 22 04 UINT32 1 2511 1 10 32 1 106 22 05 ZERO SPEED LIMIT REAL 0 30000 1 7100
98. 310 PR 310 Iu PTT 311 Table of contents 11 Application program template What this chapter contains 1 313 Appendix A Fieldbus control What this chapter contains 1 325 s uds Re RE AO OR Pep epe NEN a CUR ER Ye pt Lo OE ae 325 Setting up communication through a fieldbus adapter module 326 Drive control parameters 327 The fieldbus control interface 328 The Control Word and the Status Word 328 Actualvalues d x die QUI Pert ric bt c 329 communication profile 329 Fieldbus references dak d SUR SSR ae 329 State diagram 330 Appendix B Drive to drive link What this chapter contains 331 E mW c MER muUa 331 MIFIDG Sik IE os datus cer d iret Agde ilies RAM ode EE VE oso LRL 331 E ade pde 332 TYPES Of MESSAGING iu E NU EPI eme EL E qeu ses
99. 40 02 REF 0 16 kHz 1 16 4 142 40 03 SLIP GAIN REAL 0 200 1 100 143 40 04 VOLTAGE RESERVE REAL 1 143 40 05 FLUX 0 1 1 143 Parameter data 204 Index Parameter Type Range Unit FbEq Update Data Def PT Save Page time len PF no 40 06 FORCE OPEN LOOP enum 0 1 1 250 16 0 143 40 07 COMPENSATION REAL24 0 50 90 1 100 2 32 0 143 45 45 01 TEMP PROT 0 2 1 10 16 2 145 45 02 TEMP SOURCE enum 0 6 15 10 16 0 145 45 03 TEMP ALM LIM INT32 0 200 C 1 16 90 146 45 04 TEMP FLT LIM INT32 0 200 C 1 16 110 146 45 05 TEMP INT32 60 100 C 1 16 20 146 45 06 LOAD CURVE INT32 50 150 1 16 100 147 45 07 ZERO SPEED LOAD INT32 50 150 1 16 100 147 45 08 BREAK POINT INT32 0 01 500 Hz 1 100 16 45 147 45 09 MOTNOM TEMP INT32 0 300 C 1 16 80 148 RISE 45 10 THERM TIME INT32 100 10000 s 121 16 256 148 46 FAULT FUNCTIONS 46 01 EXTERNAL FAULT Bit pointer 2ms 32 C True 149 46 02 SPEED REF SAFE REAL 30000 rpm 121 2ms 16 0 149 30000 46 03 LOCAL CTRL LOSS enum 0 3 1 16 1 149 46 04 PHASE LOSS 0 1 1 2 ms 16 1 150
100. 46 05 FAULT 0 2 1 16 2 150 46 06 SUPPL 5 LOSS 0 1 1 2 ms 16 1 150 46 07 5 DIAGNOSTIC 1 4 15 10 16 1 150 46 08 55 0 1 1 16 1 151 47 VOLTAGE CTRL 47 01 OVERVOLTAGE enum 0 1 1 1 10ms 16 1 152 CTRL 47 02 UNDERVOLT CTRL enum 0 1 1 1 10 16 1 152 47 03 SUPPLVOLTAUTO ID 0 1 1 1 10ms 16 1 152 47 04 SUPPLY VOLTAGE REAL 0 1000 V 1510 2 ms 16 400 153 47 05 LOW VOLT MOD Bit pointer 32 C False 153 47 06 LOW VOLT DC MIN REAL 250 450 V 121 10ms 16 250 153 47 07 LOW VOLT DC MAX REAL 350 810 V 121 10ms 16 810 153 47 08 EXT PU SUPPLY Bit pointer 32 C False 153 48 BRAKE CHOPPER 48 01 BC ENABLE enum 0 2 121 16 0 154 48 02 RUN TIME Bit pointer 2ms 32 C True 154 48 03 BRTHERMTIMECON REAL24 0 10000 5 1 1 32 0 154 ST 48 04 BR POWER MAX REAL24 0 10000 kW 1 10000 32 0 154 CNT 48 05 R BR REAL24 0 1 1000 ohm 1 10000 32 154 48 06 TEMP FAULTLIM REAL24 0 150 90 15 16 105 155 48 07 TEMP REAL24 0 150 90 15 16 95 155 Parameter data 205 Index Parameter Type Range Unit FbEq Update Data Def Page time len PF no 50 FIELDBUS 50 01 ENABLE enum 0
101. 57 13 NEXT REF1 MC GRP The message is received by all followers that have parameter 57 12 REF1 MC GROUP set to the same value as parameter 57 13 NEXT REF1 MC GRP in the master If a follower have parameters 57 03 NODE ADDRESS and 57 12 REF1 MC GROUP set to the same value it becomes a submaster Immediately after a submaster receives the multicast message it sends its own message to the next multicast group defined by parameter 57 13 NEXT REF1 MC GRP The duration of the entire message chain is approximately 15 microseconds multiplied by the number of links in the chain defined by parameter 57 14 NR MC GRPS in the master Appendix B Drive to drive link 338 Master 57 08 FOLLOWER CW SRC 57 06 REF 1 SRC Follower 2 17 D2D MAIN CW 2 19 D2D REF1 57 08 FOLLOWER CW SRC 57 06 REF 1 SRC Follower 2 17 D2D MAIN CW Follower 2 19 D2D REF1 2 17 D2D MAIN CW 57 08 FOLLOWER CW SRC 2 19 D2D REF1 57 01 LINK MODE 2 Master 57 06 REF 1 SRC 57 08 FOLLOWER CW SRC 57 03 NODE ADDRESS don t care 57 01 LINK MODE 1 Follower 57 06 REF 1 SRC 57 11 REF 1 MSG TYPE 1 Ref1 MC Grps 57 03 NODE ADDRESS 2 57 01 LINK MODE 1 Follower 57 12 REF1 MC GROUP 7 don t care 57 11 REF 1 MSG TYPE lt 1 Ref1 MC Grps 57 03 NODE ADDRESS 4 57 01 LINK MODE
102. 60 90 10 ENC PAR REFRESH FW block ENCODER see above Setting this parameter to 1 forces a reconfiguration of the FEN xx interfaces which is needed for any parameter changes in groups 90 93 to take effect Note This parameter cannot be changed while the drive is running 0 Done Refreshing done 1 Configure Reconfigure The value will automatically revert to DONE Parameters and firmware blocks 173 Group 91 ABSOL Absolute encoder configuration used when parameter 90 01 ENCODER 1 SEL 90 02 ENCODER 2 SEL is set to 3 FEN 11 ABS The optional FEN 11 Absolute Encoder Interface module supports the following encoders ncremental sin cos encoders with or without zero pulse and with or without sin cos commutation signals Endat2 1 2 2 with incremental sin cos signals partially without sin cos incremental signals Hiperface encoders with incremental sin cos signals SSI Synchronous Serial Interface with incremental sin cos signals partially without sin cos incremental signals Tamagawa 17 33 bit digital encoders the resolution of position data within one revolution is 17 bits multiturn data includes a 16 bit revolution count EnDat and SSI encoders without incremental sin cos signals are partially supported only as encoder 1 Speed is not available and the time instant of the position data delay depends on the encoder See als
103. Autotuning routines can be activated by setting parameter 92 02 EXC SIGNAL AMPL or 92 03 EXC SIGNAL FREQ and then setting parameter 90 10 ENC PAR REFRESH to 1 Configure 2031 ENCODER 1 CABLE Encoder 1 cable fault detected Check cable between FEN xx interface and 0x7389 encoder 1 After any modifications in cabling re configure interface by switching drive power off and on or by activating parameter 90 10 ENC PAR REFRESH 2032 ENCODER 2 CABLE Encoder 2 cable fault detected Check cable between FEN xx interface and 0x738A encoder 2 After any modifications in cabling re configure interface by switching drive power off and on or by activating parameter 90 10 ENC PAR REFRESH 2033 D2D COMMUNICATION On the master drive The drive Check that all drives that are polled 0x7520 Programmable fault 57 02 COMM LOSS FUNC has not been replied to by an activated follower for five consecutive polling cycles parameters 57 04 and 57 05 on the drive to drive link are powered properly connected to the link and have the correct node address Check the drive to drive link wiring On a follower drive The drive has not received new reference 1 and or 2 for five consecutive reference handling cycles Check the settings of parameters 57 06 and 57 07 on the master drive Check the drive to drive link wiring Fault tracing 217 Code Alarm Cause What to
104. COMM and freezes the speed to the level the drive was operating at The speed is determined by the average speed over the previous 10 seconds WARNING Make sure that it is safe to continue operation in case of a communication break 50 03 COMM LOSS T OUT FW block FIELDBUS see above Defines the time delay before the action defined by parameter 50 02 COMM LOSS FUNC is taken Time count starts when the link fails to update the message 0 3 6553 5 6 Delay for fieldbus communication loss function 50 04 REF1 MODESEL FW block FIELDBUS see above Selects the fieldbus reference REF1 scaling and the actual value which is sent to the fieldbus FBA ACT1 0 Raw data No scaling i e data is transmitted without scaling Source for the actual value which is sent to the fieldbus is selected by parameter 50 06 FBA ACT1 TR SRC 1 Torque Fieldbus adapter module uses torque reference scaling Torque reference scaling is defined by the used fieldbus profile e g with ABB Drives Profile integer value 10000 corresponds to 10096 torque value Signal 1 06 TORQUE is sent to the fieldbus as an actual value See the User s Manual of the appropriate fieldbus adapter module 2 Speed Fieldbus adapter module uses speed reference scaling Speed reference scaling is defined by the used fieldbus profile e g with ABB Drives Profile integer value 20000 corresponds to th
105. DC link charged and preventing an undervoltage trip until the motor coasts to stop This will act as a power loss ride through functionality in systems with high inertia such as a centrifuge or a fan 0 Disable Undervoltage control disabled 1 Enable Undervoltage control enabled 47 03 SUPPLVOLTAUTO ID FW block VOLTAGE CTRL see above Enables the auto identification of the supply voltage See also section Voltage control and trip limits on page 42 0 Disable Auto identification of supply voltage disabled 1 Enable Auto identification of supply voltage enabled Parameters and firmware blocks 153 47 04 SUPPLY VOLTAGE FW block VOLTAGE CTRL see above Defines the nominal supply voltage Used if auto identification of the supply voltage is not enabled by parameter 47 03 SUPPLVOLTAUTO ID 0 1000 V Nominal supply voltage 47 05 LOW VOLT MOD ENA FW block None Enables disables or selects a signal source that enables disables Low voltage mode 0 lt Low voltage mode disabled 1 lt Low voltage mode enabled See section Low voltage mode on page 43 Bit pointer Group index and bit 47 06 LOW VOLT DC MIN FW block None Minimum DC voltage for Low voltage mode See section Low voltage mode on page 43 250 450V Minimum DC voltage for Low voltage mode 47 07 LOW DC FW block None Maximum DC voltage for Low voltage mode See section Low
106. DINT 15 bits sign 255 Standard function blocks 256 DINT BOOL 10020 Illustration DINT TO BOOL FOR 83 1 msec 1 0071 83 0072 83 OUT3 83 0074 83 0075 83 0076 83 0077 83 0078 83 0079 83 OUT10 83 OUT11 83 OUT12 83 00713 83 00714 83 00715 83 00716 83 0071783 00718 83 0071983 00720 83 OUT21 83 OUT2X 83 00723 83 OUT24 83 OUT25 83 OUT26 83 OUT27 83 00728 83 0072983 OUT30 83 OUT31 83 OUT3X 83 51683 Execution time 11 98 us Operation The boolean output OUT1 OUT32 values are formed from the 32 bit integer input IN value Example IN 0111 1111 1111 1111 1111 1111 1111 1100 SIGN OUT32 OUT1 Inputs Input IN DINT Outputs Output OUT1 OUT32 Boolean Sign output SIGN Boolean Standard function blocks DINT TO INT 10021 Illustration Execution time Operation Inputs Outputs DINT TO REALn 10023 Illustration Execution time Operation Inputs Outputs 257 DINT TO INT 84 1 msec 1 1 6 0 84 0 53 The output value is 16 bit integer value of 32 bit integer input I value Examples 1 31 bits sign O 15 bits sign 2147483647 32767 2147483648 32767 0
107. DIO3 see above Defines the maximum value for frequency output when 12 03 DIO3 CONF is set to 2 Freq output 3 32768 Hz Maximum DIO3 output frequency 12 09 DIO3 F MIN FW block DIO3 see above Defines the minimum value for frequency output when 12 03 DIO3 CONF is set to 2 Freq output 3 32768 Hz Minimum DIO3 output frequency Parameters and firmware blocks 89 12 10 DIO3 F SCALE FW block DIO3 see above Defines the real value that corresponds to the maximum frequency output value defined by parameter 12 08 DIO3 F MAX DIO3 Hz DIO3 Hz 12 08 12 09 12 09 DIO3 real DIO3 real 12 11 12 10 12 10 12 11 0 32768 Real value corresponding to value of parameter 12 08 12 11 DIO3 F MIN SCALE FW block DIO3 see above Defines the real value that corresponds to the minimum frequency output value defined by parameter 12 09 DIO3 F MIN See parameter 12 10 DIO3 F MAX SCALE 0 32768 Real value corresponding to value of parameter 12 09 Firmware block RO RO TLF7 2 msec 2 5 2 02 RO STATUS 12 12 RO1 OUT PTR Connects an actual signal to the relay output The block also shows the relay output status Block outputs located in other 2 02 RO STATUS page 62 parameter groups 12 12 RO1 OUT PTR FW block RO see above Selects a drive signal to be c
108. Edge 8 bistable 270 ETRIG ut b dote ee D a d de E Su 270 SS MEE MTM I EE RN EE 270 RERIG os arte dre mibi d e semi 271 Ble Fee 272 Extensions Eee eee ge 273 EIOsQOTsslotl 52d scs p b NU C Pb pA CP VAR Ca 273 e Be RU os Rude RU CEU YR RR Ae BC 274 ALSO 2 hace ay VU bets 275 Al SlOt2 MERE DE EE OE RR ES X ERU qut 277 Table of contents 10 a SUN TRA ee nad 279 FIO 1 coe e v EA E oi ed ien ui ems d E e 280 FIO 14 DIO slot ish sec ede RE ROSE OR EROR oec SETS 282 FIO 14 oou me ERR o e Ere 282 Feedback SG algortliis cet pb eia Ps 284 CRITSBEEBD Rea lee ret a ey 284 SA SNO aene e Burm gu des dunt Hrs ume esc ae 285 DATA CONTAINER r
109. Example If BITCNT 3 3158 5 1 1111100000 111001011101001100110101 000011100000111001011101001100110 3 5 input data type is selected user Number of bits BITCNT INT DINT Input I INT DINT Output O INT DINT OUT 63 1 24 us when two inputs are used 0 72 ys for every additional input When all inputs are used the execution time is 22 85 us Standard function blocks 241 Operation The output OUT is 1 if one of the connected inputs 1 1 1 32 is 1 Output is zero if all the inputs have the same value Example IN1 IN2 OUT gt 0 1 0 1 The inputs can be inverted Inputs The number of inputs 2 32 is selected by the user Input IN1 1N32 Boolean Outputs Output OUT Boolean Standard function blocks 242 Bitwise BGET 10034 Illustration Execution time Operation Inputs Outputs BITAND 10035 Illustration Execution time Operation Inputs Outputs O 64 0 88 us The output is the value of the selected bit BITNR of the input 1 BITNR Bit number 0 7 bit number 0 31 lt bit number 31 If bit number is not in the range of 0 31 for DINT 0 15 for INT the output is 0 The input data type is selected by the user Number of the bit BITNR DINT Input I DINT INT Output O Bool
110. Intermediate circuit DC overvoltage 2 MINIMUM TORQUE 1 Torque reference minimum limit is active The limit is defined by parameter 20 07 MINIMUM TORQUE 3 MAXIMUM TORQUE 1 Torque reference maximum limit is active The limit is defined by parameter 20 06 MAXIMUM TORQUE 4 INTERNAL CURRENT 1 Aninverter current limit is active The limit is identified by bits 8 11 5 LOAD ANGLE 1 For permanent magnet motor only Load angle limit is active i e the motor cannot produce more torque 6 MOTOR PULLOUT 1 For asynchronous motor only Motor pull out limit is active i e the motor cannot produce more torque 7 Reserved 8 THERMAL 1 Bit4 0 Input current is limited by main circuit thermal limit Bit 4 1 Output current is limited by main circuit thermal limit 9 I2MAX CURRENT 1 Inverter output current limit is active 10 USER CURRENT 1 Maximum inverter output current limit is active The limit is defined by parameter 20 05 MAXIMUM CURRENT 11 15 Reserved Only one of bits 0 3 can be on simultaneously The bit typically indicates the limit that is exceeded first Only either 9 or 10 can be on simultaneously The bit typically indicates the limit that is exceeded first 6 12 OP MODE FW block REFERENCE CTRL page 136 Operation mode acknowledge 0 Stopped 1 Speed 2 Torque 3 Min 4 5 Add 10 Scalar 11 lt Forced magn i e DC Hold 6 14 SUPERV STATUS FW
111. JCU option slot 2 is used 3 Slot 3 An FMBA module installed in JCU option slot 3 is used Parameters and firmware blocks 168 Group 90 MODULE SEL Settings for encoder activation emulation TTL echo and encoder cable fault detection The firmware supports two encoders encoder 1 and 2 but only one FEN 21 Resolver Interface Module Revolution counting is only supported for encoder 1 The following optional interface modules are available TTL Encoder Interface Module FEN 01 two TTL inputs TTL output for encoder emulation and echo two digital inputs for position latching PTC temperature sensor connection Absolute Encoder Interface FEN 11 absolute encoder input TTL input TTL output for encoder emulation and echo two digital inputs for position latching PTC KTY temperature sensor connection Resolver Interface Module FEN 21 resolver input TTL input TTL output for encoder emulation echo two digital inputs for position latching PTC KTY temperature sensor connection HTL Encoder Interface Module FEN 31 HTL encoder input TTL output for encoder emulation and echo two digital inputs for position latching PTC KTY temperature sensor connection The interface module is connected to drive option Slot 1 or 2 Note Two encoder interface modules of the same type are not allowed For encoder resolver configuration see parameter groups 91 ABSOL ENC CONF page 173 92 RESOLVER CONF page 17
112. Let drive cool down 0x7182 unit and control unit Check for excessive ambient temperature temperature has exceeded Check for cooling fan failure internal alarm limit Check for obstructions in the air flow Check the dimensioning and cooling of the cabinet 2015 BC MOD OVERTEMP Input bridge or brake chopper Let drive cool down 0x7183 temperature has exceeded Check for excessive ambient temperature internal alarm limit Check for cooling fan failure Check for obstructions in the air flow Check the dimensioning and cooling of the cabinet 2016 IGBT OVERTEMP Drive temperature based on Check ambient conditions 0x7184 thermal model has exceeded Check air flow and fan operation Check heatsink fins for dust pick up Check motor power against unit power 2017 FIELDBUS COMM Cyclical communication Check status of fieldbus communication See 0x7510 between drive and fieldbus appropriate User s Manual of fieldbus adapter Programmable fault 50 02 adapter module or between module COMM LOSS FUNC PLC and fieldbus adapter Check fieldbus parameter settings See module is lost parameter group 50 FIELDBUS on page 156 Check cable connections Check if communication master can communicate 2018 LOCAL CTRL LOSS Control panel or PC tool Check PC tool or control panel connection 0x5300 selected as active control Check control panel connector Programmable fault 46 03 location for drive has ceased locat
113. MODE FW block START STOP MODE see above Selects the way the autophasing routine is performed See also section Autophasing on page 38 0 Turning This mode gives the most accurate autophasing result This mode can be used and is recommended if it is allowed for the motor to rotate and the start up is not time critical Note This mode will cause the motor to rotate during the ID run 1 Standstill 1 Faster than the 0 Turning mode but not as accurate The motor will not rotate 2 Standstill 2 An alternative standstill autophasing mode that can be used if the TURNING mode cannot be used and the 1 Standstill 1 mode gives erratic results However this mode is considerably slower than 1 Standstill 1 Parameters and firmware blocks Group 12 DIGITAL IO 87 Settings for the digital inputs and outputs and the relay output Firmware block DIO1 6 Selects whether DIO1 is used as a digital input or as a digital output and connects an actual signal to the digital output The block also shows the DIO status DIO1 TLF7 2 msec 2 03 2 03 DIO STATUS amp 5 12 01 DIO1 CONF 12 04 DIO1 OUT PTR 4 6 02 READY RELAY Block outputs located in other parameter groups 2 03 DIO STATUS page 62 Firmware block DIO2 7 Selects whether DIO2 is used as a digital or frequency input or as a digital output and connects an actual signal t
114. Max REAL x 11 V or 22 mA Minimum value of scaled output signal Min scale AI3 Min scale REAL Maximum value of scaled output signal 11 Max scale AI3 Max scale REAL Analogue input mode voltage or current mode AI3 mode Boolean Value of analogue input REAL Scaled value of analogue input scaled scaled REAL Error output Error DINT 0 No error 1 Application program memory full Standard function blocks 277 FIO 11 AI slot2 10089 Illustration FIO 11 AI slot2 52 mode 52 AI1 52 scaled 52 AI2 mode 52 AI2 52 AI2 scaled 52 AI3 mode 52 13 52 scaled 52 Error 52 AI3 Min scale AI3 Max scale Execution time 11 1 us Operation The block controls the three analogue inputs AI1 A13 of a FIO 11 Analog Extension mounted on slot 2 of the drive control unit The block outputs both the unscaled Alx and scaled Alx scaled actual values of each analogue input The scaling is based on the relationship between the ranges Alx min Alx max and Alx min scale Alx max scale Min must be smaller than Alx Alx Max Scale be greater or smaller than Alx Min Scale Alx Min Scale Alx Max Scale Alx scaled 32768 Alx Max Scale x Vo Z 22 mA 5 lt gt Alx V or mA gt 11V
115. Note It is recommended that encoder interface 1 is used whenever possible since the data received through that interface is fresher than the data received through interface 2 On the other hand when position values used in emulation are determined by the drive software the use of encoder interface 2 is recommended as the values are transmitted earlier through interface 2 than through interface 1 0 None Inactive 1 FEN 01 TTL Communication active Module type FEN 01 TTL Encoder interface Module Input TTL encoder input with commutation support X32 See parameter group 93 PULSE ENC CONF 2 FEN 01 TTL Communication active Module type FEN 01 TTL Encoder interface Module Input TTL encoder input X31 See parameter group 93 PULSE ENC CONF 3 FEN 11 ABS Communication active Module type FEN 11 Absolute Encoder Interface Input Absolute encoder input X42 See parameter group 91 ABSOL ENC CONF 4 FEN 11 TTL Communication active Module type FEN 11 Absolute Encoder Interface Input TTL encoder input X41 See parameter group 93 PULSE ENC CONF B FEN 21 RES Communication active Module type FEN 21 Resolver Interface Input Resolver input X52 See parameter group 92 RESOLVER CONF Parameters and firmware blocks 170 6 21 Communication active Module type 21 Resolver Interface Input TTL encoder input X51 See para
116. On the master drive selects the followers to be polled If no response is received from a polled follower the action selected by parameter 57 02 COMM LOSS FUNC is taken The least significant bit represents follower with node address 32 while the most significant bit represents follower 62 When a bit is set to 1 the corresponding node address is polled For example followers 32 and 33 are polled when this parameter is set to the value of 0x3 0x00000000 0x7FFFFFFF Follower mask 2 57 06 REF 1 SRC FW block D2D COMMUNICATION see above Selects the source of D2D reference 1 sent to the followers The parameter is effective on the master drive as well as submasters 57 03 NODE ADDRESS lt 57 12 REF1 MC GROUP in a multicast message chain see parameter 57 11 REF 1 MSG TYPE The default value is P 03 04 i e 3 04 SPEEDREF RAMPED Value pointer Group and index 57 07 REF 2 SRC FW block D2D COMMUNICATION see above On the master drive selects the source of D2D reference 2 broadcast to all followers The default value is P 03 13 i e 3 13 TORQ REF TO TC Value pointer Group and index 57 08 FOLLOWER CW SRC FW block D2D COMMUNICATION see above Selects the source of the D2D control word sent to the followers The parameter is effective on the master drive as well as submasters in a multicast message chain see parameter 57 11 REF 1 MSG TYPE The default value is P 02 18
117. Seale our RH be x Rea eia 149 Group 47 VOLTAGE GIRL 2265 152 VOLTAGE D ata 152 Group 48 BRAKE CHOPPER ERE bode 154 BRAKE CHOPPER iadsum a acted ane CE eee 154 Group SU FIELDBUS a uarie Ok o C E eR 156 rcl 156 Group 51 FEA SETTINGS 2555504 RIDE RN Rn a i a ere eRe c 159 Group 52 FBA DATA IN NEC 161 Group 53 FBA DATA 162 Group So COMMUNICATION TOOL ic a sich khe Mate i 163 Group 57 D2D COMMUNICATION 25 RC e RR nce n e Ra i ec RC CR Ren 164 DZD COMMUNICATION ERR ht Rot op bd Siow dyes 164 Group 90 ENG MODULE QE aem E ec Bde a io 168 ENCODER us 169 Group ST AB SOE ENC GONF e Rc n 173 ABSOL ENC 173 Group 92 RESOLVER CONF ba ppsa tee 178 RESOLVER CONF RE RC ERR EXER RE red RR RAE e 178 Group SX PUESE ENG CONF s auk ER QR REC 179 PULSE ENG CONF ux stk
118. Update Data Def PT Save Page time len PF no 26 10 SPEED WIN FUNC UINT32 0 2 121 250 us 16 120 26 11 SPEED WIN REAL 0 3000 rpm 121 250 16 120 26 12 SPEED WIN LO REAL 0 3000 rpm 121 250 16 120 28 SPEED CONTROL 28 01 SPEED ERR NCTRL Val pointer 2ms 32 P 08 00 WP 122 28 02 PROPORT GAIN REAL 0 200 15100 2 ms 16 10 122 28 03 INTEGRATION TIME REAL 0 600 S 151000 2ms 32 0 5 123 28 04 DERIVATION TIME REAL 0 10 S 15 1000 2ms 16 0 124 28 05 DERIV FILT TIME REAL 0 1000 ms 1510 2 ms 16 8 124 28 06 2 ms 32 03 07 124 COMPENSATION 28 07 DROOPING RATE REAL 0 100 1 100 2ms 16 125 28 08 BAL REFERENCE REAL 1600 1 10 2 16 125 1600 28 09 SPEEDCTRL BAL EN Bit pointer 2ms 32 C False 125 28 10 MIN TORQ SP CTRL REAL 1600 1 10 2 ms 16 300 125 1600 28 11 SP CTRL REAL 1600 1 10 2 ms 16 300 125 1600 28 12 ADAPT MAX SPD 0 30000 15 10 16 0 126 28 13 ADAPT SPD 0 30000 15 10 16 0 126 28 14 GAIN ADPT COEF REAL 0 10 151000 10ms 16 0 126 28 15 TIME ADPT COEF REAL 0 10 151000 10ms 16 0 126 28 16 TUNE MODE enum 0 4 1 16 0 127 28 17 BANDWIDTH 0 2000 2 1 100 16 100 127 28 18 TUNE DAMPING REAL 0 200 1510 16 0 5 127 32 TORQUE REFERENCE 32 01 TORQ REF1 SEL enum 0 4 1 1 10 16 2 12
119. UserPosOffs The value of parameter 97 20 is used as the rotor angle offset Parameters 97 02 97 14 are inactive 3 AllUserPars The values of parameters 97 02 97 14 are used in the motor model and the value of parameter 97 20 is used as the rotor angle offset 97 02 RS USER FW block None Defines the stator resistance of the motor model 0 0 5 p u per unit Stator resistance 97 03 RR USER FW block None Defines the rotor resistance Rg of the motor model Note This parameter is valid only for asynchronous motors 0 0 5 p u per unit Rotor resistance 97 04 LM USER FW block None Defines the main inductance Ly of the motor model Note This parameter is valid only for asynchronous motors 0 10 p u per unit Main inductance 97 05 SIGMAL USER FW block None Defines the leakage inductance 015 Note This parameter is valid only for asynchronous motors 0 1 p u per unit Leakage inductance 97 06 LD USER FW block None Defines the direct axis synchronous inductance Note This parameter is valid only for permanent magnet motors 0 10 p u per unit Direct axis synchronous inductance Parameters and firmware blocks 184 97 07 USER FW block None Defines the quadrature axis synchronous inductance Note This parameter is valid only
120. active control location 10 04 EXT2 START 3 FBA Selects fieldbus as the source for the start and stop commands when FUNC EXT2 is selected as the active control location 24 01 SPEED REF1 SEL 3 FBA REF1 Fieldbus reference or REF2 is used as speed reference 1 4 FBA REF2 24 02 SPEED REF2 SEL 3 FBA REF1 Fieldbus reference REF1 or REF2 is used as speed reference 2 4 FBA REF2 32 01 TORQ REF1 SEL 3 FBA REF1 Fieldbus reference REF1 or REF2 is used as torque reference 1 4 FBA REF2 32 02 TORQ REF ADD 3 FBA REF1 Fieldbus reference REF1 or REF2 is used for torque reference SEL 4 FBA REF2 addition SYSTEM CONTROL INPUTS 16 07 PARAM SAVE 0 Done Saves parameter value changes including those made through 1 Save fieldbus control to permanent memory Appendix A Fieldbus control 328 The fieldbus control interface The cyclic communication between a fieldbus system and the drive consists of 16 32 bit input and output data words The drive supports at the maximum the use of 12 data words 16 bit in each direction Data transmitted from the drive to the fieldbus controller is defined by parameters 52 01 52 12 FBA DATA IN and data transmitted from the fieldbus controller to the drive is defined by parameters 53 01 53 12 FBA DATA OUT Fieldbus network 1
121. application program The contents of the two firmware communication datasets can be configured freely with pointer parameters and or application programming with the DriveSPC tool The 16 bit control word and 32 bit drive to drive reference 1 are transmitted from one dataset on a 500 microsecond by default time level drive to drive reference 2 32 bits is transmitted from the other dataset on a 2 millisecond by default time level Depending on the drive control mode the followers can be configured to use the drive to drive commands and references with the following parameters Control data Parameter Setting for drive to drive communication 10 01 EXT1 START FUNC Start Stop commands 10 04 EXT2 START FUNC 4 D2D 24 01 SPEED REF1 SEL 5 D2D REF1 or p 24 02 SPEED REF2 SEL 6 D2D REF2 r f rence 32 01 REF1 SEL 5 020 32 02 REF ADD SEL 6 020 REF2 The communication status of the followers be supervised by a periodic supervision message from the master to the individual followers see parameters 57 04 FOLLOWER MASK 1 and 57 05 FOLLOWER MASK 2 Drive to drive function blocks can be used in the DriveSPC tool to enable additional communication methods such as follower to follower messaging and to modify the Appendix B Drive to drive link 333 use of datasets between drives See the function blocks under Communication page 246
122. block DRIVE LOGIC see above Selects the source 2 for the start and stop commands in external control location EXT2 See parameter 10 04 EXT2 START FUNC selection 2 3 wire Note This parameter cannot be changed while the drive is running Bit pointer Group index and bit 10 07 JOG1 START FW block DRIVE LOGIC see above If enabled by parameter 10 15 JOG ENABLE selects the source for the activation of jogging function 1 1 Active Jogging function 1 can also be activated through fieldbus regardless of parameter 10 15 See section Jogging on page 45 See also other jogging function parameters 10 14 JOG2 START 10 15 JOG ENABLE 24 03 SPEED REF1 IN 24 04 SPEED REF2 IN 24 10 SPEED REF JOG1 24 11 SPEED REF JOG2 25 09 ACC TIME JOGGING 25 10 DEC TIME JOGGING and 22 06 ZERO SPEED DELAY Note This parameter cannot be changed while the drive is running Bit pointer Group index and bit 10 08 FAULT RESET SEL FW block DRIVE LOGIC see above Selects the source for the external fault reset signal The signal resets the drive after a fault trip if the cause of the fault no longer exists 1 lt Fault reset Bit pointer Group index and bit 10 09 RUN ENABLE FW block DRIVE LOGIC see above Selects the source for the run enable signal If the run enable signal is switched off the drive will not start or stops if the drive is running 1 Run enable Note This paramet
123. block None Defines the nominal motor voltage Nominal voltage is a fundamental phase to phase rms voltage which is supplied to the motor at the nominal operating point This parameter value must be equal to the value on the asynchronous motor name plate Note Make sure the motor is connected correctly star or delta in accordance to the rating plate Note With permanent magnet motors the nominal voltage is the BackEMF voltage at motor nominal speed If the voltage is given as voltage per rpm e g 60 V 1000 rpm the voltage for 3000 rpm nominal speed is 3 x 60 V lt 180 V Note that the nominal voltage is not equal to the equivalent DC motor voltage E D C M value given by some motor manufactures The nominal voltage can be calculated by dividing the E D C M voltage by 1 7 7 square root of 3 Note The stress on the motor insulations is always dependent on the drive supply voltage This also applies to the case where the motor voltage rating is lower than the rating of the drive and the supply of the drive Note This parameter cannot be changed while the drive is running 0 32767 V Nominal motor voltage Note The allowed range is 1 6 2 Uy of drive Parameters and firmware blocks 189 99 08 FW block None Defines the nominal motor frequency Note This parameter cannot be changed while the drive is running 5 500 Hz Nominal motor frequency 99 09 MOT NOM SP
124. by parameter 47 03 Drive control and features 43 SUPPLVOLTAUTO ID user can define the voltage manually at parameter 47 04 SUPPLY VOLTAGE Overvoltage trip level 880 V Overvoltage control level 810 V 1 07 DC VOLTAGE Upc 1 35 x 1 19 USED SUPPLY VOLT Undervoltage control level 0 7 Upc 50 V min Undervoltage trip level 350 V The intermediate DC circuit is charged over an internal resistor which is bypassed when the correct level 8096 of Upc is reached and voltage is stabilised Braking chopper The built in braking chopper of the drive can be used to handle the energy generated by a decelerating motor When the braking chopper is enabled and a resistor connected the chopper will start conducting when the DC link voltage of the drive reaches 780 V The maximum braking power is achieved at 840 V Low voltage mode A Low voltage mode is available to extend the supply voltage range When the mode is enabled the drive can operate below the nominal range for example when it needs to be powered from an emergency supply Low voltage mode can be activated by parameter 47 05 LOW VOLT MOD ENA Low voltage mode introduces parameters 47 06 LOW VOLT DC MIN and 47 07 LOW VOLT DC MAX for adjustment of minimum and maximum DC voltage control levels respectively The following rules apply 47 06 LOW VOLT DC MIN 250 to 450 V 47 07 LOW VOLT DC MAX 350 to 810 V
125. can be reset with a stop command Note that in certain applications it is necessary to allow the drive to restart 0 Disabled Start inhibit function disabled 1 Enabled Start inhibit function enabled 10 13 FB CW USED FW block DRIVE LOGIC see above Selects the source for the control word when fieldbus FBA is selected as the external start and stop control location see parameters 10 01 EXT1 START FUNC and 10 04 EXT2 START FUNC By default the source is parameter 2 12 FBA MAIN CW Note This parameter cannot be changed while the drive is running Value pointer Group and index 10 14 JOG2 START FW block DRIVE LOGIC see above If enabled by parameter 10 15 JOG ENABLE selects the source for the activation of jogging function 2 1 Active Jogging function 2 can also be activated through fieldbus regardless of parameter 10 15 Note This parameter cannot be changed while the drive is running Bit pointer Group index and bit 10 15 JOG ENABLE FW block DRIVE LOGIC see above Selects the source for enabling parameters 10 07 JOG1 START and 10 14 JOG2 START Note Jogging can be enabled using this parameter only when no start command from an external control location is active On the other hand if jogging is already enabled the drive cannot be started from an external control location apart from jog commands through fieldbus Bit pointer Group index and bit 1
126. command is given to the drive during the autotuning the routine is aborted The prerequisites for performing the autotune routine are The ID run has been successfully completed Speed torque current and acceleration limits parameter groups 20 LIMITS and 25 SPEED REF RAMP are set Speed feedback filtering speed error filtering and zero speed are set parameter groups 22 SPEED FEEDBACK and 26 SPEED ERROR The drive is stopped The results of the autotune routine are automatically transferred into parameters 28 02 PROPORT GAIN proportional gain of the speed controller 28 03 INTEGRATION TIME integration time of the speed controller 1 31 MECH TIME CONST mechanical time constant of the machinery Drive control and features 47 The figure below shows speed responses at speed reference step typically 1 20 Undercompensated B Normally tuned autotuning C Normally tuned manually Better dynamic performance than with B D Overcompensated speed controller The figure below is a simplified block diagram of the speed controller The controller output is the reference for the torque controller Derivative acceleration compensation gt Proportional Speed _ Error integral y Torque reference value ex Derivative A Actual speed N For more information on the use of the autotune function
127. control 326 Setting communication through fieldbus adapter module Before configuring the drive for fieldbus control the adapter module must be mechanically and electrically installed according to the instructions given in the User s Manual of the appropriate fieldbus adapter module The communication between the drive and the fieldbus adapter module is activated by setting parameter 50 01 FBA ENABLE to 1 Enable The adapter specific parameters must also be set See the table below Parameter Setting for fieldbus control Function Information COMMUNICATION INITIALISATION AND SUPERVISION 50 01 FBA ENABLE 1 Enable Initialises communication between drive and fieldbus adapter module 50 02 COMM LOSS 0 N Selects how the drive reacts in a fieldbus communication break FUNC 1 Fault 2 Spd ref Safe 3 Last speed 50 08 COMM LOSS 0 3 6553 5 5 Defines the time between communication break detection and the OUT action selected with parameter 50 02 COMM LOSS FUNC 50 04 FBA REF1 0 Raw data Defines the fieldbus reference scaling 2 4 a When 0 Raw data is selected see also parameters 50 06 50 11 c 1 When parameters are to 5 Auto the scalings for fieldbus references are set automatically according to parameter 34 03 EXT 1 CTRL MODE 1 as follows REF1 Speed REF2 Torque ADAPT ER MODULE CONFIGURATION 51 01 FBA TYPE
128. descriptions of other profiles see the User s Manual of the appropriate fieldbus adapter module Fieldbus references References FBA REF are 16 32 bit signed integers A negative reference is formed by calculating the two s complement from the corresponding positive reference value The contents of each reference word can be used as speed or torque reference When torque or speed reference scaling is selected by parameter 50 04 1 MODESEL 50 05 FBA REF2 MODESEL the fieldbus references are 32 bit integers The value consists of a 16 bit integer value and a 16 bit fractional value The speed torque reference scaling is as follows Reference Scaling Notes Torque reference 65536 Final reference is limited by parameters 20 06 MAXIMUM value in 96 TORQUE and 20 07 MINIMUM TORQUE Speed reference REF 65536 Final reference is limited by parameters 20 01 MAXIMUM value in rpm SPEED 20 02 MINIMUM SPEED and 24 12 SPEED REFMIN ABS Appendix A Fieldbus control 330 State diagram The following presents the state diagram for the FBA communication profile For other profiles see the User s Manual of the appropriate fieldbus adapter module from any state from any state FBA Fault CW Bits 7 1 Communication RUN T Profile SW Bit 1 0 FAULT SW Bit 16 1 DISABLE i FBA CW Fieldbus Control Word CW Bit 8 1
129. do fieldbus code 2034 D2D BUFFER Transmission of drive to drive Contact your local ABB representative OVERLOAD references failed because of 0x7520 message buffer overflow Programmable fault 57 02 COMM LOSS FUNC 2035 PS COMM Communication errors detected Check the connections between the JCU 0x5480 between the JCU Control Unit Control Unit and the power unit and the power unit of the drive 2036 RESTORE Restoration of backed up Contact your local ABB representative 0x630D parameters failed 2037 CUR MEAS Current measurement Informative alarm CALIBRATION calibration will occur at next 0x2280 start 2038 AUTOPHASING Autophasing will occur at next Informative alarm 0x3187 start 2039 EARTH FAULT Drive has detected load Check there are no power factor correction 0x2330 unbalance typically due to earth capacitors or surge absorbers in motor cable Programmable fault 46 05 fault in motor or motor cable Check that there is no earth fault in motor or EARTH FAULT motor cables measure insulation resistances of motor and motor cable If no earth fault can be detected contact your local ABB representative 2041 MOTOR NOM VALUE The motor configuration Check the settings of the motor configuration 0x6383 parameters are set incorrectly parameters in group 99 START UP DATA The drive is not dimensioned Check that the drive is sized correctly for the correctly motor 2042 D2D CONFIG The settings of d
130. error of U2 Contact your local ABB representative 0x3184 output phase current measurement is too great Offset value is updated during current calibration 0019 CURR V2 MEAS Measured offset error of V2 Contact your local ABB representative 0x3185 output phase current measurement is too great Offset value is updated during current calibration 0020 CURR W2 MEAS Measured offset error of W2 Contact your local ABB representative 0x3186 output phase current measurement is too great Offset value is updated during current calibration 0021 STO1 LOST Safe Torque Off function is Check safety circuit connections For more 0x8182 active i e safety circuit signal 1 information see appropriate drive hardware connected between X6 1 and X6 3 is lost while drive is at stopped state and parameter 46 07 STO DIAGNOSTIC setting is 2 Alarm or 3 No manual Fault tracing 222 Code Fault Cause What to do fieldbus code 0022 STO2LOST Safe Torque Off function is Check safety circuit connections For more 0x8183 active i e safety circuit signal 2 information see appropriate drive hardware connected between X6 2 and manual X6 4 is lost while drive is at stopped state and parameter 46 07 STO DIAGNOSTIC setting is 2 Alarm or 3 No 0024 INTBOARD OVERTEMP Interface board between power Let drive cool down 0x7182 unit and control unit Check for excessive
131. fault 46 07 STO DIAGNOSTIC active i e safety circuit signal s connected to connector is lost during drive start or drive run while drive is stopped and parameter 46 07 STO DIAGNOSTIC setting is 1 Fault information see appropriate drive hardware manual Fault tracing 223 What to fieldbus code 0032 OVERSPEED Motor is turning faster than Check minimum maximum speed settings 0x7310 highest allowed speed due to parameters 20 01 MAXIMUM SPEED and incorrectly set minimum 20 02 MINIMUM SPEED maximum speed insufficient Check adequacy of motor braking torque braking torque or changes in Check licability of t trol load when using torque eck applicability of torque control reference Check need for brake chopper and resistor s 0033 BRAKE START TORQUE Mechanical brake fault Fault is Check brake open torque setting parameter 0x7185 activated if required motor 35 06 Programmable fault 35 09 Starting torque 35 06 BRAKE Check drive torque and current limits See BRAKE FAULT FUNC OPEN TORQ is not achieved parameter group 20 LIMITS on page 102 0034 BRAKE NOT CLOSED Mechanical brake control fault Check mechanical brake connection 0x7186 Fault is activated if brake Check mechanical brake settings parameters Programmable fault 35 09 2222 35 01 35 09 BRAKE FAULT FUNC
132. faults the time at which the active fault occurred and the alarm words 46 01 EXTERNAL FAULT 46 02 SPEED REF SAFE 46 03 LOCAL CTRL LOSS 46 04 MOT PHASE LOSS 46 05 EARTH FAULT 46 06 SUPPL PHS LOSS 46 07 STO DIAGNOSTIC 46 08 CROSS CONNECTION Block outputs located in other 8 01 ACTIVE FAULT page 74 parameter groups 8 02 LAST FAULT page 74 8 03 FAULT TIME HI page 74 8 04 FAULT TIME LO page 74 8 05 ALARM WORD 1 page 74 8 06 ALARM WORD 2 page 75 8 07 ALARM WORD 3 page 75 8 08 ALARM WORD 4 page 76 46 01 EXTERNAL FAULT FW block FAULT FUNCTIONS see above Selects an interface for an external fault signal 0 External fault trip 1 No external fault Bit pointer Group index and bit 46 02 SPEED REF SAFE FW block FAULT FUNCTIONS see above Defines the fault speed Used as a speed reference when an alarm occurs when parameter 13 12 SUPERVISION 46 03 LOCAL CTRL LOSS 50 02 COMM LOSS FUNC setting is 2 Spd ref Safe 30000 30000 rpm Fault speed 46 03 LOCAL CTRL LOSS FW block FAULT FUNCTIONS see above Selects how the drive reacts to a control panel or PC tool communication break 0 No No action 1 Fault Drive trips on LOCAL CTRL LOSS fault Parameters and firmware blocks 150 2 Spd ref Safe The drive generates alarm LOCAL CTRL LOSS and sets the speed to the speed defined by parameter 46 02 SPEED REF SAFE
133. for permanent magnet motors 0 10 p u per unit Quadrature axis synchronous inductance 97 08 PM FLUX USER FW block None Defines the permanent magne t flux Note This parameter is valid only for permanent magnet motors 0 2 p u per unit Permanent magnet flux 97 09 RS USER SI FW block None Defines the stator resistance of the motor model 0 00000 100 00000 ohm Stator resistance 97 10 RR USER SI FW block None Defines the rotor resistance of the motor model Note This parameter is valid only for asynchronous motors 0 00000 100 00000 ohm Rotor resistance 97 11 LM USER SI FW block None Defines the main inductance L Of the motor model Note This parameter is valid only for asynchronous motors 0 00 100000 00 mH Main inductance 97 12 SIGL USER 51 FW block None Defines the leakage inductanc OLs Note This parameter is valid only for asynchronous motors 0 00 100000 00 mH Leakage inductance 97 13 LD USER 51 FW block None Defines the direct axis synchronous inductance Note This parameter is valid only for permanent magnet motors 0 00 100000 00 mH Direct axis synchronous inductance 97 14 LQ USER 5 FW block None Defines the quadrature axis Synchronous inductance Note This parameter is valid
134. from drive to fieldbus controller 92 12 DATA 4 6 Note If selected data is 32 bits long two parameters are reserved IN12 14 16 for the transmission 101 9999 53 01 FBA DATA 0 Defines the data transmitted from fieldbus controller to drive OUT1 53 12 1 3 Note If the selected data is 32 bits long two parameters are reserved DATA OUT12 11 13 for the transmission 1001 9999 Note In the User s Manual of the fieldbus adapter module the parameter group number is 2 or B for parameters 52 01 52 12 and 3 or C for parameters 53 01 53 12 After the module configuration parameters have been set the drive control parameters see section Drive control parameters must be checked and adjusted when necessary The new settings will take effect when the drive is powered up the next time before powering off the drive wait at least 1 minute or when parameter 51 27 FBA PAR REFRESH is activated Drive control parameters The Setting for fieldbus control column gives the value to use when the fieldbus interface is the desired source or destination for that particular signal The Function Information column gives a description of the parameter Parameter Setting for Function Information fieldbus control CONTROL COMMAND SOURCE SELECTION 10 01 EXT1 START 3 FBA Selects fieldbus as the source for the start and stop commands when FUNC 1 is selected as the
135. identification run 99 13 torque limits in parameter group 20 LIMITS DC hold and DC magnetising 11 04 11 06 11 01 Note Correct motor run requires that the magnetising current of the motor does not exceed 90 percent of the nominal current of the inverter Note Scalar control mode must be used with multimotor applications 1 if the load is not equally shared between the motors 2 if the motors are of different sizes or 3 if the motors are going to be changed after the motor identification if the nominal current of the motor is less than 1 6 of the nominal output current of the drive or if the drive is used with no motor connected e g for test purposes 0 DTC Direct torque control mode 1 Scalar Scalar control mode 99 06 MOT NOM CURRENT FW block None Defines the nominal motor current Must be equal to the value on the motor rating plate If several motors are connected to the inverter enter the total current of the motors Note Correct motor run requires that the magnetising current of the motor does not exceed 90 percent of the nominal current of the inverter Note This parameter cannot be changed while the drive is running 0 32767 A Nominal motor current Note The allowed range is 1 6 2 of drive for direct control mode parameter 99 05 MOTOR CTRL MODE 0 DTC For scalar control mode parameter 99 05 MOTOR CTRL MODE 1 Scalar the allowed range is 0 2 of drive 99 07 MOT NOM VOLTAGE FW
136. if the motors are of different sizes or 3 if the motors are going to be changed after motor identification ID run fthe nominal current of the motor is less than 1 6 of the nominal output current of the drive Ifthe drive is used without motor connected for example for test purposes fthe drive runs a medium voltage motor through a step up transformer In scalar control some standard features are not available IR compensation for a scalar controlled drive IR compensation is active only when the motor Motor voltage control mode is scalar When IR compensation is activated the drive gives an extra voltage IR Compensation boost to the motor at low speeds IR compensation is useful in applications that 2 No compensation require a high break away torque In direct torque control DTC mode IR compensation is automatic and manual adjustment is not needed 50 of nominal frequency f Hz Autophasing Autophasing is an automatic measurement routine to determine the angular position of the magnetic flux of a permanent magnet synchronous motor The motor control requires the absolute position of the rotor flux in order to control motor torque accurately Sensors like absolute encoders and resolvers indicate the rotor position at all times after the offset between the zero angle of rotor and that of the sensor has been established On the other hand a standard pulse encoder determines the
137. jogging input Jog enable Jogging enabled by the source set by parameter 10 15 JOG ENABLE Start cmd State of the drive start command Speed Jogging example na 12 34 5 9 10 11 12 13 14 15 16 ime Phase Start Description cmd enable cmd 1 2 1 1 O accelerates to the jogging speed along the acceleration ramp of the jogging function 2 3 1 1 0 runs at the jogging speed 3 4 0 1 0 decelerates to zero speed along the deceleration ramp of the jogging function 4 5 0 1 0 Drive is stopped 5 6 1 1 O accelerates to the jogging speed along the acceleration ramp of the jogging function 6 7 1 1 0 Drive runs at the jogging speed 7 8 x 0 1 Jog enable is not active normal operation continues 8 9 0 1 Normal operation overrides the jogging Drive follows speed reference 9 10 x 0 0 Drive decelerates to zero speed along the active deceleration ramp 10 11 x 0 0 Drive is stopped Drive control and features 46 Phase Jog Description cmd 11 12 0 1 operation overrides jogging Drive accelerates to the speed reference along the active acceleration ramp 12 13 1 1 1 Start command overrides the jog enable signal 13 14 1 1 O decelerate
138. of parameter 99 09 MOT NOM SPEED to 1500 rpm results in wrong operation of the drive efesofomasyon com Start up 18 motor nominal current Allowed range approximately 1 6 2 2 Ia of the drive 0 2 long if parameter 99 05 MOTOR CTRL MODE 1 Scalar With multimotor drives see section Multimotor drives on page 19 motor nominal voltage Allowed range 1 6 2 Ux of the drive Uy refers to the highest voltage in each of the nominal voltage range i e 480 V AC for ACSM1 04 With permanent magnet motors The nominal voltage is the BackEMF voltage at motor nominal speed If the voltage is given as voltage per rpm e g 60 V per 1000 rpm the voltage for 3000 rpm nominal speed is 3 x 60 V lt 180 V Note that the nominal voltage is not equal to the equivalent DC motor voltage E D C M value given by some motor manufactures The nominal voltage can be calculated by dividing the E D C M voltage by 1 7 7 square root of 3 motor nominal frequency Range 5 500 Hz With multimotor drives see section Multimotor drives on page 19 With permanent magnet motor If the frequency is not given on the motor nameplate it has to be calculated with the following formula f nxpl60 where p number of pole pairs n motor nominal speed motor nominal speed Range 0 10000 rpm With multimotor drives see section Multimotor drives on page 19 motor nominal power Range 0 10000
139. or disabled by parameter 50 01 FBA ENABLE Fieldbus protocol Fieldbus adapter for the stated protocol installed 51 02 FBA PAR2 FW block None 51 26 FBA PAR26 FW block None Parameters 51 02 51 26 are adapter module specific For more information see the User s Manual of the fieldbus adapter module Note that not all of these parameters are necessarily used 51 27 FBA PAR REFRESH FW block None Validates any changed adapter module configuration parameter settings After refreshing the value reverts automatically to 0 DONE Note This parameter cannot be changed while the drive is running 0 DONE Refreshing done 1 REFRESH Refreshing 51 28 PAR TABLE VER FW block None Displays the parameter table revision of the fieldbus adapter module mapping file stored in the memory of the drive In format xyz where x major revision number y minor revision number z correction number 51 29 DRIVE TYPE CODE FW block None Displays the drive type code of the fieldbus adapter module mapping file stored in the memory of the drive Example 520 ACSM1 Speed and Torque Control Program Parameters and firmware blocks 160 51 30 MAPPING FILE VER FW block None Displays the fieldbus adapter module mapping file revision stored in the memory of the drive In hexadecimal format Example 0x107
140. output value is limited to the maximum value of the data type Example 150000 0000 0010 0110 1111 1111 1111 1111 Integer value Fractional value O 0010 0110 1111 1111 1111 1111 0000 0000 Integer value Fractional value Input 1 REAL Output O REAL24 REAL24 TO REAL 10027 Illustration Execution time Operation REAL24 TO REAL 90 1 msec a I 0 90 1 20 Output is the REAL equivalent of the REAL24 input 1 The output value is limited to the maximum value of the data type range Example 150010 0110 1111 1111 1111 1111 0000 0000 Integer value Fractional value 0000 0000 0010 0110 1111 1111 1111 1111 Integer value Fractional value Standard function blocks Inputs Outputs REALn TO DINT 10029 Illustration Execution time Operation Inputs Outputs 261 Input 1 REAL24 Output O REAL REALn TO DINT REAL 91 1 msec 1 1 01091 01 20 0201 6 45 15 Output is the 32 bit integer equivalent of the REAL REAL24 input I Output O1 is the integer value and output O2 is the fractional value The output value is limited to the maximum value of the data type range Example from REAL to DINT When 2 04998779297 O1 2 and C2 3276 The input data type is selected by the user Input I REAL REAL24 Output O1 O2 DINT REALn TO DINT SIMP 10028 Illustration Executio
141. power in kilowatts 1 26 ON TIME COUNTER FW block ACTUAL VALUES see above This counter runs when the drive is powered The counter can be reset using the DriveStudio tool 1 27 RUN TIME COUNTER FW block ACTUAL VALUES see above Motor run time counter The counter run when the drive modulates The counter can be reset using the DriveStudio tool 1 28 FAN ON TIME FW block ACTUAL VALUES see above Running time of the drive cooling fan Can be reset by entering 0 Parameters and firmware blocks 61 1 31 5 FW block None Mechanical time constant of the drive and the machinery as determined by the speed controller autotune function See parameter 28 16 TUNE MODE on page 127 Parameters and firmware blocks 62 Group 02 VALUES This group contains information on the I Os of the drive 2 01 DI STATUS FW block DI page 89 Status word of the digital inputs Example 000001 11 is 012 to DI6 are off 2 02 RO STATUS FW block RO page 89 Status of relay output 1 RO is energized 2 03 DIO STATUS FW blocks 0101 page 87 0102 page 87 DIO3 page 87 Status word of digital inputs outputs DIO1 3 Example 001 DIO1 is on DIO2 0103 are off 2 04 FW block page 91 Analogue input 1 value in V or m
142. speed value defined by parameter 25 02 SPEED SCALING to zero Emergency stop activation source is selected by parameter 10 10 EM STOP Emergency stop can also be activated through fieldbus 2 12 MAIN CW Emergency stop OFF1 uses the active ramp time 0 1800 s Emergency stop OFF3 deceleration time 25 12 SPEEDREF BAL FW block SPEED REF RAMP see above Defines the reference for the speed ramp balancing i e the output of the speed reference ramp firmware block is forced to a defined value The source for the balancing enable signal is selected by parameter 25 13 SPEEDREF BAL 30000 30000 rpm Speed ramp balancing reference 25 13 SPEEDREF BAL ENA FW block SPEED REF RAMP see above Selects the source for enabling the speed ramp balancing See parameter 25 12 SPEEDREF BAL 1 Speed ramp balancing enabled Bit pointer Group index and bit Parameters and firmware blocks 117 Group 26 SPEED ERROR Speed error is determined by comparing the speed reference and speed feedback The error can be filtered using a first order low pass filter if the feedback and reference have disturbances In addition a torque boost can be applied to compensate acceleration the torque is relative to the rate of change derivative in the speed reference and inertia of the load The speed error value can be supervised using the window function The signal used as sp
143. supervision activation when par 35 01 BRAKE CONTROL 1 WITH The use of the external on off supervision signal is optional 1 The brake is open 0 The brake is closed Brake supervision is usually controlled with a digital input It can also be controlled with an external control system e g fieldbus When brake control error is detected the drive reacts as defined by parameter 35 09 BRAKE FAULT FUNC Note This parameter cannot be changed while the drive is running Bit pointer Group index and bit Parameters and firmware blocks 140 35 03 FW block MECH BRAKE CTRL see above Defines the brake open delay 7 the delay between the internal open brake command and the release of the motor speed control The delay counter starts when the drive has magnetised the motor and risen the motor torque to the level required at the brake release parameter 35 06 BRAKE OPEN TORO Simultaneously with the counter start the brake function energises the relay output controlling the brake and the brake starts opening Set the delay the same as the mechanical opening delay of the brake specified by the brake manufacturer 0 5s Brake open delay 35 04 BRAKE CLOSE DLY FW block MECH BRAKE CTRL see above Defines the brake close delay The delay counter starts when the motor actual speed has fallen below the set level parameter 35 05 BRAKE CLOSE SPD after the drive ha
144. the source for speed reference 2 3 02 SPEED REF2 See parameter 24 01 SPEED REF1 SEL Firmware block SPEED REF MOD 24 This block selects the sources for two speed references REF1 or REF2 scales and inverts the speed reference defines the constant speed reference defines the speed reference for jogging functions 1 and 2 defines the speed reference absolute minimum limit SPEED REF MOD TLF2 500 2 3 03 SPEEDREF lt 24 03 5 lt 24 04 5 2 lt 24 05 SPEED REF 1 2SEL 24 06 SPEED SHARE 24 07 SPEEDREF NEG ENA 24 08 CONST SPEED 24 09 CONST SPEED ENA 24 10 SPEED REF JOG1 24 11 SPEED REF JOG2 24 12 SPEED REFMIN ABS m 58 5 8 Block outputs located in other parameter groups 3 03 SPEEDREF RAMP IN page 68 24 03 SPEED REF1 IN FW block SPEED REF MOD see above SEL The default value is P 3 1 RAMP block Selects the source for speed reference 1 overrides the setting of parameter 24 01 SPEED REF 1 3 01 SPEED which is the output of the SPEED REF Value pointer Group and index 24 04 SPEED REF2 IN FW block SPEED REF MOD see above RAMP block Selects the source for speed reference 2 overrides the setting of parameter 24 02 SPEED REF2 SEL The default value is P 3 2 i e 3 02 SPEED REF2 which is the output of the SPEED REF Val
145. to the bit coded instructions of the Control Word Appendix A Fieldbus control 329 Status Word SW is word containing status information sent by the drive to the fieldbus controller Actual values Actual values ACT are 16 32 bit words containing information on selected operations of the drive FBA communication profile The FBA communication profile is a state machine model which describes the general states and state transitions of the drive The State diagram on page 330 presents the most important states including the FBA profile state names The FBA Control Word 2 12 FBA MAIN CW page 63 commands the transitions between these states and the FBA Status Word 2 13 FBA MAIN SW page 65 indicates the status of the drive Fieldbus adapter module profile selected by adapter module parameter defines how the control word and status word are transmitted in a system which consists of fieldbus controller fieldbus adapter module and drive With transparent modes control word and status word are transmitted without any conversion between the fieldbus controller and the drive With other profiles e g PROFIdrive for FPBA 01 AC DC drive FDNA 01 DS 402 for FCAN 01 and ABB Drives profile for all fieldbus adapter modules fieldbus adapter module converts the fieldbus specific control word to the FBA communication profile and status word from FBA communication profile to the fieldbus specific status word For
146. torque is being limited by the motor control undervoltage control overvoltage control current limitation load angle limitation or pull out limitation or by parameter 20 06 MAXIMUM TORQUE or 20 07 MINIMUM TORQUE The source of the limitation is identified by 6 07 TORQ LIM STATUS 1 SPD CTL TLIM 1 Speed controller output minimum torque limit is active The limit is MIN defined by parameter 28 10 MIN TORQ SP CTRL 2 SPD CTL TLIM 1 Speed controller output maximum torque limit is active The limit MAX is defined by parameter 28 11 MAX TORQ SP CTRL 3 1 Torque reference 3 09 REF 1 maximum limit is active The limit is defined by parameter 32 04 MAXIMUM TORQ REF 4 TORQ REF MIN 1 Torque reference 3 09 TORQ REF 1 minimum limit is active The limit is defined by parameter 32 05 MINIMUM TORQ REF 5 TLIM MAX 1 Torque reference maximum value is limited by the rush control SPEED because of maximum speed limit 20 01 MAXIMUM SPEED 6 TLIM MIN 1 Torque reference minimum value is limited by the rush control SPEED because of minimum speed limit 20 02 MINIMUM SPEED 7 15 Reserved Parameters and firmware blocks 73 6 07 STATUS FW block DRIVE LOGIC page 78 Torque controller limitation status word Bit Name Val Information 0 UNDERVOLTAGE 1 Intermediate circuit DC undervoltage 1 OVERVOLTAGE 1
147. used the execution time is 14 55 us Copies the input values IN1 32 to the corresponding outputs OUT1 32 The input data type and number of inputs 2 32 are selected by the user Input IN1 IN32 INT DINT REAL REAL24 Boolean Output OUT1 OUT32 INT DINT REAL REAL24 Boolean OUT 52 3 47 us when two inputs are used 2 28 for every additional input When all inputs used the execution time is 71 73 us The output OUT is the product of the inputs IN O IN1xIN2 x IN32 The output value is limited to the maximum and minimum values defined by the selected data type range The input data type and the number of inputs 2 32 are selected by the user Input IN1 IN32 INT DINT REAL REAL24 Output OUT INT DINT REAL REAL24 MULDIV 53 1 1 0 53 53 7 10 Standard function blocks 236 SQRT 10008 SUB 10009 Operation Inputs Outputs Illustration Execution time Operation Inputs Outputs Illustration Execution time Operation Inputs Outputs The output O is the product of input IN and input MUL divided by input DIV Output I x MUL DIV O whole value REM remainder value Example 2 MUL 16 and DIV 10 2 x 16 10 3 2 i e 3 and REM 2 The output value is limited to the maximum and minimum values defined by the data type rang
148. written into parameter 33 02 SUPERV1 ACT to change its value to 1 07 DC VOLTAGE is 0100 0000 0000 0000 0000 0001 0000 0111 1073742087 32 bit integer When a value pointer parameter is connected to an application program the format is as follows Bit 30 31 24 29 0 23 Name Source type Not in use Address Value 2 0 224 1 Parameter data 195 30 31 24 29 0 23 Description Value pointer is connected to application program Relative address of application program variable Note Value pointer parameters which are connected to an application program cannot be set via fieldbus i e read access only 32 bit integer bit pointers When a bit pointer parameter is connected to value 0 or 1 the format is as follows Bit 30 31 16 29 0 Name Source type Not in use Value Value 0 0 1 Description Bit pointer is connected 0 False 1 True to 0 1 When a bit pointer is connected to a bit value of another signal the format is as follows Bit 30 31 24 29 16 23 8 15 0 7 Source type Not in use Bit sel Group Index Value 1 0 31 2 255 1 255 Description Bit pointer is Bit selection Group of Index of connected to source source signal bit parameter parameter value When a bit pointer parameter is connected to an application program
149. 0 2ms 32 30 106 22 06 ZERO SPEED DELAY UINT32 0 30000 ms 15 2 ms 16 0 107 22 07 0 30000 15 2 ms 16 0 107 Parameter data 201 Index Parameter Type Range Unit FbEq Update Data Def PT Save Page time len PF no 22 08 SPEED TRIPMARGIN 0 10000 rpm 1 10 2 32 500 108 22 09 SPEED FB FAULT enum 0 2 1 1 10 16 0 108 24 SPEED REF 24 01 SPEED REF1 SEL enum 151 10 16 1 110 24 02 SPEED SEL 151 10 16 0 111 24 03 SPEED IN 10 32 03 01 111 24 04 SPEED REF2 IN Val pointer 10ms 32 P 03 02 111 24 05 SPEED REF 1 2SEL Bit pointer 2ms 32 C False 111 24 06 SPEED SHARE REAL 8 8 151000 2ms 16 1 111 24 07 SPEEDREF NEG Bit pointer 2 ms 32 C False 112 ENA 24 08 CONST SPEED REAL 30000 rpm 151 2 ms 16 0 112 30000 24 09 CONST SPEED Bit pointer 2ms 32 C False 112 24 10 SPEED REF JOG1 REAL 30000 rpm 121 2ms 16 0 112 30000 24 11 SPEED REF JOG2 REAL 30000 rpm 121 2ms 16 0 112 30000 24 12 SPEED REFMIN ABS REAL 0 30000 rpm 151 2 ms 16 0 112 25 SPEED REF 25 01 SPEED RAMP IN Val pointer 10ms 32 03 03 WP 114 25 02 SPEED SCALING REAL 0 30000 rpm 15 10 16 1500 114 25 03
150. 0 32 02 REF ADD SEL enum 0 4 1 1 10ms 16 0 129 32 03 TORQ REF IN Val pointer 250 32 03 09 130 32 04 MAXIMUM REAL 0 1000 1 10 1250181 16 300 130 32 05 MINIMUM TORQ REAL 1000 0 1 10 1250181 16 300 130 32 06 LOAD 8 8 151000 250 5 16 1 130 32 07 RAMP UP UINT32 0 60 S 121000 10ms 32 0 130 32 08 TORQ RAMP DOWN UINT32 0 60 S 121000 10ms 32 0 130 33 SUPERVISION 33 01 SUPERV1 FUNC UINT32 0 4 1 1 2 ms 16 0 132 33 02 SUPERV1 2 ms 32 01 01 132 33 03 SUPERV1 HI 32768 15100 2 ms 32 0 133 32768 33 04 SUPERV1 LO 32768 15100 2 ms 32 0 133 32768 33 05 SUPERV2 FUNC UINT32 0 4 1 1 2 ms 16 0 133 33 06 SUPERV2 2 ms 32 01 04 133 Parameter data 203 Index Parameter Type Range Unit FbEq Update Data Def PT Save Page time len PF no 33 07 SUPERV2 LIM HI REAL 32768 1 100 2 ms 32 0 138 32768 33 08 SUPERV2LIM LO REAL 32768 1 100 2 ms 32 0 183 32768 33 09 SUPERV3 FUNC UINT32 0 4 1 1 2 ms 16 0 134 33 10 SUPERV3 2 ms 32 01 06 134 33 11 HI REAL 32768 1 100 2 32 0 134 32768 33 12 SUPERV3 LIM LO REAL 32
151. 0 16 D2D CW USED FW block DRIVE LOGIC see above Selects the source for the control word for drive to drive communication By default the source is parameter 2 17 D2D MAIN CW Parameters and firmware blocks 83 Value pointer Group and index 10 17 START ENABLE FW block DRIVE LOGIC see above Selects the source for the start enable signal If the start enable signal is switched off the drive will not start or stops if the drive is running 1 Start enable Note This parameter cannot be changed while the drive is running Bit pointer Group index and bit Parameters and firmware blocks 84 Group 11 START STOP MODE These parameters select the start and stop functions as well as the autophasing mode define the DC magnetising time of the motor and configure the DC hold function Firmware block START STOP MODE 11 START STOP MODE TLF10 2 4 11 01 5 11 02 MAGN TIME 11 03 5 11 04 DC HOLD SPEED 11 05 DC HOLD CUR REF 11 06 DC HOLD 11 07 AUTOPHASING MODE 11 01 START MODE FW block START STOP MODE see above Notes time Selects the motor start function This parameter has no effect if parameter 99 05 MOTOR CTRL MODE is set to 1 Scalar Starting to a rotating machine is not possible when DC magnetising is selected 0 Fast or 1 Const With permanent
152. 1 16 0 162 53 12 DATA OUT12 UINT32 0 9999 151 16 0 x 162 Parameter data 206 Index Parameter Type Range Unit FbEq Update Data Def PT Save Page time len PF no 55 COMMUNICATION TOOL 55 01 MDB STATION ID UINT32 1 247 121 16 1 163 55 02 MDB BAUD RATE UINT32 0 4 1 1 16 0 163 55 03 UINT32 0 3 121 16 0 163 57 D2D COMMUNICATION 57 01 LINK MODE UINT32 0 2 15 10 16 0 164 57 02 LOSS FUNC UINT32 0 2 15 10 16 1 164 57 03 NODE ADDRESS UINT32 1 62 15 10 16 1 164 57 04 FOLLOWER MASK 1 UINT32 15 10 32 0 165 57 05 FOLLOWER MASK 2 UINT32 1 10 32 0 165 57 06 1 SRC 10 32 03 04 165 57 07 2 SRC Val pointer 10 ms 32 03 13 165 57 08 FOLLOWER CW SRC Val pointer 10ms 32 P 02 18 165 57 09 KERNEL SYNC enum 0 3 1 1 10ms 16 0 WPD 165 MODE 57 10 KERNEL SYNC OFFS REAL 4999 ms 1 1 10ms 16 0 WPD 166 5000 57 11 1 MSG TYPE UINT32 0 1 15 10 16 0 166 57 12 REF1 GROUP UINT32 0 62 1 10ms 16 0 166 57 13 NEXT REF1 MC GRP UINT32 0 62 1 10ms 16 0 166 57 14 REF1 MC GRPS UINT32 1 62 1 10ms 16 1 167 57 15 1020 COMM PORT UINT
153. 1 168 9876 Targat Nodal Ema _ Data2 328 LocalDsNr ja Eror Eroa RemoteDsNr 1 The master sends a constant 9876 and the value of the message counter to all followers in standard multicast group 10 The data is prepared into and sent from master dataset 19 to follower dataset 23 2 Received data is read from dataset 23 of the receiving followers Note The example application shown for Master above also applies to the sending follower in standard follower to follower multicasting Example of broadcast messaging Master Follower s DS WriteLocal 53 TLA1 1 msec DS ReadLocal 49 TLAL 1 msec 0 23 1 zm Ema Datal 16B Datal 1 9516 3876 gt 25528 Data 32B Sent msg count 54 15 54 jn Error Ema 0 020 SendMessage 54 TLA1 1 2 Msg Type Sent msg c 4 5 P Sent msg count Target Emor LocalDsNr RemoteDsNr 1 The master sends a constant 9876 and the value of the message counter to all followers data is prepared into and sent from master dataset 19 to follower dataset 23 2 Received data is read from dataset 23 of the followers Note The example application shown for Master above also applies to the sending follower in follower to follower broadcasting Appendix Drive to drive link
154. 13 13 SUPERVIS ACT 0 No No action taken 1 Fault The drive trips on fault AI SUPERVISION 2 Spd ref Safe The drive generates alarm Al SUPERVISION and sets the speed to the speed defined by parameter 46 02 SPEED REF SAFE WARNING Make sure that it is safe to continue operation in A case of a communication break 3 Last speed The drive generates alarm Al SUPERVISION and freezes the speed to the level the drive was operating at The speed is determined by the average speed over the previous 10 seconds WARNING Make sure that it is safe to continue operation in A case of a communication break 13 13 Al SUPERVIS ACT FW block None Selects the analogue input signal supervision limit Bit Supervision selected by parameter 13 12 Al SUPERVISION is activated if 0 Al1 lt min signal value falls below the value defined by equation par 13 03 Al1 MIN 0 5 mA or V 1 gt Al1 signal value exceeds the value defined by equation par 13 02 MAX 0 5 mA or V 2 Al2 lt min AI2 signal value falls below the value defined by equation par 13 08 AI2 MIN 0 5 mA or V 3 2 gt AI2 signal value exceeds the value defined by equation par 13 07 AI2 MAX 0 5 mA or V Example If parameter value is set to 0010 bin bit 1 gt max is selected 0b0000 0b1111 AI1 AI2 signal supervision selection Parameters and firmware blo
155. 1510 500 16 68 3 11 REF RUSHLIM REAL 1000 1000 96 1510 250 16 68 3 12 TORQUE REF ADD REAL 1000 1000 96 1510 250 16 68 3 13 REF TO REAL 1600 1600 96 1510 250 16 68 3 14 REAL 1000 1000 96 1510 2 ms 16 68 3 15 0 1 1 1 2 ms 16 69 3 16 FLUX REF USED REAL24 0 200 96 1 1 2 ms 16 69 3 17 TORQUE REF USED REAL 1600 1600 96 1510 250 32 69 06 DRIVE STATUS 6 001 STATUS WORD 1 Pb 0 65535 1 2 ms 16 70 6 02 STATUS WORD 2 Pb 0 65535 1 2 ms 16 71 6 03 CTRL STAT 0 31 1 250 16 72 6 05 WORD 1 Pb 0 255 1 250 us 16 WP 72 607 LIM STATUS 0 65535 1 250 us 16 73 6 12 OP MODE enum 0 11 1 2 ms 16 6 14 SUPERV STATUS Pb 0 65535 1 2 ms 16 79 08 ALARMS amp FAULTS 8 01 FAULT enum 0 65535 1 16 74 8 02 LAST FAULT enum 0 65535 1 16 74 8 03 FAULT TIME HI INT32 231 291 1 days 1 32 WP 74 8 04 FAULT TIME LO INT32 Su su time 1 32 74 8 05 ALARM WORD 1 UINT32 1 2 ms 16 74 8 06 ALARM WORD 2 UINT32 1 2 ms 16 WPO 75 8 07 ALARM WORD UINT32 1 2 ms 16 75 8 08 ALARM WORD 4 UINT32 1 2 ms 16 76 8 09 ALARM WORD 5 UINT32 1 2 16 76 8 10 ALARM WORD 6 UINT32
156. 179 Group 95 FW CONFIGURATION E oh e OR 182 97 USER MOTOR PAR aca Ene CR n cake Ree ede td ake CIRCE RR UE e ee 183 Table of contents Group 98 MOTOR CALC VALUES RR goo RR CBE Rhe op Ron ER e 186 Group 99 START UP DATA Y ERR RR RR ee RU 187 Parameter data What this chapter contains 193 TEMS c r 193 Fieldbus equivalent 194 Fieldbus addresses viele eir Rely eXUG EW ea oe eee ee eee 194 Pointer parameter format in fieldbus communication 194 32 bit integer value pointers 194 32 bit integer bit pointers 195 Actual signals Parameter groups 1 9 196 Fault tracing What this chapter contains 209 pP eI 209 Alarm fault indications 209 How to reset issue xr e e A eoe a E RO eee 209 PIStONY AMT 210 Alarm messages generated by the drive 211
157. 2 0102 FW block 0102 see above Selects whether DIO2 is used as a digital input as a digital output or as a frequency input 0 Output DIO2 is used as a digital output 1 Input 0102 is used as a digital input 2 Freq input DIO2 is used as a frequency input 12 03 DIO3 CONF FW block DIO3 see above Selects whether DIO3 is used as a digital input as a digital output or as a frequency output 0 Output DIO2 is used as a digital output 1 Input DIO2 is used as a digital input 2 Freq output DIO2 is used as a frequency output 12 04 DIO1 OUT PTR FW block 0101 see above Selects a drive signal to be connected to digital output DIO1 when 12 01 DIO 1 CONF is set to 0 Output Bit pointer Group index and bit 12 05 DIO2 OUT PTR FW block DIO2 see above Selects a drive signal to be connected to digital output DIO2 when 12 02 DIO2 CONF is set to 0 Output Bit pointer Group index and bit 12 06 DIO3 OUT PTR FW block 0103 see above Selects a drive signal to be connected to digital output DIO3 when 12 03 DIO3 is set to 0 Output Bit pointer Group index and bit 12 07 DIO3 OUT PTR FW block DIO3 see above Selects a drive signal to be connected to frequency output when 12 03 0103 is set to 2 Freq output Value pointer Group and index 12 08 DIO3 F MAX FW block
158. 32 0 3 1 16 0 WPD 167 90 ENC MODULE SEL 90 01 1 SEL enum 0 6 1 16 0 169 90 02 2 SEL enum 0 6 1 16 0 170 90 03 EMUL MODE SEL enum 0 9 1 16 0 170 90 04 ECHO SEL enum 0 4 1 16 0 171 90 05 CABLE FAULT UINT32 0 2 1 16 1 171 90 10 PAR REFRESH UINT32 0 1 1 16 0 172 91 91 01 SINE COSINE NR UINT32 0 65535 15 16 0 174 91 02 5 UINT32 0 4 1 16 0 174 91 03 REV COUNT BITS UINT32 0 32 15 16 0 174 91 04 POS DATA BITS UINT32 0 32 15 16 0 174 91 05 UINT32 0 1 1 16 0 174 91 10 HIPERFACE PARITY UINT32 0 1 1 16 0 174 91 11 HIPERF BAUDRATE UINT32 0 3 1 16 1 175 91 12 HIPERF NODE ADDR UINT32 0 255 15 16 64 175 91 20 551 CLOCK CYCLES UINT32 2 127 1 16 2 175 91 21 SSI POSITION MSB UINT32 1 126 1 16 1 175 91 22 SSI REVOL MSB UINT32 1 126 1 16 1 175 91 23 551 DATA FORMAT UINT32 0 1 1 16 0 175 91 24 551 BAUD RATE UINT32 0 5 1 16 2 176 Parameter data 207 Index Parameter Type Range Unit FbEq Update Data Def PT Save Page time len PF no 91 25 SSI MODE UINT32 0 1 1 16 0 176 91 26 SSI TRANSMIT UINT32 0 5
159. 33 OHOL V aaaas WNWINIW 20700 qaads WNWIXVW 10 06 NMOG 0801 80 26 NOILISOd MOV dO 019 3nouol SNLVLS 99395 14 10 W907 LOVE 43H 1 WNWINIW 50726 039404 LL MVIVOS 0L 3OMd 6 ONINOH 8 TOH1NOO 1v201 VNOLISOd 25 S XV v NIN 2 5 bday 0399015 0 NOILISOd Vas aav bday 1388 OHOL 606 3nouoL 3348 Tas LOZE TIO 21 9 80796 5 XVA 3nouor 93348 0 01 9076 WNWIXVW 70726 1026 19 101 9335 80722 TAS LOVE GOW OYOL c 7 2 c zadon TIO LLX3 1096 1352 1 2076 NOSHONAS ANODYOL 93348 TIO LLX3 10796 14 10 uieuo enbJo Appendix C Control chain and drive logic diagrams 346 WINOO NIVHO LSVOLLINW HN PL ZS OW L338
160. 333 Master point to point messaging 334 Read remote messaging 334 Follower point to point messaging 335 Standard multicast messaging 335 Broadcast Messaging 336 Chained multicast 0 337 Examples of using standard function blocks in drive to drive communication 339 Example of master point to point messaging 339 Example of read remote messaging 340 Releasing tokens for follower to follower communication 341 Example of follower point to point messaging 341 Example of standard master to follower s multicast messaging 342 Example of broadcast messaging 342 Appendix C Control chain and drive logic diagrams What this chapter contains RI UN E 343 Table of contents 12 Table of contents 13 Introduction to manual What this chapter contains The chapter includes a description of the contents of the manual In addition it
161. 38 7060 WnWIXVW 1002 NOLLVATH3O 0782 106 1 43335 TALI 1182 Z930 8052 1092 0 AWIL 9062 INIL 5052 3015 S Iq AYOM SNLYLS 1090 IH NIM 83385 11 92 ONI 21 uq INIL 60 52 INIL 6052 3015 11 52 SNI990f 524 SNLVLS 2090 SNI990f 23 082 234 952 Wd 162 ONITWOS 08395 2052 adeus NI 33503395 6080 GOH QHOM SNLVLS 2090 61 52 0 LNO vL 19 03348 SNLYLS 2090 o4juoo 52 HL 1438 NIV V84 LZ QHOM SNLVLS 2090 Q33dS 93N v0 02 WNWINIW 2002 SV 333 03345 vc 83385 3475 33VS 488 03395 2099 1v201 LL L 601916 10790 paods 201 INIL 430 8092 846101 zoor 03395 bh vec daads or ve 0334 03395 092
162. 40 02 SF REF FW block MOTOR CONTROL see above Defines the switching frequency of the drive When switching frequency exceeds 4 kHz the allowed drive output current is limited See switching frequency derating in the appropriate Hardware Manual 1 2 3 4 5 8 16 kHz Switching frequency Parameters and firmware blocks 143 40 03 SLIP GAIN FW block MOTOR CONTROL see above Defines the slip gain which is used to improve the estimated motor slip 10096 means full slip gain 090 means no slip gain The default value is 10096 Other values can be used if a static speed error is detected despite of the full slip gain Example with nominal load and nominal slip of 40 rpm A 1000 rpm constant speed reference is given to the drive Despite of the full slip gain 10096 a manual tachometer measurement from the motor axis gives a speed value of 998 rpm The static speed error is 1000 rpm 998 rpm 2 rpm To compensate the error the slip gain should be increased At the 105 gain value no static speed error exists 2 rpm 40 rpm 590 0 20090 Slip gain 40 04 VOLTAGE RESERVE FW block MOTOR CONTROL see above Defines the minimum allowed voltage reserve When the voltage reserve has decreased to the set value the drive enters the field weakening area If the intermediate circuit DC voltage Uy 550 V and the voltage reserve is 5 the RMS value of the maximum output volta
163. 5 05 SHAPE TIME ACC1 25 06 SHAPE TIME ACC2 0 25 07 SHAPE TIME DEC1 25 08 SHAPE TIME DEC2 0 Parameters and firmware blocks 114 Firmware block SPEED REF RAMP 25 This block selects the source for the speed ramp input adjusts acceleration and deceleration times also for jogging adjusts acceleration deceleration ramp shapes adjusts ramp time for emergency stop OFF3 forces the output of the ramp generator to a defined value shows the ramped and shaped speed reference value SPEED REF RAMP 250 psec 3 04 SPEEDREF RAMPED SPEEDREF RAMP IN se 25 01 SPEED RAMP IN 25 02 SPEED SCALING 25 03 ACC TIME 25 04 DEC TIME 25 05 SHAPE TIME 1 25 06 SHAPE TIME ACC2 25 07 SHAPE TIME 25 08 SHAPE TIME DEC2 25 09 ACC TIME JOGGING 25 10 DEC TIME JOGGING 25 11 EM STOP TIME 25 12 SPEEDREF BAL 25 13 SPEEDREF BAL ENA Block outputs located in other parameter groups 3 04 SPEEDREF RAMPED page 68 25 01 SPEED RAMP IN FW block SPEED REF RAMP see above Shows the source of the speed ramp input The default value is P 3 3 i e signal 3 05 SPEEDREF RAMP IN which is the output of the SPEED REF MOD firmware block Value pointer Group and index 25 02 SPEED SCALING FW block SPEED REF RAMP see above Defines the speed value used in acceleration and deceleration parameters 25 03 25 09 and 25 04 2
164. 5 10 25 11 Also affects fieldbus reference scaling see Appendix A Fieldbus control section Fieldbus references on page 329 0 30000 rpm Speed value for acceleration deceleration 25 03 ACC TIME FW block SPEED REF RAMP see above Defines the acceleration time i e the time required for the speed to change from zero to the speed value defined by parameter 25 02 SPEED SCALING If the speed reference increases faster than the set acceleration rate the motor speed will follow the acceleration rate If the speed reference increases slower than the set acceleration rate the motor speed will follow the reference signal If the acceleration time is set too short the drive will automatically prolong the acceleration in order not to exceed the drive torque limits 0 1800 s Acceleration time Parameters and firmware blocks 115 25 04 FW block SPEED REF RAMP see above Defines the deceleration time i e the time required for the speed to change from the speed value defined by parameter 25 02 SPEED SCALING to zero If the speed reference decreases slower than the set deceleration rate the motor speed will follow the reference signal If the reference changes faster than the set deceleration rate the motor speed will follow the deceleration rate If the deceleration time is set too short the drive will aut
165. 5 MOTOR CTRL MODE is set to 1 Scalar U IUN 0 pe Relative output voltage IR compensation set to 1590 10096 Relative output voltage No IR 1596 compensation f Hz Field weakening point 5096 of nominal frequency 0 50 IR compensation Parameters and firmware blocks 45 145 Settings for thermal protection of the motor See also section Thermal motor protection on page 39 Firmware block MOT THERM PROT 45 Configures motor overtemperature protection and temperature measurement Also shows the estimated and measured motor temperatures MOT THERM PROT TLFll 10 msec G 1 17 MOTOR TEMP 1 18 MOTOR TEMP EST 45 01 MOT TEMP PROT 45 02 MOT TEMP SOURCE 45 03 MOT TEMP ALM LIM 45 04 MOT TEMP FLT LIM 45 05 AMBIENT TEMP 45 06 MOT LOAD CURVE 45 07 ZERO SPEED LOAD 45 08 BREAK POINT 45 09 MOTNOM TEMP RISE 45 10 MOT THERM TIME Block outputs located in other parameter groups 1 17 MOTOR TEMP page 60 1 18 MOTOR TEMP EST page 60 45 01 MOT TEMP PROT FW block MOT THERM PROT see above Selects how the drive reacts when motor overtemperature is detected 0 No Inactive 1 Alarm The drive generates alarm MOTOR TEMPERATURE when the temperature exceeds the alarm level defined by parameter 45 03 MOT TEMP ALM LIM 2 Fault The drive generates ala
166. 57 03 NODE ADDRESS and 57 12 REF1 MC GROUP could be set to non equal values Appendix B Drive to drive link 339 Examples of using standard function blocks in drive to drive communication Master 16 1 Sent count 46 DS WriteLocal 45 TLA2 10 msec LocalDsNr Erot Datal 168 Data2 328 15 46 D2D SendMessage 46 TLA2 10 msec 2 1 Msg 1 Sent msg count Sent msg coe Target Node Grp Error 4 16 Error 0 LocalDsNr 2 RemoteDsNr DS_ReadLocal 47 TLA2 10 msec 5 LocalDsNr Data 168 Data2 328 Datal 16B 47 ata me Data2 3 3591 See also the descriptions of the drive to drive function blocks starting on page 246 Example of master point to point messaging Follower node 1 DS ReadLocal 45 TLA2 10 msec 0 Datal 168 Datal 16 453 gt Data2 328 22511 47 2 SUB DINT 50 Sent msg count 46 IN1 Sent ms OUTEM Data2 32B 47 IN2 15 147 Error Ema DS_WiriteLocal 46 TLA2 10 msec 21 Ermor 4ct 21 ge Data2 32B 45 15 145 1 The master sends a constant 1 and the value of the message counter into follower dataset 20 Data is prepared to and sent from dataset 16 2 The follower sends the received counter value and a constant 21 as a reply to the master 3
167. 61 This parameter group is presented in the User s Manual of the fieldbus adapter as parameter group 3 or C The new settings will take effect when the drive is powered up the next time before powering off the drive wait at least 1 minute or when parameter 51 27 FBA PAR REFRESH is activated The maximum number of data words is protocol dependent 52 01 FBA DATA IN1 FW block None Selects data to be transferred from the drive to the fieldbus controller 0 Not in use 4 Status Word 16 bits 5 Actual value 1 16 bits 6 Actual value 2 16 bits 14 Status Word 32 bits 15 Actual value 1 32 bits 16 Actual value 2 32 bits 101 9999 Parameter index 52 02 FBA DATA IN2 FW block None 52 12 FBA DATA IN12 FW block None See 52 01 FBA DATA IN1 Parameters and firmware blocks 162 53 These parameters select the data to be sent by the controller to drive and need to be set only if a fieldbus adapter module is installed See also Appendix A Fieldbus control on page 325 Notes This parameter group is presented in the User s Manual of the fieldbus adapter as parameter group 2 or B The new settings will take effect when the drive is powered up the next time before powering off the drive wait at least 1 minute or when parameter 51 27 FBA PAR REFRESH is activated The ma
168. 768 1 100 2 ms 32 0 134 32768 34 REFERENCE CTRL 34 01 EXT1 EXT2 SEL Bit pointer 2ms 32 P 02 01 01 136 34 02 EXT1 MODE 1 2SEL Bit pointer 2 ms 32 C False 136 P 02 01 05 for pos appl 34 03 1 CTRL MODE1 enum 1 5 1 121 2 ms 16 1 136 for pos appl 34 04 1 CTRL MODE2 enum 1 5 1 151 2 ms 16 2 8 for 137 34 05 2 CTRL 1 1 5 1 151 2 ms 16 2 6 for 137 for pos pos appl appl 34 07 LOCAL CTRL MODE enum 1 2 1 121 2ms 16 1 WPD 137 for pos appl 34 08 SPEED SRC Val pointer 250 32 P 03 08 WP 137 34 09 250 32 03 11 137 34 10 REF ADD SRC Val pointer 250 32 P 03 12 WP 138 35 MECH BRAKE CTRL 35 01 BRAKE CONTROL enum 0 2 1 1 2 ms 16 0 WPD 139 35 02 BRAKE ACKNOWL Bit pointer 2ms 32 C False WPD 139 35 03 BRAKE OPEN DELAY UINT32 0 5 5 1 100 2 16 0 140 35 04 BRAKE CLOSE UINT32 0 60 S 1 100 2 16 0 140 35 05 BRAKE CLOSE SPD REAL 0 1000 rpm 1510 2 ms 16 100 140 35 06 BRAKE OPEN 0 1000 96 1510 2 ms 16 0 140 35 07 BRAKE CLOSE Bit pointer 2ms 32 WPD 140 35 08 BRAKE OPEN HOLD Bit pointer 2 ms 32 WPD 140 35 09 BRAKE FAULT FUNC enum 0 2 1 1 2 ms 16 0 140 40 MOTOR CONTROL 40 01 FLUX REF REAL 0 200 96 1 10 16 100 142
169. 8 and 93 PULSE ENC CONF page 179 Note Configuration data is written into the logic registers of the interface module once after the power up If parameter values are changed save values into the permanent memory using parameter 16 07 PARAM SAVE The new settings will take effect when the drive is powered up again or after re configuration is forced using parameter 90 10 ENC PAR REFRESH Parameters and firmware blocks 169 Firmware block ENCODER 3 This block activates the communication to encoder interface 1 2 enables encoder emulation echo shows encoder 1 2 speed and actual position ENCODER 15 TLF8 250 psec 1 08 ENCODER 1 SPEED 1 09 ENCODER 1 POS 1 10 ENCODER 2 SPEED 1 11 ENCODER 2 POS 2 16 FEN DI STATUS 90 01 ENCODER 1 SEL 90 02 ENCODER 2 SEL 90 03 EMUL MODE SEL 90 04 TTL ECHO SEL 90 05 ENC CABLE FAULT 90 10 ENC PAR REFRESH 93 21 EMUL PULSE NR 93 22 EMUL POS REF 11 112 Block inputs located in other parameter groups 93 21 EMUL PULSE NR page 181 93 22 EMUL POS REF page 181 Block outputs located in other parameter groups 1 08 ENCODER 1 SPEED page 59 1 09 ENCODER 1 POS page 59 1 10 ENCODER 2 SPEED page 60 1 11 ENCODER 2 POS page 60 2 16 FEN DI STATUS page 66 90 01 ENCODER 1 SEL FW block ENCODER see above Activates the communication to optional encoder resolver interface 1
170. 83647 the counter output remains unchanged The counter output CV is reset to 0 if the reset input R is 1 The status output Q is 1 if the counter output CV value gt preset input PV value Example R CU PV CV 0 1 gt 0 20 0 10 10 0 0 gt 1 11 1 10 10 1 11 1 1 gt 0 20 0 11 0 1 0 gt 1 5 0 0 0 0 0 gt 1 20 0 0 0 1 1 0 0 gt 1 30 1 2147483647 2147483647 CV prey is the previous cycle counter output value Standard function blocks 266 Inputs Counter input CU Boolean Reset input R Boolean Preset input PV DINT Outputs Counter output CV DINT Status output Q Boolean CTUD 10051 Illustration 97 90097 QD 97 Execution time 1 40 15 Standard function blocks Operation Inputs Outputs 267 The counter output CV value is increased by 1 if the counter input CU value changes from 0 gt 1 and the reset input is 0 and the load input LD is 0 The counter output CV value is decreased by 1 if the counter input CD changes from 0 gt 1 and the load input LD is 0 and the reset input R is 0 If the load input LD is 1 the preset input PV value is stored as the counter output CV value The counter output CV is reset to 0 if the reset input R is 1 If the counter output has reached its minimum or maximum value 32768 or 32767 the counter output rema
171. 9 06 99 10 must be set better control accuracy is achieved by also setting parameters 99 11 and 99 12 With scalar control parameters 99 06 99 09 must be set 99 01 LANGUAGE FW block None Selects the language Note Not all languages listed below are necessarily supported 0809h ENGLISH English 0407h DEUTSCH German 0410h ITALIANO Italian 040Ah ESPANOL Spanish 041Dh SVENSKA Swedish 041Fh T RKCE Turkish 0419h RUSSKI Russian 99 04 MOTOR TYPE FW block None Selects the motor type Note This parameter cannot be changed while the drive is running 0 AM Asynchronous motor Three phase AC voltage supplied induction motor with squirrel cage rotor 1 PMSM Permanent magnet motor Three phase AC voltage supplied synchronous motor with permanent magnet rotor and sinusoidal BackEMF voltage Parameters and firmware blocks 188 99 05 MOTOR CTRL FW block None Selects the motor control mode DTC Direct torque control mode is suitable for most applications Scalar control is suitable for special cases where DTC cannot be applied In Scalar Control the drive is controlled with a frequency reference The outstanding motor control accuracy of DTC cannot be achieved in scalar control There are some standard features that are disabled in the scalar control mode for example motor
172. A The type is selected with jumper J1 on the JCU Control Unit 2 05 1 SCALED FW block page 91 Scaled value of analogue input See parameters 13 04 MAX SCALE and 13 05 MIN SCALE 2 06 Al2 FW block Al2 page 92 Analogue input Al2 value in V or mA The type is selected with jumper J2 on the JCU Control Unit 2 07 Al2 SCALED FW block 2 92 Scaled value of analogue input Al2 See parameters 13 09 Al2 MAX SCALE and 13 10 Al2 MIN SCALE 2 08 1 FW block AO1 95 Analogue output AO1 value in mA 2 09 AO2 FW block AO2 page 96 Analogue output AO2 value in V 2 10 DIO2 FREQ IN FW block DIO2 page 87 Frequency input value in Hz when DIO2 is used as frequency input 12 02 DIO2 CONF is set to 2 Freq input 2 11 DIO3 FREQ OUT FW block DIO3 page 87 Frequency output value in Hz when DIO3 is used as frequency output 12 03 DIO3 CONF is set to 2 Freq output Parameters and firmware blocks 63 2 12 MAIN CW FW block FIELDBUS page 156 Control Word for fieldbus communication Log Logical combination i e Bit AND OR Selection parameter Par Selection parameter See State diagram on page 330 Bit Name Val Information Log Par 0 STOP 1 Stop according to the stop mode selected by 11 03 OR 10 02 STOP MODE or according to the requested stop 10 03 mode bits 2 6 Note S
173. ATUS is activated To clear the bit the signal must exceed the value of parameter 33 11 SUPERV3 LIM HI 2 High When the signal selected by parameter 33 10 SUPERV3 ACT exceeds the value of parameter 33 11 SUPERV3 LIM HI bit 2 of 6 14 SUPERV STATUS is activated To clear the bit the signal must fall below the value of parameter 33 12 SUPERV3 LIM LO 3 Abs Low When the absolute value of the signal selected by parameter 33 10 SUPERV3 ACT falls below the value of parameter 33 12 SUPERV3 LIM LO bit 2 of 6 14 SUPERV STATUS is activated To clear the bit the absolute value of the signal must exceed the value of parameter 33 11 SUPERV3 LIM HI 4 Abs High When the absolute value of the signal selected by parameter 33 10 SUPERVS ACT exceeds the value of parameter 33 11 SUPERV3 LIM HI bit 2 of 6 14 SUPERV STATUS is activated To clear the bit the absolute value of the signal must fall below the value of parameter 33 12 SUPERV3 LIM LO 33 10 SUPERV3 ACT FW block SUPERVISION see above Selects the signal to be monitored by supervision 3 See parameter 33 09 SUPERV3 FUNC Value pointer Group and index 33 11 SUPERV3 LIM HI FW block SUPERVISION see above Sets the upper limit for supervision 3 See parameter 33 09 SUPERV3 FUNC 32768 32768 Upper limit for supervision 3 33 12 SUPERV3 LIM LO FW block SUPERVISION see above Sets the lower limit for supervision 3 See parameter 33 09 SUPERV3 FUNC 32768 32768 Lower limit for supervision 3
174. B values are defined with the DriveSPC tool Y4 Y3 X table Y table Interpolated Y XTAB YTAB X1 Y1 1 2 2 X3 Y3 Y9 The balancing function BAL permits the output signal to track an external reference and gives a smooth return to the normal operation If BAL is set to 1 output Y is set to the value of the balance reference input BALREF The X value which corresponds to this Y value is calculated with linear interpolation and it is indicated by the balance reference output BALREFO If the X input is outside the range defined by the XTAB table the output Y is set to the highest or lowest value in the YTAB table If BALREF is outside the range defined by the YTAB table when balancing is activated BAL 0 gt 1 the output Y is set to the value of the BALREF input and the BALREFO output is set to the highest or lowest value in the XTAB table The ERROR output is set to 1 when the number of the XTAB and YTAB inputs are different When ERROR is 1 the FUNG 1V block will not function XTAB and YTAB tables can be defined in the DATA CONTAINER block page 285 or the REG G block page 292 The input data type is selected by the user Balance input BAL Boolean Balance reference input BALREF DINT INT REAL REAL24 X value input X DINT INT REAL REAL24 X table input XTAB DINT INT REAL REAL24 Y table input YTAB DI
175. BO x1 External power input 24VI 1 24 V DC 1 6A GND 2 x2 Relay output Brake close open 1 250 30 V DC 2 2 3 X3 24 V DC 24VD 1 Digital ground DGND 2 Digital input 1 Stop start par 10 02 and 10 05 011 3 ca Digital input 2 EXT1 EXT2 par 34 01 DI2 4 24 V DC 24VD 5 Digital I O ground DGND 6 Digital input 3 Fault reset par 10 08 7 Digital input 4 Not connected 014 8 24 V DC 24VD 9 Digital ground DGND 10 Digital input 5 Not connected DI5 11 Digital input 6 Not connected 016 12 24 V DC 24VD 13 Digital 1 ground DGND 14 Digital input output 1 7 Ready DIO1 15 Digital input output 2 2 Running DIO2 16 24 V DC 24VD 17 Digital ground DGND 18 Digital input output 3 3 Fault DIO3 19 X4 Reference voltage VREF 1 Reference voltage VREF 2 Ground AGND 3 Analogue input 1 mA or V Speed reference par 4 24 01 5 Analogue input 2 mA or V gt Torque reference Al2 6 32 01 12 7 current voltage selection J1 AI2 current voltage selection J2 Thermistor input TH 8 Ground AGND 9 Analogue output 1 mA Output current 1 10 Analogue output 2 V Actua
176. CATION see above By default in drive to drive communication the master broadcasts the drive to drive control word and references 1 and 2 to all followers This parameter enables multicasting i e sending the drive to drive control word and reference 1 to a certain drive or group of drives The message can then be further relayed to another group of drives to form a multicast chain In the master as well as any submaster i e follower relaying the message to other followers the sources for the control word and reference 1 are selected by parameters 57 08 FOLLOWER CW SRC and 57 06 REF 1 SRC respectively Note Reference 2 is broadcast by the master to all followers For more information see Appendix B Drive to drive link on page 331 0 Broadcast The control word and reference 1 are sent by the master to all followers If the master has this setting the parameter has no effect in the followers 1 Ref1 MC Grps The drive to drive control word and reference 1 are only sent to the drives in the multicast group specified by parameter 57 13 NEXT REF1 MC This setting can also used in submasters followers in which parameters 57 03 NODE ADDRESS and 57 12 REF1 MC GROUP are set to the same value to form a multicast chain 57 12 REF1 MC GROUP FW block 020 COMMUNICATION see above Selects the multicast group the drive belongs to See parameter 57 11 REF 1 MSG TYPE 0 62 Multicast group 0 lt none 57 13 REF1 MC
177. CODER 2 SEL is set to 5 FEN 21 RES The optional FEN 21 Resolver Interface module is compatible with resolvers which are excited by sinusoidal voltage to the rotor winding and which generate sine and cosine signals proportional to the rotor angle to stator windings Note Configuration data is written into the logic registers of the adapter once after the power up If parameter values are changed save values into the permanent memory by parameter 16 07 PARAM SAVE The new settings will take effect when the drive is powered up again or after re configuration is forced by parameter 90 10 ENC PAR REFRESH Resolver autotuning is performed automatically whenever the resolver input is activated after changes to parameters 92 02 EXC SIGNAL AMPL or 92 03 EXC SIGNAL FREQ Autotuning must be forced after any changes in the resolver cable connection This can be done by setting either 92 02 EXC SIGNAL AMPL or 92 03 EXC SIGNAL to its already existing value and then setting parameter 90 10 ENC PAR REFRESH to 1 If the resolver or absolute encoder is used for feedback from a permanent magnet motor an AUTOPHASING ID run should be performed after replacement or any parameter changes See parameter 99 13 IDRUN MODE and section Autophasing on page 38 See also parameter group 90 ENC MODULE SEL on page 169 and FEN 21 Resolver Interface User s Manual 3AFE68784859 English Firmware block RESOLVERCONF RESOLVER C
178. CW Bit 7 0 FBA SW Fieldbus Status Word n Speed Input Current Ramp Function Generator Par 10 12 1 f Frequency gt lt V Par 10 12 20 CW Bit 16 1 from any state lt 1 CW Bit 4 1 and CW Bit 0 1 INHIBITED SW Bit 1 OFF1 CW Bit 0 1 ACTIVE MAINS OFF n f 0 I 0 Power ON lt from any state B CD E lt 1 1 1 10 CW 2 1 CW Bit 0 1 CW Bit 12 0 V OFF2 gt AME SW Bit 4 1 RUNNING SW Bit 3 1 A lt CW 13 0 0 0 1xxx 1xxx 10 gt ENABLED from any state B lt Stop CW Bit 3 1 CW Bit 14 0 00 1 1 10 CW Bit 0 1 gt 223 SW Bit 5 1 ENABLED C lt CW x000 1xxx 1xxx xx10 n f 0 1 0 gt SW 8 1 lt Appendix A Fieldbus control 331 Appendix Drive to drive link What this chapter contains
179. DINT REAL REAL24 Standard function blocks 58 10039 Illustration Execution time Operation Inputs Outputs 1 04 us O 69 245 When clock input C is set to 1 the data input D value is stored to the output O When reset input R is set to 1 the output is set to O If only set S and reset R inputs are used SR D block acts as an SR block The output is 1 if the set input S is 1 The output will retain the previous output state if the set input S and reset input R are 0 The output is 0 if the set input is 0 and the reset input is 1 Truth table S R D 0 0 0 0 0 0 Previous output value 0 0 0 0 gt 1 0 0 7 Data input value 0 0 1 0 0 0 Previous output value 0 0 1 0 gt 1 0 1 Data input value 0 1 0 0 1 0 Reset 0 1 0 0 1 0 0 Reset 0 1 1 0 0 0 Reset 0 1 1 0 1 0 0 Reset 1 0 0 0 0 1 7 Set value 1 0 0 0 21 1 0 7 Data input value for one execution cycle then changes to 1 according to the set input S 1 1 0 1 0 1 1 7 Set value 1 0 1 0 gt 1 1 1 Data input value 1 1 0 0 1 0 Reset 1 1 0 0 1 0 0 Reset 1 1 1 0 0 0 Reset 1 1 1 0 gt 1 0 0 Reset Oprevious S the previous cycle output value Set input S Boolean Data input D Boolean Clock input C Boolean Reset input R Boolean Output O
180. DIO slot1 10086 Illustration Execution time Operation Inputs Outputs FIO 11 DIO slot2 10087 Illustration Execution time DI1 55 012 55 Error 55 DI1 filt gain DI2 filt gain 6 0 us The block controls the two digital inputs outputs 0101 0102 of a FIO 11 Digital Extension mounted on slot 1 of the drive control unit The state of a DIOx conf input of the block determines whether the corresponding DIO on the FIO 11 is an input or an output 0 input 1 output If the DIO is an output the DOx input of the block defines its state The outputs show the state of the DIOs The gain inputs determine a filtering time for each input as follows Dix filt gain Filtering time 0 7 5 us 1 195 us 2 780 us 3 4 680 ms Digital input output mode selection 0101 conf DIO2 conf Boolean Digital output state selection DO1 DO2 Boolean Digital input filter gain selection DI1 filt gain DI2 filt gain INT Digital input output state DI1 DI2 Boolean Error output Error DINT 0 lt No error 1 lt Application program memory full FIO 11 DIO slot 56 1 msec 1 DI1 56 DI2 56 Error 56 filt gain DI2 filt gain 6 0 us Standard function blocks Operation Inputs Outputs 283 The block controls the two digital inputs outputs DIO 1 DIO2 of a FI
181. E 32768 32767 Real value corresponding to value of parameter 15 10 Parameters and firmware blocks 98 16 Local control and parameter access settings restoration of default parameter values save of parameters into permanent memory 16 01 LOCAL LOCK FW block None Selects the source for disabling local control Take Release button on the PC tool LOC REM key of the panel 1 Local control disabled 0 Local control enabled WARNING Before activating ensure that the control panel is not needed for stopping the drive Bit pointer Group index and bit 16 02 PARAMETER LOCK FW block None Selects the state of the parameter lock The lock prevents parameter changing Note This parameter can only be adjusted after the correct pass code has been entered at parameter 16 03 PASS CODE 0 Locked Locked Parameter values cannot be changed from the control panel 1 Open The lock is open Parameter values can be changed 2 Not saved The lock is open Parameter values can be changed but the changes will not be stored at power switch off 16 03 PASS CODE FW block None After entering 358 at this parameter parameter 16 02 PARAMETER LOCK can be adjusted The value reverts back to 0 automatically 16 04 PARAM RESTORE FW block None Restores the original settings of the application
182. EAL 32768 121000 10 32 100 93 32767 13 11 0 4 1 1 10 16 0 93 13 12 AI SUPERVISION enum 0 3 151 2 ms 16 0 94 13 13 AI SUPERVIS UINT32 0000 151 2 ms 32 0 94 1111 15 ANALOGUE OUTPUTS 15 01 AO1 PTR Val pointer 32 P 01 05 95 15 02 AO1 FILT TIME REAL 0 30 S 121000 10 5 16 0 1 95 15 03 1 0 22 7 mA 1 1000 10ms 16 20 95 15 04 1 REAL 0 22 7 mA 151000 10ms 16 4 96 15 05 1 MAX SCALE 32768 151000 10 32 100 96 32767 Parameter data 200 Index Parameter Type Range Unit FbEq Update Data Def PT Save Page time len PF no 15 06 1 MIN SCALE REAL 32768 151000 10ms 32 0 96 32767 15 07 2 Val pointer 32 P 01 02 96 15 08 2 FILT TIME REAL 0 30 S 151000 10ms 16 0 1 96 15 09 2 MAX REAL 10 10 V 151000 10ms 16 10 96 15 10 2 MIN REAL 10 10 V 151000 10ms 16 10 97 15 11 AO2 MAX SCALE REAL 32768 151000 10ms 32 100 97 32767 15 12 2 MIN SCALE 32768 151000 10ms 32 100 97 32767 16 SYSTEM 16 01 LOCAL LOCK Bit pointer 2ms 32 C False 98 16 02 PARAMETER LOCK enum 0 2 15 2ms 16 1 98 16 08 PASS CODE INT32 0
183. EED FW block None Defines the nominal motor speed Must be equal to the value on the motor rating plate When parameter value is changed check the speed limits in parameter group 20 LIMITS Note This parameter cannot be changed while the drive is running 0 30000 rpm Nominal motor speed 99 10 MOT NOM POWER FW block None Defines the nominal motor power Must be equal to the value on the motor rating plate If several motors are connected to the inverter enter the total power of the motors Set also parameter 99 11 MOT NOM COSFII Note This parameter cannot be changed while the drive is running 0 10000 kW Nominal motor power 99 11 MOT NOM COSFII FW block None Defines the cosphi not applicable to permanent magnet motors for a more accurate motor model Not obligatory if set should be equal to the value on the motor rating plate Note This parameter cannot be changed while the drive is running 0 1 Cosphi 0 parameter disabled 99 12 MOT NOM TORQUE FW block None Defines the nominal motor shaft torque for a more accurate motor model Not obligatory Note This parameter cannot be changed while the drive is running 0 2147483 Nm Nominal motor shaft torque Parameters and firmware blocks 190 99 13 FW block None Selects the type of the motor identification performed at the next start of the driv
184. Eds communicating Replace control panel in mounting platform 2019 AI SUPERVISION Analogue input Al1 or AI2 signal Check analogue input Al1 2 source 0x8110 has reached limit defined by connections Programmable fault 13 12 Parameter 13 13 SUPERVIS Check analogue input Al1 2 minimum and SUPERVISION ACT maximum limit settings parameters 13 02 and 13 03 13 07 and 13 08 2020 FB PAR CONF The drive does not have a Check PLC programming 0x6320 functionality requested by PLC Check fieldbus parameter settings See or requested functionality has parameter group 50 FIELDBUS on page 156 not been activated 2021 NO MOTOR DATA Parameters in group 99 have Check that all the required parameters in 0x6381 not been set group 99 have been set Note It is normal for this alarm to appear during the start up until the motor data is entered Fault tracing 214 Cause What to do fieldbus code 2022 ENCODER 1 FAILURE Encoder 1 has been activated Check parameter 90 01 ENCODER 1 SEL 0x7301 by parameter but the encoder setting corresponds to encoder interface 1 interface FEN xx cannot be FEN xx installed in drive Slot 1 2 signal found 9 20 OPTION SLOT 1 9 21 OPTION SLOT 2 Note The new setting will only take effect after parameter 90 10 ENC PAR REFRESH is used or after the JCU control unit is powered up the next time 2023 ENCODER 2 FAILURE Encoder 2 has been a
185. FW block TORQ REF MOD page 130 Torque reference limited by the rush control value in 96 Torque is limited to ensure that the speed is between the defined minimum and maximum speed limits parameters 20 01 MAXIMUM SPEED and 20 02 MINIMUM SPEED 3 12 TORQUE REF ADD FW block TORQ REF SEL page 129 Torque reference additive in 96 3 13 REF TO TC FW block REFERENCE CTRL page 136 Torque reference in 96 for the torque control When 99 05 MOTOR CTRL MODE is set to 1 Scalar this value is forced to 0 3 144 BRAKE TORQ MEM FW block MECH BRAKE CTRL page 139 Torque value in 96 stored when the mechanical brake close command is issued Parameters and firmware blocks 69 3 15 FW block BRAKE CTRL page 139 Brake on off command 0 Close 1 Open For brake on off control connect this signal to a relay output or a digital output See section Mechanical brake control on page 49 3 16 FLUX REF USED FW block MOTOR CONTROL page 142 Used flux reference in percent 3 17 TORQUE REF USED FW block MOTOR CONTROL page 142 Used limited torque reference in percent Parameters and firmware blocks 70 Group 06 DRIVE STATUS 6 01 STATUS WORD 1 FW block DRIVE LOGIC page 78 Status word 1 Bit Name Val Informat
186. GE CTRL 10 msec 47 1 19 USED SUPPLY VOLT This block fes 47 01 OVERVOLTAGE CTRL LEnabe J 47 02 UNDERVOLT CTRL enables disables overvoltage and UTNE TANT undervoltage control 1400 GA SUPE enables disables automatic identification of supply voltage provides a parameter for manual definition of supply voltage shows the supply voltage value used by the control program Block outputs located in other 1 19 USED SUPPLY VOLT page 60 parameter groups 47 01 OVERVOLTAGE CTRL FW block VOLTAGE CTRL see above Enables the overvoltage control of the intermediate DC link Fast braking of a high inertia load causes the voltage to rise to the overvoltage control limit To prevent the DC voltage from exceeding the limit the overvoltage controller automatically decreases the braking torque Note If a brake chopper and resistor or a regenerative supply section are included in the drive the controller must be disabled 0 Disable Overvoltage control disabled 1 Enable Overvoltage control enabled 47 02 UNDERVOLT CTRL FW block VOLTAGE CTRL see above Enables the undervoltage control of the intermediate DC link If the DC voltage drops due to input power cut off the undervoltage controller will automatically decrease the motor torque in order to keep the voltage above the lower limit By decreasing the motor torque the inertia of the load will cause regeneration back to the drive keeping the
187. H3HI 80700 WOWIXVW 50704 SNLVLS WIT OHOL 1090 aasn 43H 1 21 60 XN14 9 60 20 0 9109 1512 HO LOW 5066 awn suog 6166 IQON 2011 yse4 INIL NOV OQ 2011 AGOW 189165 1011 101 U09 eS 21 WAWINIW 1002 WNWIXV 90702 TIO 2029 1410 ADVLIOAYSAO 10729 OL OL 484 0401 2 20 xni4 Jas X14 100 uonesiundo xni4 SAW3S3MH 7008 E 140 80 07 Appendix Control chain and drive logic diagrams EP ED EP I 6 8848261 REV F EN EFFECTIVE 2009 12 21 ABB Oy AC Drives P O Box 184 Fl 00381 HELSINKI FINLAND Telephone 358 10 22 11 Fax 358 10 22 22681 Internet http www abb com ABB Inc Automation Technologies Drives amp Motors 16250 West Glendale Drive New Berlin WI 53151 USA Telephone 262 785 3200 800 HELP 365 Fax 262 780 5135 ABB Beijing Drive Systems Co Ltd No 1 Block D A 10 Chaoyang District Beijing China 100015 Telephone 86 10 5821 7788 Fax 86 10 5821 7618 Internet http www abb com
188. LTAGE CTRL Check that the connection functions For more information on the brake resistor connection see the appropriate hardware manual Select the start function 11 01 START MODE Setting 11 01 START MODE to 2 Automatic selects a general purpose start function This setting also makes flying start starting to a rotating motor possible The highest possible starting torque is achieved when 11 01 START MODE is set to 0 Fast automatic optimised DC magnetising or 1 Const time constant DC magnetising with user defined magnetising time Note When 11 01 START MODE setting is 0 Fast or 1 Const time flying start start to a rotating motor is not possible Start up 25 Set operation limits according to the process requirements Note If load torque is suddenly lost when the drive is operating in torque control mode the drive will rush to the defined negative or positive maximum speed For safe operation ensure the set limits are suitable for your application 20 01 20 07 Set the alarm and fault limits for the motor overtemperature protection 45 03 MOT TEMP ALM LIM 45 04 MOT TEMP FLT LIM Set the typical ambient temperature of the motor 45 05 AMBIENT TEMP When 45 02 MOT TEMP SOURCE is set to 0 ESTIMATED the motor thermal protection model must be configured as follows Set the maximum allowed operati
189. Mcast Cycle INT Error output Error DINT Sent msg count 72 Sent msg count Target Node Grp Error 72 Error LocalDsNr RemoteDsNr Standard function blocks 248 Operation Configures the transmission between the dataset tables of drives The Msg Type input defines the message type as follows Value Message type 0 Disabled 1 Master P2P The master sends the contents of a local dataset specified by LocalDsNr input to the dataset table dataset number specified by RemoteDsNr input of a follower specified by Target Node Grp input The follower replies by sending the next dataset RemoteDsNr 1 to the master LocalDsNr 1 The node number of a drive is defined by parameter 57 03 Note Only supported in the master drive Read Remote The master reads a dataset specified by RemoteDsNr input from a follower specified by Target Node Grp input and stores it into local dataset table dataset number specified by LocalDsNr input The node number of a drive is defined by parameter 57 03 Note Only supported in the master drive Follower P2P The follower sends the contents of a local dataset specified by LocalDsNr input to the dataset table dataset number specified by RemoteDsNr input of another follower specified by Target Node Grp input The node number of a drive is defined by parameter 57 03 Note Only supported in a follower drive A toke
190. NT INT REAL REAL24 Standard function blocks Outputs INT 10065 Illustration Execution time Operation Inputs 287 Y value output Y DINT INT REAL REAL24 Balance reference output BALREFO DINT INT REAL REAL24 Error output ERROR Boolean 0 61 O HL 61 0 61 4 73 us The output is the integrated value of the input 1 K TI J I t dt Where is the integration time constant and is the integration gain The step response for the integration is O t K x I t x t TI The transfer function for the integration is G s 1 8 The output value is limited according to the defined minimum and maximum limits OLL and OHL If the value is below the minimum value output LL is setto 1 If the value exceeds the maximum value output HL is set to 1 The output retains its value when the input signal I t 0 The integration time constant is limited to value 2147483 ms If the time constant is negative zero time constant is used If the ratio between the cycle time and the integration time constant Ts TI 1 Ts TI is set to 1 The integrator is cleared when the reset input RINT is set to 1 If BAL is set to 1 output O is set to the value of the input BALREF When BAL is set back to 0 normal integration operation continues Input I REAL Gain input K REAL Integration time constant input TI DINT 0
191. O 11 Digital I O Extension mounted on slot 2 of the drive control unit The state of a DIOx conf input of the block determines whether the corresponding DIO on the FIO 11 is an input or an output 0 input 1 output If the DIO is an output the DOx input of the block defines its state The DIx outputs show the state of the DIOs The DIx filt gain inputs determine a filtering time for each input as follows filt gain Filtering time 0 7 5 us 1 195 us 2 780 us 3 4 680 ms Digital input output mode selection DIO1 conf DIO2 conf Boolean Digital output state selection DO1 DO2 Boolean Digital input filter gain selection DI1 filt gain DI2 filt gain INT Digital input output state DI1 DI2 Boolean Error output Error DINT 0 No error 1 Application program memory full Standard function blocks 284 Feedback amp algorithms CRITSPEED 10068 Illustration Execution time Operation Inputs CRITSPEED 57 1 msec 1 CRITSPEEDSEL REFDUTPUT REFOUTPUT 57 CRITSPEED1LO OUTSTATE 57 OUTSTATE CRITSPEED1HI OUTACTIVE CRITSPEED2LO OUTACTIVE 57 CRITSPEED2HI CRITSPEED3LO CRITSPEED3HI 4 50 us A critical speeds function block is available for applications where it is necessary to avoid certain motor speeds or speed bands because of e g mechanical resonance problems The user can define three
192. ONF TLF11 10 msec G 92 92 01 RESOLV POLEPAIRS 92 02 EXC SIGNAL AMPL This block configures the resolver connection 92 01 RESOLV POLEPAIRS FW block RESOLVER CONF see above Selects the number of pole pairs 1 32 Number of pole pairs 92 02 EXC SIGNAL AMPL FW block RESOLVER CONF see above Defines the amplitude of the excitation signal 4 0 12 0 Vrms Excitation signal amplitude 92 03 EXC SIGNAL FREQ FW block RESOLVER CONF see above Defines the frequency of the excitation signal 1 20 kHz Excitation signal frequency Parameters and firmware blocks 179 Group 93 PULSE CONF TTL HTL input and TTL output configuration See also parameter group 90 ENC MODULE SEL on page 169 and the appropriate encoder extension module manual Parameters 93 01 93 06 are used when a TTL HTL encoder is used as encoder 1 see parameter 90 01 ENCODER 1 SEL Parameters 93 11 93 16 are used when a TTL HTL encoder is used as encoder 2 see parameter 90 02 ENCODER 2 SEL Typically only parameter 93 01 93 11 needs to be set for TTL HTL encoders Note Configuration data is written into the logic registers of the adapter once after the power up If parameter values are changed save values into the permanent memory by parameter 16 07 PARAM SAVE The new settings will take effect when the drive is powered up again or after re config
193. OV 20 51 Uld TOV gt 1N3tn5 1 FIVOS ZIV 3195 ZIV 60 NIW 80 XVW AWIL 17114 21 90 3995 60 3195 TIV TIV TIY 031 95 5072 ren ren Application program template 317 300 3872 TT 00001 aI op O T T Buon 0671 p a sop 20g poseg 5480 OW TAY UN 25 du OW HIA DGN 61725 IW 1484 21725 950 434 11725 5440 INAS TANYA 01725 AGOW ONAS 60725 245 YAMOTIOS 80725 gt DYS 24342025 DYS 14349025 S0 S TIO 0 25 54 IQON 60725 INM 5501 WWOD 20 25 10 25 ses 005 2 2514 aad aug 18 15 21 01 gt 0350 9 gt JAVNI SOL gt GnIEASAUG 18 15 0 gt G3sn 84 ET OT
194. Operation Inputs Outputs 273 FIO_01_slot1 49 1 msec 1 DI1 49 DI2 49 DI3 49 014 49 Error 49 8 6 us The block controls the four digital inputs outputs DIO1 DIO4 and two relay outputs RO1 of a FIO 01 Digital I O Extension mounted on slot 1 of the drive control unit The state of a DIOx conf input of the block determines whether the corresponding DIO on the FIO 01 is an input or an output 0 input 1 output If the DIO is an output the DOx input of the block defines its state The 1 RO2 inputs define the state of the relay outputs of the FIO 01 0 not energised 1 energised The DIx outputs show state of DIOs Digital input output mode selection DIO1 conf DIO4 conf Boolean Digital output state selection DO1 DO4 Boolean Relay output state selection RO1 RO2 Boolean Digital input output state DI1 DI4 Boolean Error output Error DINT 0 No error 1 Application program memory full Standard function blocks 274 01 51012 10085 Illustration Execution time Operation Inputs Outputs FIO 01 slot2 50 1 msec 1 DIO1 conf 011 50 DIO2 conf 012 50 DIO3 conf DI3 50 DIO4 conf 014 50 50 8 6 us The block controls the four digital inputs outputs DIO1 DIO4 and two relay out
195. PTIME REAL seconds i e the time required for the output to change from the minimum to the maximum value or from the maximum to the minimum value Maximum reference input MAXVAL REAL Minimum reference input MINVAL REAL Reset value input RESETVAL REAL Reset input RESET Boolean Output OUTPUT REAL Standard function blocks 10075 Execution time Out 63 Dev 63 O HL 63 O LL 63 ERROR 63 15 75 us 289 Standard function blocks 290 Operation The PID controller can be used for closed loop control systems The controller includes anti windup correction and output limitation The PID controller output Out before limitation is the sum of the proportional Up integral Uj and derivative Up terms Outyniimitea t Up t Uit Up t Up t 5 x Dev t Uit J Dev t dt tC Out t Outynimitea t Up t x tD x d Dev t dt Integrator The integral term can be cleared by setting reset to 1 Note that the anti windup correction is simultaneously disabled When reset is 1 the controller acts as a PD controller If integration time constant tl is 0 the integral term will not be updated Smooth return to normal operation is guaranteed after errors or abrupt input value changes This is achieved by adjusting the integral term so that the output will retain its previous valu
196. REFERENCE CTRL see above Selects control mode 1 for external control location EXT 1 1 Speed Speed control Torque reference is 3 08 TORQ REF SP CTRL which is the output of the SPEED CONTROL firmware block Torque reference source can be changed by parameter 34 08 TREF SPEED SRC Parameters and firmware blocks 137 2 Torque Torque control Torque reference is 3 11 TORQ REF RUSHLIM which is the output of the TORQ REF MOD firmware block Torque reference Source can be changed by parameter 34 09 TREF TORQ SRC 3 Min Combination of selections 1 Speed and 2 Torque Torque selector compares the torque reference and the speed controller output and the smaller of them is used 4 Max Combination of selections 1 Speed and 2 Torque Torque selector compares the torque reference and the speed controller output and the greater of them is used 5 Add Combination of selections 1 Speed and 2 Torque Torque selector adds the speed controller output to the torque reference 34 04 EXT1 CTRL MODE2 FW block REFERENCE CTRL see above Selects control mode 2 for external control location EXT1 For selections see parameter 34 03 EXT1 CTRL 34 05 EXT2 CTRL MODE1 FW block REFERENCE CTRL see above Selects control mode for extern For selections see parameter 34 03 1 CTRL al control location EXT2 34 07 LOCAL CTRL MODE FW bloc
197. RGENCY OFF RUN ENABLE ID RUN EMERGENCY STOP A N POSITION SCALING BR OVERHEAT 12 BC OVERHEAT 13 DEVICE OVERTEMP 14 INTBOARD OVERTEMP 15 BC MOD OVERTEMP Parameters and firmware blocks 75 8 06 ALARM WORD 2 FW block FAULT FUNCTIONS page 149 Alarm word 2 For possible causes and remedies see chapter Fault tracing 5 Alarm IGBT OVERTEMP FIELDBUS COMM LOCAL CTRL LOSS Al SUPERVISION Reserved NO MOTOR DATA ENCODER 1 FAIL ENCODER 2 FAIL LATCH POS 1 FAIL LATCH POS 2 FAIL CO NI oO 0 EMUL FAILURE 11 FEN TEMP FAILURE 12 ENC MAX FREQ 13 ENC REF ERROR 14 RESOLVER ERR 15 ENCODER 1 CABLE 8 07 ALARM WORD 3 FW block FAULT FUNCTIONS page 149 Alarm word 3 For possible causes and remedies see chapter Fault tracing 5 Alarm ENCODER 2 CABLE D2D COMM D2D BUF OVLOAD PS COMM RESTORE CUR MEAS CALIB AUTOPHASING EARTH FAULT Reserved MOTOR NOM VALUE BR Ww Me D2D CONFIG A Reserved gt SPEED FEEDBACK Parameters and firmware blocks 76 8 08 ALARM WORD 4 FW block FAULT FUNCTIONS page 149
198. SP EST ENA 93 16 ENC2 OSC LIM FW block PULSE ENC CONF see above Activates transient filter for encoder 2 Changes of direction of rotation are ignored above the selected pulse frequency For selections see parameter 93 06 1 OSC LIM 93 21 EMUL PULSE NR FW block ENCODER page 169 Defines the number of TTL pulses per revolution used in encoder emulation Encoder emulation is enabled by parameter 90 03 EMUL MODE SEL 0 65535 TTL pulses used in encoder emulation 93 22 EMUL POS REF FW block ENCODER page 169 Selects the source for the position value used in encoder emulation when parameter 90 03 EMUL MODE SEL is set to 1 FEN 01 SWref 4 FEN 11 SWref 7 FEN 21 SWref or 10 FEN 31 SWref See parameter group 90 ENC MODULE SEL The source can be any actual or reference position value except 1 09 ENCODER 1 POS and 1 11 ENCODER 2 POS Value pointer Group and index 93 23 EMUL POS OFFSET FW block None Defines the zero point for emulated position in relation of the zero point of the input position within one revolution The input position is selected by parameter 90 03 EMUL MODE SEL For example if the offset is 0 an emulated zero pulse is generated each time the input position moves across 0 With an offset of 0 5 an emulated zero pulse is generated each time the input position within one revolution moves across 0 5 0 0 99998 Emulat
199. SS FUNC PLC and fieldbus adapter Check fieldbus parameter settings See module is lost parameter group 50 FIELDBUS on page 156 Check cable connections Check if communication master can communicate 0046 FB MAPPING FILE Drive internal fault Contact your local ABB representative 0x6306 0047 MOTOR OVERTEMP Estimated motor temperature Check motor ratings and load 0x4310 based on motor thermal model et motor cool down Ensure proper motor Programmable fault 45 01 has exceeded fault limit defined cooling Check cooling fan clean cooling MOT TEMP PROT by parameter 45 04 MOT TEMP surfaces etc Check value of fault limit Check motor thermal model settings parameters 45 06 45 08 and 45 10 MOT THERM TIME Measured motor temperature Check that actual number of sensors has exceeded fault limit defined corresponds to value set by parameter 45 02 by parameter 45 04 MOT TEMP MOT TEMP SOURCE FLT LIM Check motor ratings and load Let motor cool down Ensure proper motor cooling Check cooling fan clean cooling surfaces etc Check value of fault limit 0049 AI SUPERVISION Analogue input 11 or AI2 signal Check analogue input Al1 2 source 0x8110 Programmable fault 13 12 Al SUPERVISION has reached limit defined by parameter 13 13 SUPERVIS ACT connections Check analogue input Al1 2 minimum and maximum limit settings parameters 13 02 and 13 03 13 07 and 13 08
200. SZ gt Wa 334013345 21 52 777 4015 172 222 23d 07 52 CAEN 20 6052 8052 2222 INIL 3dvHs 052 Sera Dov 90 52 SWLL 3dVHS 5052 Sura SWLL 02 rR ICY 20 6056 43845 20 52 NI 23385 1052 gt 333039345 HO E 0 082 812045 03345 58 NIWAJ 09345 ZOOL 434 3345 1 TOOL 488 03345 07792 93345 15 60 2 gt 03845 1SNOO 80 2 SAN 43803345 0 2 gt 5 09345 90792 Bsc 1 434 03345 50 2 gt 2438 03345 9092 gt 03345 6092 NI J38G33dS 0 ene oxug GEEN Prerana REA zo 9 aids T 106 9 seri 005 33845 dON 438 83395 08365 T TAS Z434 03345 20 2 136 T434 3345 TO vc Z434 5 206 T434 03445 TOE 0 aes 006 434045 73S 438 Application program template 320 m TEED TT 0001 ST c AUD Vi 0 pasedaid peseg 4202 140 3WIL 15782 4900 1404 d vT 8Z
201. Selection LIMIT 10052 MAX 10053 MIN 10054 Illustration Execution time Operation Inputs Outputs Illustration Execution time Operation Inputs Outputs Illustration Execution time OUT 76 0 53 us The output OUT is the limited input IN value Input is limited according to the minimum MN and maximum MX values The input data type is selected by the user Minimum input limit MN INT DINT REAL REAL24 Input IN INT DINT REAL REAL24 Maximum input limit MX INT DINT REAL REAL24 Output OUT INT DINT REAL REAL24 OUT 77 0 81 us when two inputs are used 0 53 ys for every additional input When all inputs are used the execution time is 16 73 us The output OUT is the highest input value IN The input data type and the number of inputs 2 32 are selected by the user Input IN1 IN32 INT DINT REAL REAL24 Output OUT INT DINT REAL REAL24 OUT 78 0 81 us when two inputs are used 0 52 us for every additional input When all inputs are used the execution time is 16 50 us Standard function blocks MUX 10055 SEL 10056 Operation Inputs Outputs Illustration Execution time Operation Inputs Outputs Illustration Execution time Operation Inputs Outputs 305 The output OUT is the lowest input value IN The input data type and the number of in
202. T 0 16383 Hz Reset input RESET Boolean Output Y REAL LEAD LAG 69 Y 69 5 55 15 The output Y is the filtered value of the input X When ALPHA gt 1 the function block acts as a lead filter When ALPHA 1 the function block acts as a lag filter When ALPHA 1 no filtering occurs The transfer function for a lead lag filter is 1 ALPHAT s 1 8 When RESET input is 1 the input value X is connected to the output Y If ALPHA or Tc 0 the negative input value is set to zero before filtering Input X REAL Lead Lag filter type input ALPHA REAL Time constant input Tc REAL Reset input RESET Boolean Output Y REAL Standard function blocks 298 Parameters GetBitPtr 10099 Illustration Execution time Operation Inputs Outputs GetValPtr 10098 Illustration Execution time Operation Inputs Outputs PARRD 10082 Illustration Execution time GetBitPtr 70 1 msec 1 Out 70 Reads the status of one bit within a parameter value cyclically The Bit ptr input specifies the parameter group index and bit to be read The output Out provides the value of the bit Parameter group index and bit Bit ptr DINT Bit status Out DINT GetValPtr DINT ZA 1 msec 1 Out 71 Reads the value of a parameter cyclically The Par ptr input specifies the parameter gr
203. TTL output 3 FEN 11 TTL Module type FEN 11 Absolute Encoder Interface Echo TTL encoder input X41 pulses are echoed to the TTL output 4 FEN 21 TTL Module type FEN 21 Resolver Interface Echo TTL encoder input X51 pulses are echoed to the TTL output B FEN 31 HTL Module type FEN 31 HTL Encoder Interface Echo HTL encoder input X82 pulses are echoed to the TTL output 90 05 ENC CABLE FAULT FW block ENCODER see above Selects the action in case an encoder cable fault is detected by the FEN xx encoder interface Notes Atthe time of printing this functionality is only available with the absolute encoder input of the FEN 11 based on sine cosine incremental signals and with the HTL input of the FEN 31 When the encoder input is used for speed feedback see 22 01 SPEED FB SEL this parameter may be overridden by parameter 22 09 SPEED FB FAULT 0 No Cable fault detection inactive 1 Fault The drive trips on an ENCODER 1 2 CABLE fault Parameters and firmware blocks 172 2 Warning The drive generates an ENCODER 1 2 CABLE warning This is the recommended setting if the maximum pulse frequency of sine cosine incremental signals exceeds 100 kHz at high frequencies the signals may attenuate enough to invoke the function The maximum pulse frequency can be calculated as follows Pulses per revolution par 91 01 x Maximum speed in rpm
204. The master calculates the difference of the latest message number and received data Appendix B Drive to drive link 340 Example of read remote messaging Master Follower node 1 D2D SendMessage 51 TLA1 1 msec DS WWriteLocal 4 TLAL 1 msec 0 22 E LocalDsNr Sent msg 157 Enon o E Datat 168 6789 a Data2 32B 1 The master reads the contents of the follower dataset 22 into its own dataset 18 Data is accessed using the TIAL 1 msec DS_ReadLocal block 18 Data1 168 Daa 2 Inthe follower constant data is prepared into dataset 22 Data2 328 Data ivo Ermita Appendix B Drive to drive link 341 Releasing tokens for follower to follower communication 55 1 Master D2D McastToken 55 i Target Node Meast Cycle 020 McastToken 56 TLA2 10 msec 2 2 Target Node Meast Cycle This drive to drive link consists of three drives master and two followers The master operates as a chairman Follower 1 node 1 is allowed to send one message every 3 milliseconds Follower 2 node 2 is allowed to send one message every 6 milliseconds Example of follower point to point messaging Follower 1 node 1 DS_WriteLocal 50 Follower 2 node 2 DS ReadLocal 45
205. VALUES 0 2 1 02 SPEED ACT 1 03 FREQUENCY 1 04 CURRENT 1 05 CURRENT PERC 1 06 TORQUE 1 07 DC VOLTAGE 1 14 SPEED ESTIMATED 1 15 TEMP INVERTER 1 16 TEMP BC 1 20 BRAKE RES LOAD 1 22 INVERTER POWER 1 26 ON TIME COUNTER 1 27 RUN TIME COUNTER 1 28 FAN ON TIME 1 01 SPEED ACT FW block SPEED FEEDBACK page 105 Filtered actual speed in rpm Used speed feedback is defined by parameter 22 01 SPEED FB SEL Filter time constant can be adjusted by parameter 22 02 SPEED ACT FTIME 1 02 SPEED ACT PERC FW block ACTUAL VALUES see above Actual speed in percent of the motor synchronous speed 1 03 FREQUENCY FW block ACTUAL VALUES see above Estimated drive output frequency in Hz 1 04 CURRENT FW block ACTUAL VALUES see above Measured motor current in A 1 05 CURRENT PERC FW block ACTUAL VALUES see above Motor current in percent of the nominal motor current 1 06 TORQUE FW block ACTUAL VALUES see above Motor torque in percent of the motor nominal torque 1 07 DC VOLTAGE FW block ACTUAL VALUES see above Measured intermediate circuit voltage in V 1 08 ENCODER 1 SPEED FW block ENCODER page 169 Encoder 1 speed in rpm 1 09 ENCODER 1 POS FW block ENCODER page 169 Actual position of encoder 1 within one revolution Param
206. WARNING Make sure that it is safe to continue operation in A case of a communication break 3 Last speed The drive generates alarm LOCAL CTRL LOSS and freezes the speed to the level the drive was operating at The speed is determined by the average speed over the previous 10 seconds WARNING Make sure that it is safe to continue operation in A case of a communication break 46 04 MOT PHASE LOSS FW block FAULT FUNCTIONS see above Selects how the drive reacts when a motor phase loss is detected 0 No No action 1 Fault Drive trips on MOTOR PHASE fault 46 05 EARTH FAULT FW block FAULT FUNCTIONS see above Selects how the drive reacts when an earth fault or current unbalance is detected in the motor or the motor cable 0 No No action 1 Warning Drive generates alarm EARTH FAULT 2 Fault Drive trips on EARTH FAULT 46 06 SUPPL PHS LOSS FW block FAULT FUNCTIONS see above Selects how the drive reacts when a supply phase loss is detected 0 No No reaction 1 Fault Drive trips on SUPPLY PHASE fault 46 07 STO DIAGNOSTIC FW block FAULT FUNCTIONS see above Selects how the drive reacts when it detects the absence of one or both Safe Torque Off STO signals Note This parameter is for supervision only The Safe Torque Off function can activate even when this parameter is set to 3 No For general information on the Safe Torque Off function see
207. WPD Write protected parameter while drive is running WPO Parameter can only be set to zero Parameter data 194 Fieldbus equivalent Serial communication data between fieldbus adapter and drive is transferred in integer format Thus the drive actual and reference signal values must be scaled to 16 32 bit integer values Fieldbus equivalent defines the scaling between the signal value and the integer used in serial communication All the read and sent values are limited to 16 32 bits Example If 32 04 MAXIMUM TORQ REF is set from external control system an integer value of 10 corresponds to 196 Fieldbus addresses For FPBA 01 PROFIBUS Adapter FDNA 01 DeviceNet Adapter 01 CANopen Adapter FSCA 01 RS 485 Modbus Adapter and FENA 01 Ethernet Adapter see the User s Manual of the fieldbus adapter module Pointer parameter format in fieldbus communication Value and bit pointer parameters are transferred between the fieldbus adapter and drive as 32 bit integer values 32 bit integer value pointers When a value pointer parameter is connected to the value of another parameter or signal the format is as follows Bit 30 31 16 29 8 15 0 7 Source type Not in use Group Index Value 1 1 255 1 255 Description Value pointer is Group of source Index of source connected to parameter parameter parameter signal For example the value that should be
208. ambient temperature temperature has exceeded ia Check for cooling fan failure internal fault limit Check for obstructions in the air flow Check the dimensioning and cooling of the cabinet 0025 BC MOD OVERTEMP Input bridge or brake chopper Let drive cool down 0x7183 temperature has exceeded Check for excessive ambient temperature internal fault limit Check for cooling fan failure Check for obstructions in the air flow Check the dimensioning and cooling of the cabinet 0026 AUTOPHASING Autophasing routine see Try other autophasing modes see parameter 0x3187 section Autophasing on page 11 07 AUTOPHASING MODE if possible 38 failed 0027 PULOST Connection between the JCU Check the connections between the JCU 0x5400 Control Unit and the power unit Control Unit and the power unit of the drive is lost 0028 PS COMM Communication errors detected Check the connections between the JCU 0x5480 between the JCU Control Unit Control Unit and the power unit and the power unit of the drive 0029 IN CHOKE TEMP Temperature of internal AC Check cooling fan OxFF81 choke excessive 0030 EXTERNAL Fault in external device This Check external devices for faults 0x9000 information is configured Check setting of parameter 46 01 EXTERNAL through one of programmable FAULT digital inputs 0031 SAFE TORQUE OFF Safe Torque Off function is Check safety circuit connections For more Programmable
209. amp input Modulating Ref Running Brake open cmd Ramp output Torque ref The simplified time scheme below illustrates the operation of the brake control function Nes 18 lt gt a gt 1 fma 2 3 4 5 6 7 time Ts Start torque at brake release parameter 35 06 BRAKE OPEN TORQ Tmem Stored torque value at brake close signal 3 14 BRAKE TORQ MEM fmd Motor magnetising delay fod Brake open delay parameter 35 03 BRAKE OPEN DELAY Nes Brake close speed parameter 35 05 BRAKE CLOSE SPD ted Brake close delay parameter 35 04 BRAKE CLOSE DLY Example The figure below shows a brake control application example WARNING Make sure that the machinery into which the drive with brake control function is integrated fulfils the personnel safety regulations Note that the frequency converter a Complete Drive Module or a Basic Drive Module as defined in IEC 61800 2 is not considered as a safety device mentioned in the European Machinery Directive and related harmonised standards Thus the personnel safety of the complete machinery must not be based on a specific frequency converter feature such as the brake control function but it has to be implemented as defined in the application specific regulations Drive control and features 52 The brake on off is controlled signal 3 15 BRAKE COMMAND source for the brake supervision is selected by p
210. ams are created with the DriveSPC PC tool The normal delivery of the drive does not include an application program The user can create an application program with the standard and firmware function blocks ABB also offers customised application programs and technology function blocks for specific applications For more information contact your local ABB representative Drive programming using PC tools 31 Function blocks The application program uses three types of function blocks firmware function blocks standard function blocks and technology function blocks Firmware function blocks Most of the firmware functions are represented as function blocks in the DriveSPC tool Firmware function blocks are part of the drive control firmware and used as an interface between the application and firmware programs Drive parameters in groups 10 99 are used as function block inputs and parameters in groups 1 9 as function block outputs Firmware function blocks are presented in chapter Parameters and firmware blocks Standard function blocks library Standard function blocks e g ADD AND are used to create an executable application program The standard function blocks available are presented in chapter Standard function blocks Standard function block library is always included in the drive delivery Technology function blocks Several technology function block libraries e g CAM are available for different types of applicat
211. an open a application program file if exists modify and save the application program print the program pages When the off line mode is used with a drive s connection the user can connect the selected drive to DriveSPC upload an application program from the connected drive an empty template which includes only the firmware blocks is available by default download the configured application program to the drive and start the program execution The downloaded program contains the function block program and the parameter values set in DriveSPC remove the program from the connected drive On line In the on line mode the user can Drive programming using PC tools 33 modify firmware parameters changes stored directly to the drive memory modify application program parameters i e parameters created in DriveSPC e monitor the actual values of all function blocks in real time Drive programming using PC tools 34 Drive programming using tools 35 Drive control and features What this chapter contains This chapter describes the control locations and operation modes of the drive and the features of the application program Local control vs external control The drive has two main control locations external and local The control location is selected with the PC tool Take Release button or with the LOC REM key on the control panel ACSM1 nu PLC Prog
212. and backups are not always compatible with other firmware versions even if Drive control and features 54 restore is allowed by the backup restore tool Before using backup restore functions between different firmware versions refer to the release notes of each version Applications should not be transferred between different firmware versions Contact the supplier of the application when it needs to be updated for a new firmware version Parameter restore Parameters are divided into three different groups that can be restored together or individually Motor configuration parameters and identification ID run results Fieldbus adapter and encoder settings Other parameters For example retaining the existing ID run results in the drive will make a new ID run unnecessary Restore of individual parameters can fail for the following reasons The restored value does not fall within the minimum and maximum limits of the drive parameter The type of the restored parameter is different from that in the drive The restored parameter does not exist in the drive often the case when restoring the parameters of a new firmware version to a drive with an older version The backup does not contain a value for the drive parameter often the case when restoring the parameters of an old firmware version to a drive with a newer version In these cases the parameter is not restored the backup restore tool will warn the
213. arameter 26 10 SPEED WIN FUNC 0 3000 rpm Low limit for speed error window control Parameters and firmware blocks Group 28 SPEED CONTROL Speed controller settings such as 28 11 MAX TORQ SP CTRL 3 07 ACC COMP TORQ 28 04 DERIVATION TIME 28 05 DERIV FILT TIME 28 02 PROPORT GAIN 3 06 SPEED ERROR FILT 28 03 INTEGRATION TIME 28 12 PI ADAPT MAX SPD 28 14 P GAIN ADPT COEF 1 01 SPEED ACT 28 15 TIME ADPT COEF 28 13 PI ADAPT MIN SPD selection of source for speed error adjustment of PID type speed controller variables limitation of speed controller output torque selection of source for acceleration compensation torque 121 forcing an external value to the output of the speed controller with the balancing function adjustment of the load sharing in a Master Follower application run by several drives the drooping function The speed controller includes an anti windup function i e I term is frozen during torque reference limitation In torque control mode the speed controller output is frozen For manual speed controller tuning see section Speed controller tuning on page 26 28 08 BAL REFERENCE 28 09 SPEEDCTRL BAL EN 28 10 MIN TORQ SP CTRL 28 07 DROOPING RATE 06 05 LIMIT WORD 1 bit 2 SPD CTL MAX 3 08 TORQ REF SP CTRL 06 05 LIMIT WORD 1 bit 1 SPD CTL TLIM MIN 06 05 SPEED CTRL STAT bit 4 BAL ACTIVE Parameters and firmware blo
214. arameter 28 04 DERIVATION TIME Note The parameter value should be proportional to the total inertia of the load and motor i e approximately 50 100 of the mechanical time constant fmech See the mechanical time constant equation in parameter 22 02 SPEED ACT FTIME If parameter value is set to zero the function is deactivated The figure below shows the speed responses when a high inertia load is accelerated along a ramp No acceleration compensation With acceleration compensation 96 A Speed reference Actual speed uem t See also parameter 26 09 ACC COMP FTIME The source for the acceleration compensation torque can also be selected by parameter 28 06 ACC COMPENSATION See firmware group 28 SPEED CONTROL Parameters and firmware blocks 120 0 600 8 Derivation time for acceleration deceleration compensation 26 09 ACC COMP FTIME FW block SPEED ERROR see above Defines the filter time for the acceleration compensation 0 1000 ms Filter time for acceleration compensation 0 ms filtering disabled 26 10 SPEED WIN FUNC FW block SPEED ERROR see above Enables or disables speed error window control Speed error window control forms a speed supervision function for a torque controlled drive It supervises the speed error value speed reference actual speed In the normal operating range window control ke
215. arameter 35 02 BRAKE ACKNOWL The brake control hardware and wirings need to be done by the user Brake on off control through selected relay digital output Brake supervision through selected digital input Emergency brake switch the brake control circuit Brake on off control through relay output i e parameter 12 12 RO1 OUT PTR set P 03 15 3 15 BRAKE COMMAND Brake supervision through digital input DI5 i e parameter 35 02 BRAKE ACKNOWL is set to P 02 01 04 2 01 DI STATUS bit 4 Brake control JCU unit hardware 230 ae 1 RO1 2 SN ages T 3 RO1 Emergency brake _ 231 21 27 11 1015 E 13 24 V c ou Motor Mechanicalbrake Drive control and features 53 Emergency stop Note The user is responsible for installing the emergency stop devices and all the additional devices needed for the emergency stop to fulfil the required emergency stop category classes The stop signal is connected to the digital input which is selected as the source for the emergency stop activation parameter 10 10 EM STOP OFF3 10 11 EM STOP OFF1 Emergency stop can also be activated through fieldbus 2 12 MAIN CW Note When an emergency stop signal is detected the emergency stop fu
216. arameter set 3 5 Load set 4 Load user parameter set 4 6 Save set 1 Save user parameter set 1 7 Save set 2 Save user parameter set 2 8 Save set 3 Save user parameter set 3 9 Save set 4 Save user parameter set 4 10 IO mode Load user parameter set using parameters 16 11 and 16 12 16 10 USER SETLOG FW block None Shows the status of the user p arameter sets see parameter 16 09 USER SET SEL Read only N A No user sets have been saved 1 Loading A user set is being loaded 2 Saving A user set is being saved 4 Faulted Invalid or empty parameter set 8 Set1 IO act User parameter set 1 has been selected by parameters 16 11 and 16 12 16 Set2 IO act User parameter set 2 has been selected by parameters 16 11 and 16 12 32 Set3 IO act User parameter set 3 has been selected by parameters 16 11 and 16 12 64 Set4 IO act User parameter set 4 has been selected by parameters 16 11 and 16 12 128 Set1 par act User parameter set 1 has been loaded using parameter 16 09 256 Set2 par act User parameter set 2 has been loaded using parameter 16 09 512 Set3 par act User parameter set 3 has been loaded using parameter 16 09 1024 Set4 par act User parameter set 4 has been loaded using parameter 16 09 Parameters and firmware blocks 100 16 11 USER IO SET LO FW block None Together with para
217. ay With Zero Speed Delay Speed Speed Speed controller remains live Motor is decelerated to true 0 speed Speed controller switched off Motor coasts to stop denen edens s 22 05 ZERO SPEED LIMIT NO gt gt Time cet Time 22 06 ZERO SPEED DELAY No Zero Speed Delay The drive receives a stop command and decelerates along a ramp When the motor actual speed falls below the value of parameter 22 05 ZERO SPEED LIMIT the speed controller is switched off The inverter modulation is stopped and the motor coasts to standstill With Zero Speed Delay The drive receives a stop command and decelerates along a ramp When the actual motor speed falls below the value of parameter 22 05 ZERO SPEED LIMIT the zero speed delay function activates During the delay the function keeps the speed controller live the inverter modulates motor is magnetised and the drive is ready for a quick restart Zero speed delay can be used e g with the jogging function 0 30000 ms Zero speed delay 22 07 ABOVE SPEED LIM FW block SPEED FEEDBACK see above Defines the supervision limit for the actual speed See also parameter 2 13 FBA MAIN SW bit 10 0 30000 rpm Supervision limit for actual speed Parameters and firmware blocks 108 22 08 SPEED TRIPMARGIN FW block SPEED FEEDBACK see above Defines together with 20 01 MAXIMUM SPEED and 20 02 MINIMUM SPEED the maximum allowed
218. ber of sine cosine wave cycles within one revolution 91 02 ABS ENC INTERF FW block ABSOL ENC CONF see above Selects the source for the encoder absolute position 0 None Not selected 1 Commut sig signals 2 Serial interface EnDat encoder 3 Hiperface Serial interface HIPERFACE encoder 4 SSI Serial interface SSI encoder 5 Tamag 17 33B Serial interface Tamagawa 17 33 bit encoder 91 03 REV COUNT BITS FW block ABSOL ENC CONF see above Defines the number of bits used in revolution counting with multiturn encoders Used when parameter 91 02 ABS ENC INTERF is set to 2 EnDat 3 Hiperface or 4 SSI When 91 02 ABS ENC INTERF is set to 5 Tamag 17 33B setting this parameter to a non zero value activates multiturn data requesting 0 32 Number of bits used in revolution count E g 4096 revolutions gt 12 bits 91 04 POS DATA BITS FW block ABSOL ENC CONF see above Defines the number of bits used within one revolution when parameter 91 02 ABS ENC INTERF is set to 2 EnDat 3 Hiperface 4 SSI When 91 02 ABS INTERF is set to 5 Tamag 17 33B this parameter is internally set to 17 0 32 Number of bits used within one revolution E g 32768 positions per revolution gt 15 bits 91 05 REFMARK FW block ABSOL see above Enables the encoder zero pulse for the absolute encoder input X42 of an FEN 11 module if present Zero pulse can be used f
219. block SUPERVISION page 132 Supervision status word See also parameter group 33 SUPERVISION page 132 Bit Name Val Information 0 SUPERV FUNC1 1 Supervision function 1 is active below low limit or over high STATUS limit 1 SUPERV FUNC2 1 Supervision function 2 is active below low limit or over high STATUS limit 2 SUPERV FUNC3 1 Supervision function is active below low limit or over high STATUS limit 3 15 Parameters and firmware blocks 74 Group 08 ALARMS 4 FAULTS 8 01 ACTIVE FAULT FW block FAULT FUNCTIONS page 149 Fault code of the latest active fault 8 02 LAST FAULT FW block FAULT FUNCTIONS page 149 Fault code of the 2nd latest fault 8 03 FAULT TIME HI FW block FAULT FUNCTIONS page 149 Time real time or power on time at which the active fault occurred in format dd mm yy day month year 8 04 FAULT TIME LO FW block FAULT FUNCTIONS page 149 Time real time or power on time at which the active fault occurred in format hh mm ss hours minutes seconds 8 05 ALARM WORD 1 FW block FAULT FUNCTIONS page 149 Alarm word 1 For possible causes and remedies see chapter Fault tracing 0 Alarm BRAKE START TORQUE BRAKE NOT CLOSED BRAKE NOT OPEN SAFE TORQUE OFF STO MODE CHANGE MOTOR TEMP EME
220. ceived new reference 1 SRC and 57 07 REF 2 SRC on the master 1 and or 2 for five consecutive drive reference handling cycles Check the drive to drive link wiring 0054 D2D BUF OVLOAD Transmission of drive to drive Contact your local ABB representative 0x7520 references failed because of Programmable fault 57 02 message buffer overflow COMM LOSS FUNC 0055 TECH LIB Resettable fault generated bya Refer to the documentation of the technology 0x6382 technology library library 0056 TECHLIB CRITICAL Permanent fault generated by Refer to the documentation of the technology 0x6382 technology library library 0057 FORCED TRIP Generic Drive Communication Check PLC status OxFF90 Profile trip command 0058 FIELDBUS PAR ERROR The drive does not have a Check PLC programming 0x6320 functionality requested by PLC Check fieldbus parameter settings See or requested functionality has parameter group 50 FIELDBUS on page 156 not been activated 0061 SPEED FEEDBACK No speed feedback is received Checkthe settings of the parameters in group 0x8480 22 SPEED FEEDBACK Check encoder installation See the description of fault 0039 ENCODER for more information Fault tracing 227 What to do fieldbus code 0062 D2D SLOT COMM Drive to drive link is set to use Check the settings of parameters 57 01 LINK 0x7584
221. chieved firmware block LIMITS on page 102 2001 BRAKE NOT CLOSED Mechanical brake control alarm Check mechanical brake connection 0x7186 Alarm is activated e g if brake Check mechanical brake settings parameters Programmable fault 35 09 acknowledgement is not as 35 01 35 09 BRAKE FAULT FUNC expected during bake resid To determine whether problem is with acknowledgement signal or brake Check if brake is closed or open 2002 BRAKE NOT OPEN Mechanical brake control alarm Check mechanical brake connection 0x7187 Alarm is activated e g if brake Check mechanical brake settings parameters Programmable fault 35 09 acknowledgement is not as 35 01 35 08 BRAKE FAULT FUNC IS cen ing To determine whether problem is with acknowledgement signal or brake Check if brake is closed or open 2003 SAFE TORQUE OFF Safe Torque Off function is Check safety circuit connections For more OxFF7A active i e safety circuit information see appropriate drive hardware Programmable fault 46 07 signal s connected to manual STO DIAGNOSTIC connector X6 is lost while drive is stopped and parameter 46 07 STO DIAGNOSTIC is set to 2 Alarm 2005 MOTOR TEMPERATURE Estimated motor temperature Check motor ratings and load 0x4310 based on motor thermal model et motor cool down Ensure proper motor Programmable fault 45 01 has exceeded alarm limit cooling Check cooling fan clean cooling MOT TEMP PROT defined by
222. cks 95 Group 15 ANALOGUE OUTPUTS Settings for the analogue outputs The drive offers two programmable analogue outputs one current output AO1 0 20 mA and one voltage output AO2 10 10 V The resolution of the analogue outputs is 11 bits sign and the inaccuracy is 290 of the full scale range The analogue output signals can be proportional to motor speed process speed scaled motor speed output frequency output current motor torque motor power etc It is possible to write a value to an analogue output through a serial communication link e g fieldbus link Firmware block AOL 25 AO1 7 2 msec 8 1 4 2 08 AO1 CURRENT PERC Connects an actual signal to 49 fun en s analogue output 1 and filters and 15 03 AO1 MAX scales the output signal Also shows the value of the output moomoo 15 05 AO1 MAX SCALE 10001011 15 06 AO1 MIN SCALE Block outputs located in other 2 08 AO1 page 62 parameter groups 15 01 AO1 PTR FW block AO1 see above Selects a drive signal to be connected to analogue output AO1 Value pointer Group and index 15 02 AO1 FILT TIME FW block AO1 see above Defines the filtering time constant for analogue output AO1 Unfiltered signal 100 63 filter input step O filter output t time T filter time constant Filtere
223. cks 122 Firmware block SPEED CONTROL 28 This block selects the source for speed error adjusts PID type speed controller variables defines limits for speed controller output torque selects the source for acceleration compensation torque configures the balancing function which forces the output of the speed controller to an external value configures the drooping function adjustment of load sharing in a Master Follower application shows the limited speed controller output torque value SPEED CONTROL TLF3 250 psec 3 3 08 REF SP CTRL 28 01 SPEED ERR NCTRL 28 02 PROPORT GAIN 28 03 INTEGRATION TIME 28 04 DERIVATION TIME 28 05 DERIV FILT TIME 28 06 ACC COMPENSATION 28 07 DROOPING RATE 28 08 BAL REFERENCE 28 09 SPEEDCTRL BAL EN 28 10 MIN TORQ SP CTRL 28 11 MAX TORQ SP CTRL 28 12 PI ADAPT MAX SPD 28 13 PI ADAPT MIN SPD 28 14 P GAIN ADPT COEF 28 15 I TIME ADPT COEF B g bad Block outputs located in other parameter groups 3 08 TORQ REF SP CTRL page 68 28 01 SPEED ERR NCTRL FW block SPEED CONTROL see above Selects the source for the speed error reference actual The default value is P 3 6 i e parameter 3 06 SPEED ERROR FILT which is the output of the SPEED ERROR firmware block Note This parameter has been locked i e no user setting is possible Value pointer Group and index 28 02 PROPORT GAIN FW b
224. counter input CU changes from 0 gt 1 and the reset input R is 0 and the load input LD is 0 The counter output CV value is decreased by 1 if the counter input CD changes from 0 gt 1 and the load input LD is 0 and the reset input R is 0 If the counter output has reached its minimum or maximum value 2147483648 or 2147483647 the counter output remains unchanged until it is reset R or until the load input LD is set to 1 If the load input LD value is 1 the preset input PV value is stored as the counter output CV value The counter output CV is reset to 0 if the reset input R is 1 The up counter status output QU is 1 if the counter output CV value gt preset input PV value The down counter status output QD is 1 if the counter output CV value lt 0 Example CU CD R LD PV QU QD 0 gt 0 0 gt 0 0 0 2 0 1 0 0 0 gt 0 0 gt 0 0 1 2 1 0 0 2 0 gt 0 0 gt 0 1 0 2 0 1 2 0 0 gt 0 0 gt 0 1 1 2 0 1 0 0 0 gt 0 0 gt 1 0 0 2 0 1 0 0 1 1 0 gt 0 1 gt 1 0 1 2 1 0 1 2 0 gt 0 1 gt 1 1 0 2 0 1 2 0 0 gt 0 1 gt 1 1 1 2 0 1 0 0 0 gt 1 1 gt 0 0 0 2 0 0 0 0 1 1 1 1 0 gt 0 0 1 2 1 0 1 2 1 1 0 gt 0 1 0 2 0 1 2 0 1 1 0 gt 0 1 1 2 0 1 0 0 1 251 0 gt 1 0 0 2 0 1 0 0 1 1 1 gt 1 1 gt 1 0 1 2 1 0 1 2 1 gt 1 1 21 1 0 2 0 1 2 0 1 21 1 1 1 1 2 0 1 0 CV prev is the previous
225. critical speeds or speed bands Example An application has vibrations in the range of 540 to 690 rpm and 1380 to 1560 rpm To make the drive made to jump over the vibration speed ranges activate the critical speeds function CRITSPEEDSEL 1 set the critical speed ranges as in the figure below 1 CRITSPEED1LO 540 rpm 2 CRITSPEED1HI 690 rpm 1560 4 3 CRITSPEED2LO 1380 rpm 1380 4 4 CRITSPEED2HI 1560 rpm 690 540 rpm gt Drive speed reference rpm 1234 Output OUTACTIVE is set to 1 when the output reference REFOUTPUT is different from the input reference REFINPUT The output is limited by the defined minimum and maximum limits MIN and MAX Output OUTSTATE indicates in which critical speed range the operation point is Critical speed activation input CRITSPEEDSEL Boolean Minimum maximum critical speed range input CRITSPEEDNLO CRITSPEEDNHI REAL Maximum minimum input MAX MIN REAL Reference input REFINPUT REAL Standard function blocks Outputs CYCLET 10074 Illustration Execution time Operation Inputs Outputs DATA CONTAINER 10073 Illustration Execution time Operation Inputs Outputs 285 Reference output REFOUTPUT REAL Output state OUTSTATE REAL Output active OUTACTIVE Boolean CYCLET 58 a OUT 58 0 00 us Output OUT is the time level o
226. ctivated Check parameter 90 02 ENCODER 2 SEL 0x7381 by parameter but the encoder interface FEN xx cannot be found setting corresponds to encoder interface 2 FEN xx installed in drive Slot 1 2 signal 9 20 OPTION SLOT 1 9 21 OPTION SLOT 2 Note The new setting will only take effect after parameter 90 10 ENC PAR REFRESH is used or after the JCU control unit is powered up the next time EnDat or SSI encoder is used in continuous mode as encoder 2 90 02 ENCODER 2 SEL lt 3 FEN 11 ABS and 91 02 ABS ENC INTERF 2 EnDat or 4 SSI and 91 30 ENDAT MODE 1 Continuous or 91 25 SSI MODE 1 Continuous If possible use single position transfer instead of continuous position transfer i e if encoder has incremental sin cos signals Change parameter 91 25 SSI MODE 91 30 ENDAT MODE to value 0 Initial pos Otherwise use EnDat SSI encoder encoder 1 Change parameter 90 01 ENCODER 1 SEL to value 3 FEN 11 ABS and parameter 90 02 ENCODER 2 SEL to value 0 None Note The new setting will only take effect after parameter 90 10 ENC PAR REFRESH is used or after the JCU control unit is powered up the next time Fault tracing 215 Alarm fieldbus code Cause What to do 2026 ENC EMULATION FAILURE 0x7384 Encoder emulation error If position value used in emulation is measured by encoder Check that FEN xx encoder u
227. ctive 1 EXT2 active 2 19 1020 REF1 FW block D2D COMMUNICATION page 164 Drive to drive reference 1 received through the drive to drive link 2 20 D2D REF2 FW block D2D COMMUNICATION page 164 Drive to drive reference 2 received through the drive to drive link Parameters and firmware blocks 68 Group 03 CONTROL VALUES 3 01 SPEED REF1 FW block SPEED REF SEL page 110 Speed reference 1 in rpm 3 02 SPEED REF2 FW block SPEED REF SEL page 110 Speed reference 2 in rpm 3 08 SPEEDREF RAMP IN FW block SPEED REF MOD page 111 Used speed reference ramp input in rpm 3 04 SPEEDREF RAMPED FW block SPEED REF RAMP page 114 Ramped and shaped speed reference in rpm 3 05 SPEEDREF USED FW block SPEED ERROR page 118 Used speed reference in rpm reference before the speed error calculation 3 06 SPEED ERROR FILT FW block SPEED ERROR page 118 Filtered speed error value in rpm 3 07 ACC COMP FW block SPEED ERROR page 118 Output of the acceleration compensation torque in 96 3 08 TORQ REF SP CTRL FW block SPEED CONTROL page 122 Limited speed controller output torque in 96 3 09 REF1 FW block REF SEL page 129 Torque reference 1 in 96 3 10 REF RAMPED FW block TORQ REF MOD page 130 Ramped torque reference in 90 311 REF RUSHLIM
228. cycle counter output value Standard function blocks Inputs Outputs Up counter input CU Boolean Down counter input CD Boolean Reset input R Boolean Load input LD Boolean Preset input PV DINT Counter output CV DINT Up counter status output QU Boolean Down counter status output QD Boolean 269 Standard function blocks 270 Edge 8 bistable FTRIG 10030 Illustration Q 99 Execution time 0 38 us Operation The output Q is set to 1 when the clock input CLK changes from 1 to 0 The output is set back to 0 with the next execution of the block Otherwise the output is 0 CLK previous CLK Q 0 0 0 0 1 for one execution cycle time returns to 0 at the next execution 1 1 0 CLKprevious S the previous cycle output value Inputs Clock input CLK Boolean Outputs Output Q Boolean RS 10032 Illustration 9146 Execution 0 38 us Standard function blocks RTRIG 10031 271 The output Q1 is 1 if the set input S is 1 and the reset input R1 is 0 The output will Operation retain the previous output state if the set input S and the reset input R1 are 0 The output is O if the reset input is 1 Truth table S R1 Q1 previous Q1 0 0 0 0 0 0 1 1 0 1 0 0 0 1 1 0 1 0 0 1 1 0 1 1 1 1 0 0 1 1 1 0 Qprevious S the previous cycle output value Inputs Se
229. d input L Boolean Set input S Boolean Input I DINT INT REAL REAL24 Boolean The number of the output channels 1 32 is selected by the user Output OA1 0A32 DINT INT REAL REAL24 Boolean SWITCH BOOL 83 1 msec 1 1 83 OUT2 83 0 68 us when two inputs are used 0 50 for every additional input When all inputs are used the execution time is 15 80 us The output OUT is equal to the corresponding input IN if the activate input ACT is 1 Otherwise the output is 0 The input data type and the number of inputs 1 32 are selected by the user Activate input ACT Boolean Input IN1 IN32 INT DINT REAL REAL24 Boolean Output OUT1 OUT32 INT DINT REAL REAL24 Boolean Standard function blocks 308 SWITCHC 10064 Illustration Execution time Operation Inputs Outputs SWITCHC BOOL 84 a 00 1 84 OUT2 84 1 53 us when two inputs are used 0 73 for every additional input When all inputs are used the execution time is 23 31 us The output OUT is equal to the corresponding channel A input CH A1 32 if the activate input ACT is 0 The output is equal to the corresponding channel B input CH B1 32 if the activate input ACT is 1 The input data type and the number of inputs 1 32 are selected by the user Activate input ACT Boolean Input CH A1 CH A32 CH B1
230. d signal gt Note The signal is also filtered due to the signal interface hardware approximately 0 5 ms time constant This cannot be changed by any parameter 0 30 5 Filter time constant for 1 15 03 AO1 MAX FW block AO1 see above Defines the maximum value for analogue output 0 22 7 mA Maximum 1 output value Parameters and firmware blocks 96 15 04 AO1 MIN FW block AO1 see above Defines the minimum value for analogue output AO1 0 22 7 mA Minimum 1 output value 15 05 1 SCALE FW block AO1 see above Defines the real value that corresponds to the maximum analogue output value defined by parameter 15 03 AO1 MAX AO mA AO mA 18 08 15 04 15 04 gt 15 06 15 05 AO real 15 05 15 06 AO real 32768 32767 Real value corresponding to value of parameter 15 03 15 06 1 MIN SCALE FW block AO1 see above Defines the real value that corresponds to the minimum analogue output value defined by parameter 15 04 1 MIN See parameter 15 05 AO1 MAX SCALE 32768 32767 Real value corresponding to value of parameter 15 04 Firmware block A02 26 AO2 TLF7 2 msec 9 15 2 09 A02 Connects an actual signal to Mum S DADA analogue output AO2 and filters and y scales the output signal Als
231. e Input 1 DINT Multiplier input MUL DINT Divider input DIV DINT Output O DINT Remainder output REM DINT OUT 54 2 09 us Output OUT is the square root of the input IN OUT lt sqrt IN Output is 0 if the input value is negative The input data type is selected by the user Input IN REAL REAL24 Output OUT REAL REAL24 OUT 55 2 33 us Output OUT is the difference between the input signals IN OUT IN1 IN2 The output value is limited to the maximum and minimum values defined by the selected data type range The input data type is selected by the user Input IN1 IN2 INT DINT REAL REAL24 Output OUT INT DINT REAL REAL24 Standard function blocks 10010 10011 Execution time Operation Inputs Outputs Illustration Execution time Operation Inputs Outputs 237 OUT 56 1 55 us when two inputs are used 0 60 for every additional input When all inputs are used the execution time is 19 55 us The output OUT is 1 if all the connected inputs IN1 IN32 1 Otherwise the output is 0 Truth table IN1 IN2 OUT 0 0 0 0 1 0 1 0 0 1 1 1 The inputs can be inverted The number of inputs is selected by the user Input IN1 1N32 Boolean Output OUT Boolean 0 57 0 32 us The output O
232. e internal fault limit Check for cooling fan failure Check for obstructions in the air flow Check the dimensioning and cooling of the cabinet Check resistor overload protection function settings parameters 48 03 48 05 Check that braking cycle meets allowed limits Check that drive supply AC voltage is not excessive 0012 BR OVERHEAT Brake resistor temperature has Stop drive Let resistor cool down 0x7112 exceeded fault limit defined by Check resistor overload protection function EM 48 06 BR TEMP settings parameters 48 01 48 05 Check fault limit setting parameter 48 06 Check that braking cycle meets allowed limits 0013 CURR MEAS GAIN Difference between output Contact your local ABB representative 0x3183 phase U2 and W2 current measurement gain is too great 0014 CABLE CROSS CON Incorrect input power and motor Check input power connections 0x3181 cable connection i e input Programmable fault 46 08 Power cable is connected to CROSS CONNECTION drive motor connection 0015 SUPPLY PHASE Intermediate circuit DC voltage Check input power line fuses 0x3130 is oscillating due to missing Check for input power supply imbalance Programmable fault 46 06 input power line phase or blown SUPPL PHS LOSS fuse 0016 MOTOR PHASE Motor circuit fault due to Connect motor cable 0x3182 Programmable fault 46 04 MOT PHASE LOSS missing motor connection all three phases are not connected
233. e drive reacts when overtemperature is detected Note The motor thermal model can be used when only one motor is connected to the inverter Temperature sensors It is possible to detect motor overtemperature by connecting a motor temperature sensor to thermistor input TH of the drive or to optional encoder interface module FEN xx Constant current is fed through the sensor The resistance of the sensor increases as the motor temperature rises over the sensor reference temperature as does the voltage over the resistor The temperature measurement function reads the voltage and converts it into ohms The figure below shows typical PTC sensor resistance values as a function of the motor operating temperature Ohm ied Temperature resistance 4 0 1 5 530 ce des dede Excessive gt 4 The figure below shows typical 84 sensor resistance values as a function of the motor operating temperature Drive control and features 41 ohm 2000 KTY84 scaling 90 C 936 ohm 110 C 1063 ohm 130 C 1197 ohm 1000 150 C 1340 ohm 0 100 0 100 200 300 It is possible to adjust motor temperature supervision limits select how the drive reacts when overtemperature is detected WARNING As the thermistor input on the JCU Control Unit is not i
234. e Torque Off circuit in use check that the circuit functions Selects how the drive reacts when the Safe Torque Off function is 46 07 STO DIAGNOSTIC active i e when the control voltage of the power semiconductors of the drive output stage is disabled If the DC voltage drops due to input power cut off the undervoltage controller will automatically decrease the motor torque in order to keep the voltage above the lower limit To prevent the DC voltage from exceeding the overvoltage control limit the overvoltage controller automatically decreases the generating torque when the limit is reached When the overvoltage controller is limiting the generating torque quick deceleration of the motor is not possible Thus electrical braking brake chopper and brake resistor is needed in some applications to allow the drive to dissipate regenerative energy The chopper connects the brake resistor to the intermediate circuit of the drive whenever the DC voltage exceeds the maximum limit Check that the overvoltage and undervoltage controllers are active 47 01 OVERVOLTAGE CTRL 47 02 UNDERVOLT CTRL If the application requires a brake resistor the drive has a built in 48 01 48 07 brake chopper 47 01 OVERVOLTAGE Set the brake chopper and resistor settings EI Note When a brake chopper and resistor are used the overvoltage controller must be deactivated by parameter 47 01 OVERVO
235. e and check the drive and motor connections Before you start ensure you have the motor nameplate and encoder data if needed at your hand Start up 16 The start up may only be carried out by a qualified electrician The safety instructions must be followed during the start up procedure See the safety instructions on the first pages of the appropriate hardware manual Check the installation See the installation checklist in the appropriate hardware manual Check that the starting of the motor does not cause any danger De couple the driven machine if there is a risk of damage in case of an incorrect direction of rotation or a normal ID run 99 13 IDRUN MODE 1 Normal is required during the drive start up when the load torque is higher than 2096 or the machinery is not able to withstand the nominal torque transient during the ID run Install the DriveStudio PC tool onto the PC Install also DriveSPC if block programming is needed For instructions see DriveStudio User Manual 3AFE68749026 English and DriveSPC User Manual 3AFE68836590 English Connect the drive to the PC Connect the other end of the communication cable OPCA 02 code 68239745 to the panel link of the drive Connect the other end of the communication cable via USB adapter or directly to the PC serial port Switch the power on 7 segment display
236. e by case in practice Speed decrease Speed controller output x Drooping x Max speed Example Speed controller output is 5096 drooping rate is 196 maximum speed of the drive is 1500 rpm Speed decrease 0 50 x 0 01 x 1500 rpm 7 5 rpm Motor speed 96 of nominal No drooping 100 728 07 DROOPING RATE Drooping Speed controller Drive load 10096 0 100 28 08 BAL REFERENCE FW block SPEED CONTROL see above Defines the reference used in the speed control output balancing i e an external value to be forced to the output of the speed controller In order to guarantee smooth operation during output balancing the speed controller D part is disabled and the acceleration compensation term is set to zero The source for the balancing enable signal is selected by parameter 28 09 SPEEDCTRL BAL EN 1600 1600 Speed control output balancing reference 28 09 SPEEDCTRL BAL EN FW block SPEED CONTROL see above Selects the source for the speed control output balancing enable signal See parameter 28 08 BAL REFERENCE 1 Enabled 0 Disabled Bit pointer Group index and bit 28 10 MIN TORQ SP CTRL FW block SPEED CONTROL see above Defines the minimum speed controller output torque 1600 1600 Minimum speed controller output torque 28 11 SP CTRL FW block SPEED CONTROL see above Defines the maximum speed controller output torque 1600
237. e connected to a relay or digital output The brake will open upon drive start after the delay 35 03 BRAKE OPEN DELAY has elapsed and requested motor start torque 35 06 BRAKE OPEN is available The brake will close after motor speed decreases below 35 05 BRAKE CLOSE SPD and the delay 35 04 BRAKE CLOSE DLY has elapsed When the brake close command is issued the motor torque is stored into 3 14 BRAKE TORQ MEM Note The mechanical brake must be opened manually before the ID run Drive control and features 50 Mechanical brake state diagram From any state 1 BSM STOPPED BSM Brake State Machine 9 Fault Alarm BRAKE NOT CLOSED 10 Fault Alarm BRAKE START TORQUE Depends on setting of 1 1 1 1 35 09 FAULT FUNC 1 1 0 0 0 1 1 0 BRAKE NOT OPEN State Symbol NN w xiYIZ NN State name W X Y Z State outputs operations W 1 Brake open command is active 0 Brake close command is active Controlled through selected digital relay output with signal 3 15 BRAKE COMMAND X 1 Forced start inverter is modulating The function keeps the internal Start command on until the brake is closed regardless of the status of the external Stop Effective only when ramp stop has been selected as the stop mode 11 03 STOP MODE Run enable and faults override the forced start 0 lt No forced start normal operation Y 1 Drive control mode is forced to spe
238. e drive to drive link on intermediate drives termination must be OFF Instead of the X5 connector an FMBA Modbus extension module can be used For best immunity high quality cable is recommended The cable should be kept as short as possible Unnecessary loops and running the cable near power cables such as motor cables must be avoided Note The cable shields are to be grounded to the control cable clamp plate on the drive Follow the instructions given in the Hardware Manual of the drive Appendix B Drive to drive link 332 Datasets The following diagram shows the wiring of the drive to drive link lt lt lt gt 2 2 5 020 5 020 5 5 020 n gt Termination Termination OFF ane Termination ON JCU JCU JCU Drive 1 Drive 2 Drive n Drive to drive communication uses DDCS Distributed Drives Communication System messages and dataset tables for data transfer Each drive has a dataset table of 256 datasets numbered 0 255 Each dataset contains 48 data bits By default datasets 0 15 and 200 255 are reserved for the drive firmware datasets 16 199 are available for the user
239. e during these situations Limitation The output is limited by the defined minimum and maximum values OLL and OHL If the actual value of the output reaches the specified minimum limit output is set to 1 If the actual value of the output reaches the specified maximum limit output O HL is set to 1 Smooth return to normal operation after limitation is requested if and only if the anti windup correction is not used i e when tl 0 or tC 0 Error codes Error codes are indicated by the error output ERROR as follows Error code Description 1 The minimum limit OLL exceeds the maximum limit OHL 2 Overflow with Up Ui or Ud calculation Balancing The balancing function BAL permits the output signal to track an external reference and gives a smooth return to the normal operation If BAL is set to 1 the output Out is setto the value of the balance reference input BAL ref Balance reference is limited by the defined minimum and maximum limits OLL and OHL Anti windup Anti windup correction time constant is defined by input tC which defines the time after which the difference between the unlimited and limited outputs is subtracted from the term during limitation If tC O or tl 0 anti windup correction is disabled Standard function blocks 10066 Inputs Outputs Illustration Execution time Operation 291 Actual input IN act REAL Reference inpu
240. e fault limit for the brake resistor temperature supervision The value is given in percent of the temperature the resistor reaches when loaded with the power defined by parameter 48 04 BR POWER MAX CNT When the limit is exceeded the drive trips on fault BR OVERHEAT 0 15096 Resistor temperature fault limit 48 07 BR TEMP ALARMLIM FW block BRAKE CHOPPER see above Selects the alarm limit for the brake resistor temperature supervision The value is given in percent of the temperature the resistor reaches when loaded with the power defined by parameter 48 04 BR POWER MAX CNT When limit is exceeded the drive generates alarm BR OVERHEAT 0 15096 Resistor temperature alarm limit Parameters and firmware blocks 156 Group 50 FIELDBUS Basic settings for fieldbus communication See also Appendix A Fieldbus control on page 325 Firmware block FIELDBUS 36 FIELDBUS TLF9 500 usec 50 2 12 MAIN 2 13 FBA MAIN SW This block 2 14 FBA MAIN REF1 initialises the fieldbus 2 15 FBA MAIN REF2 communication mu Disable 50101 ENABITE selects communication supervision 50 02 COMM LOSS FUNC method 50 03 COMM LOSS OUT defines scaling of the fieldbus sped 50 04 REF1 MODESEL references and actual values 50 05 REF2 MODESEL selects sources for programmable C 50 06 FBA ACT1 TR SRC
241. e in DTC mode During the identification the drive will identify the characteristics of the motor for optimum motor control After the ID run the drive is stopped Note This parameter cannot be changed while the drive is running Once the ID run is activated it can be cancelled by stopping the drive If ID run has already been performed once parameter is automatically set to 0 No If no ID run has been performed yet parameter is automatically set to 3 Standstill In this case the ID run must be performed Notes 10 run can only be performed in local control i e when drive is controlled via PC tool or control panel D run cannot be performed if parameter 99 05 MOTOR CTRL MODE is set to 1 Scalar 10 run must be performed every time any of the motor parameters 99 04 99 06 99 12 have been changed Parameter is automatically set to STANDSTILL after the motor parameters have been set With permanent magnet motor the motor shaft must NOT be locked and the load torque must be 1096 during the ID run Normal Reduced Standstill Mechanical brake if present is not opened during the ID run Ensure that possible Safe Torque Off and emergency stop circuits are closed during ID run 0 No No motor ID run is requested This mode can be selected only if the ID run Normal Reduced Standstill has already been performed once 1 Normal Guarantees the best possible control accuracy The ID run takes about 90
242. e total inertia of the load and motor i e approximately 50 100 of the mechanical time constant tmech See the mechanical time constant equation in section Speed filtering on page 25 Follow these instructions when the drive is controlled from a fieldbus control system via fieldbus adapter Fxxx The adapter is installed in drive Slot 3 Enable the communication between the drive and fieldbus adapter 50 01 FBA ENABLE Connect the fieldbus control system to the fieldbus adapter module Set the communication and adapter module parameters See section Setting up communication through a fieldbus adapter module on page 326 Test that the communication functions Start up How to control the drive through interface 27 The table below instructs how to operate the drive through the digital and analogue inputs when the default parameter settings are valid Ensure the control connections are wired according to the connection diagram given in chapter Default connections of the control unit Switch to external control by clicking the Take Release button of the PC tool control panel Start the drive by switching digital input 011 on Digital input status can be monitored with signal 2 01 DI STATUS 2 01 DI STATUS Check that analogue input is used as a voltage input selected by Voltage jumper J1
243. e value of parameter 25 02 SPEED SCALING Signal 1 01 SPEED ACT is sent to the fieldbus as an actual value See the User s Manual of the appropriate fieldbus adapter module 5 Auto One of the above selections is chosen automatically according to the currently active control mode See parameter group 34 REFERENCE CTRL 50 05 REF2 MODESEL FW block FIELDBUS see above Selects the fieldbus reference FBA REF2 scaling See parameter 50 04 FBA REF1 MODESEL 50 06 ACT1 TR SRC FW block FIELDBUS see above Selects the source for fieldbus actual value 1 when parameter 50 04 FBA REF1 MODESEL 50 05 FBA REF2 MODESEL is set to 0 Raw data Value pointer Group and index 50 07 ACT2 FW block FIELDBUS see above Selects the source for fieldbus actual value 2 when parameter 50 04 FBA REF1 MODESEL 50 05 FBA REF2 MODESEL is set to 0 Raw data Value pointer Group and index Parameters and firmware blocks 158 50 08 SW 12 SRC FW block FIELDBUS see above Selects the source for freely programmable fieldbus status word bit 28 2 13 FBA MAIN SW bit 28 Note that this functionality may not be supported by the fieldbus communication profile Bit pointer Group index and bit 50 09 FBA SW B13 SRC FW block FIELDBUS see above Selects the source for freely programmable fieldbus status word bit 29 2 13 FBA MAIN SW bit 29 Note that this f
244. ean BITAND 65 1 msec 1 0 65 0 32 The output bit value is 1 if the corresponding bit values of the inputs 11 12 are 1 Otherwise the output bit value is 0 Example 1 11100000111001011101001100110101 2 00000111001011101001100110101111 00000000001001001001000100100101 Input 12 DINT Output DINT Standard function blocks BITOR 10036 BSET 10037 Illustration Execution time Operation Input Output Illustration Execution time Operation Inputs 243 BITOR 66 1 msec 1 66 0 32 The output bit value is 1 if corresponding bit value of any of the inputs or 12 is 1 Otherwise the output bit value is O Example 1 11100000111001011101001100110101 2 00000111001011101001100110101111 11100111111011111101101110111111 Input 11 12 DINT Output DINT 0 67 1 36 The value of a selected bit BITNR of the input 1 is set as defined by the bit value input BIT The function must be enabled by the enable input EN BITNR Bit number 0 lt bit number 0 31 lt bit number 31 If BITNR is not in the range of 0 31 for DINT or 0 15 for INT or if EN is reset to zero the input value is stored to the output as it is i e no bit setting occurs Example EN 1 BITNR 3 0 IN
245. ed for the temperature supervision Note This selection does not apply for FEN 01 3 KTY 2nd FEN The temperature is supervised using a KTY84 sensor connected to encoder interface module FEN xx installed in drive Slot 1 2 If two encoder interface modules are used encoder module connected to Slot 2 is used for the temperature supervision Note This selection does not apply for FEN 01 e temperature is supervised using 1 sensors connected to 4 PTC JCU Th i ised using 1 3 PTC d drive thermistor input TH 5 1st FEN The temperature is supervised using a PTC sensor connected to encoder interface module FEN xx installed in drive Slot 1 2 If two encoder interface modules are used encoder module connected to Slot 1 is used for the temperature supervision 6 PTC 2nd FEN The temperature is supervised using a PTC sensor connected to encoder interface module FEN xx installed in drive Slot 1 2 If two encoder interface modules are used encoder module connected to Slot 2 is used for the temperature supervision Note If one FEN xx module is used parameter setting must be either 2 KTY 1st FEN or 5 PTC 1st FEN The FEN xx module can be in either Slot 1 or Slot 2 45 03 MOT TEMP ALM LIM FW block MOT THERM PROT see above Defines the alarm limit for the motor overtemperature protection when par 45 01 MOT TEMP PROT lt 1 Alarm or 2 Fault 0 200 Motor over
246. ed scalar 2 1 Ramp generator output is forced to zero 0 Ramp generator output is enabled normal operation State change conditions Symbol 1 Brake control is active 35 01 BRAKE CONTROL 1 WITH ACK or 2 NO ACK OR modulation of the drive is requested to stop The drive control mode is forced to speed scalar 2 External start command is on AND brake open request is on source selected by 35 07 BRAKE CLOSE REQ 0 3 Starting torque required at brake release is reached 35 06 BRAKE OPEN TORQ AND brake hold is not active 35 08 BRAKE OPEN HOLD Note With scalar control the defined starting torque has no effect 4 Brake is open acknowledgement lt 1 selected by par 35 02 BRAKE ACKNOWL AND the brake open delay has passed 35 03 BRAKE OPEN DELAY Start 1 5 6 Start 0 OR brake close command is active AND actual motor speed lt brake close speed 35 05 BRAKE CLOSE SPD 7 Brake is closed acknowledgement 0 AND brake close delay has passed 35 04 BRAKE CLOSE DLY Start 0 8 Start 1 9 Brake is open acknowledgement lt 1 AND brake close delay has passed 10 Defined starting torque at brake release is not reached 11 Brake is closed acknowledgement lt 0 AND brake open delay has passed 12 Brake is closed acknowledgement 0 13 Brake is open acknowledgement lt 1 AND brake close delay has passed Drive control and features 51 Operation time scheme Start cmd R
247. ed zero pulse position offset Parameters and firmware blocks 182 Group 95 HW CONFIGURATION Miscellaneous hardware related settings 95 01 CTRL UNIT SUPPLY FW block None Defines the manner in which the drive control unit is powered 0 Internal 24V The drive control unit is powered from the drive power unit it is mounted on 1 External 24V The drive control unit is powered from an external power supply 95 02 EXTERNAL CHOKE FW block None Defines if the drive is equipped with an AC choke or not 0 NO The drive is not equipped with an AC choke 1 YES The drive is equipped with an AC choke Parameters and firmware blocks 183 Group 97 USER MOTOR User adjustment of motor model values estimated during ID run The values can be entered in either per unit or SI 97 01 USE GIVEN PARAMS FW block None Activates the motor model parameters 97 02 97 14 and the rotor angle offset parameter 97 20 Notes Parameter value is automatically set to zero when ID run is selected by parameter 99 13 IDRUN MODE The values of parameters 97 02 97 20 are updated according to the motor characteristics identified during the ID run This parameter cannot be changed while the drive is running 0 NoUserPars Parameters 97 02 97 20 inactive 1 UserMotPars The values of parameters 97 02 97 14 are used in the motor model 2
248. ee Ee dos 243 BSET ies t seeds eed ad 243 PM te eee A tats om ete as ot E 244 Sei ost ae cet eo Md ot det olo i disse X vel ee the 245 Communication 2 4 246 D2D COnft x reet tet cts Sa Oh ea ed Raa A eee ene gue So 246 020 McastToken 2 Sep EA Ere DRE Pte Rn SE dau 247 D2D gt SendMessage pecan vx REN RR M PER RUN Wt 247 DS ReadLbocaLl ua ae mE 249 DS Wriltebocal RU e OI RUD RT RR e 250 GCorfiparisOIv s bus dede tn d S Gade 251 EE QANAPEd ma p E Wa Sr p 251 GE btw sd UR Re 251 e 251 EE oben d occisa ade edi 252 gc ICD PCM UM IULII EE P 252 cis eed o qure Mugs alien dais en cut 253 ERR CER OU 254 BOOL TO DINT ORC citus vlad AGUA Bed 254
249. eed reference is 3 04 SPEEDREF RAMPED 26 11 SPEED WIN HI OPMODE 26 08 ACC COMP DER TIME POSITION SYNCRON 26 09 ACC COMP FTIME 26 04 SPEED FEED PCTRL 3 07 ACC COMP TORQ 20 01 MAXIMUM SPEED 6 12 OP MODE ACK SPEED POSITION 3 06 SPEED ERROR FILT SYNCHRON HOMING PROF VEL 03 04 SPEED REF NCTRL 4 01 SPEED REF PCTRL 26 05 SPEED STEP 06 02 STATUS WORD 2 bit 14 RAMP OUT O 06 02 STATUS WORD 2 bit 12 RAMP IN 0 20 02 MINIMUM SPEED 1 01 SPEED ACT NCTRL 26 06 SPD ERR FTIME 26 10 SPEED WIN FUNC 26 12 SPEED WIN LO Parameters and firmware blocks 118 Firmware block SPEED ERROR SPEED ERROR TLF3 250 psec Q 26 3 05 SPEEDREF USED 3 06 SPEED ERROR FILT This block 3 07 ACC COMP TORQ e selects the source for speed error seem act calculation speed reference actual speed different control ao lt 26 03 SPEED REF PCTRL modes une 26 04 SPEED FEED PCTRL selects the source for speed 26 05 SPEED STEP reference Logs 26 06 SPEED ERR FTIME defines the speed error filtering 26 07 SPEED WINDOW time m 26 08 ACC COMP DERTIME defines an additional speed step to 26 09 AEC Cane NAE the speed error 26 10 SPEED WIN FUNC defines the supervision of speed M error with speed error window function defines ine
250. een 1 for a time defined by the pulse time input PT Elapsed time count ET starts when the input is set to 1 and stops when the input is set 100 Pulse time input PT DINT 1 1 us Input IN Boolean Output Q Boolean Elapsed time output ET DINT 1 1 us Standard function blocks 312 Standard function blocks 313 Application program template What this chapter contains This chapter presents the application program template as displayed by the DriveSPC tool after empty template upload Drive Upload Template from Drive Application program template 314 oN 200 ON 300 50 0000 AI piepueys aweu pafoid O T 061 poredaig 5 8 55 AWLL NO NV4 821 IWILL YILNNOD 921 CZ T 901538 08 dWAL 911 lt 43385 201 ANOUOL 9071 Dead 507 HO T 2077 Dead LOW 43885 2514 WNLV Application program template 315 30d 3810 bp
251. enever a block has inputs or outputs outside the current parameter group a reference is given Likewise parameters have a reference to the firmware block they are included in if any Note Not all parameters are available through firmware blocks 3 05 SPEEDREF USED 3 06 SPEED ERROR FILT 3 07 ACC COMP TORQ rr pi SPEED ACT 1 126 02 SPEED REF NCTRL lt 126 03 SPEED REF PCTRL ce lt 126 04 SPEED FEED PCTRL sl 126 05 SPEED STEP Drive 26 06 SPEED ERR i rive value 26 07 SPEED WINDOW 126 08 Inputs Outputs Input parameter values Pointer parameter indicator lt oy BR N gt Parameter 26 01 is set to value P 1 1 i e parameter 1 01 SPEED ACT The 7 means the parameter can be found on page 7 of DriveSPC Information of the block internal execution order TLF4 and time level 250 usec Time level i e update cycle is application specific See the time level of the block in DriveSPC Firmware block ID number in the application program Firmware block execution order for the selected update cycle ID Parameters and firmware blocks Group 01 ACTUAL VALUES This group contains basic actual signals for monitoring the drive 59 1 Firmware block ACTUAL VALUES ACTUAL
252. eps the speed controller input at zero When the speed error moves outside the window the exceeding part of the error value is connected to the speed controller The speed controller produces a reference term relative to the input and gain of the speed controller parameter 28 02 PROPORT GAIN which the torque selector adds if selected in parameter group 34 to the torque reference The result is used as the internal torque reference for the drive 3 13 TORQ REF TO TC Example In a load loss condition the internal torque reference of the drive 3 13 TORQ REF TO TC is decreased to prevent an excessive rise of the motor speed If window control were inactive the motor speed would rise until a speed limit of the drive were reached 0 Disabled Speed error window control inactive 1 Absolute Speed error window control active The window boundaries set by parameters 26 11 and 26 12 are effective in both directions of rotation the boundaries have a negative value when actual speed is negative 2 Relative Speed error window control active The window boundaries set by parameters 26 11 and 26 12 are only effective in the forward direction i e when actual speed is positive 26 11 SPEED WIN HI FW block SPEED ERROR see above High limit for speed window control See parameter 26 10 SPEED WIN FUNC 0 3000 rpm High limit for speed error window control 26 12 SPEED WIN LO FW block SPEED ERROR see above Low limit for speed window control See p
253. er Group index and bit 35 09 BRAKE FAULT FUNC FW block MECH BRAKE CTRL see above Defines how the drive reacts in case of mechanical brake control error If brake control supervision has not been activated by parameter 35 01 BRAKE CONTROL this parameter is disabled Parameters and firmware blocks 141 0 FAULT The drive trips on fault BRAKE CLOSED BRAKE NOT OPEN if the status of the optional external brake acknowledgement signal does not meet the status presumed by the brake control function The drive trips on fault BRAKE START TORQUE if the required motor starting torque at brake release is not achieved 1 ALARM The drive generates alarm BRAKE NOT CLOSED BRAKE NOT OPEN if the status of the optional external brake acknowledgement signal does not meet the status presumed by the brake control function The drive generates BRAKE START TORQUE if the required motor starting torque at brake release is not achieved 2 OPEN FLT The drive generates alarm BRAKE NOT CLOSED when closing the brake and trips on fault BRAKE NOT OPEN when opening the brake if the status of the optional external brake acknowledgement signal does not match the status presumed by the brake control function The drive trips on BRAKE START TORQUE if the required motor start torque at brake release is not achieved Parameters and firmware blocks 142 Group 40 MOTOR CONTROL
254. er cannot be changed while the drive is running Bit pointer Group index and bit 10 10 EM STOP OFF3 FW block DRIVE LOGIC see above Selects the source for the emergency stop OFF3 0 lt OFF3 active The drive is stopped along the emergency stop ramp time 25 11 EM STOP TIME Emergency stop can also be activated through fieldbus 2 12 FBA MAIN CW See section Emergency stop on page 53 Note This parameter cannot be changed while the drive is running Bit pointer Group index and bit Parameters and firmware blocks 82 10 11 5 1 FW block DRIVE LOGIC see above Selects the source for the emergency stop OFF1 0 OFF1 active The drive is stopped with the active deceleration time Emergency stop can also be activated through fieldbus 2 12 MAIN CW See section Emergency stop on page 53 Note This parameter cannot be changed while the drive is running Bit pointer Group index and bit 10 12 START INHIBIT FW block DRIVE LOGIC see above Enables the start inhibit function The start inhibit function prevents drive restart i e protects against unexpected start if drive trips on a fault and fault is reset run enable signal activates while the start command is active See parameter 10 09 RUN ENABLE control changes from local to remote external control switches from EXT1 to EXT2 or from EXT2 to EXT1 An active start inhibit
255. er control without resistor overload protection This setting can be used for example if the resistor is equipped with a thermal circuit breaker that is wired to stop the drive if the resistor overheats 48 02 BC RUN TIME ENA FW block BRAKE CHOPPER see above Selects the source for quick run time brake chopper control 0 lt Brake chopper IGBT pulses are cut off 1 Normal brake chopper IGBT modulation The overvoltage control is automatically switched off This parameter can be used to program the chopper control to function only when the drive is operating in generating mode Bit pointer Group index and bit 48 03 BRTHERMTIMECONST FW block BRAKE CHOPPER see above Defines the thermal time constant of the brake resistor for overload protection 0 10000 s Brake resistor thermal time constant 48 04 BR POWER MAX CNT FW block BRAKE CHOPPER see above Defines the maximum continuous braking power which will raise the resistor temperature to the maximum allowed value The value is used in the overload protection 0 10000 kw Maximum continuous braking power 48 05 RBR FW block BRAKE CHOPPER see above Defines the resistance value of the brake resistor The value is used for brake chopper protection Parameters and firmware blocks 155 0 1 1000 Resistance 48 06 BR TEMP FAULTLIM FW block BRAKE CHOPPER see above Selects th
256. erence enable command See parameter 20 03 POS SPEED ENA Bit pointer Group index and bit 20 05 MAXIMUM CURRENT FW block LIMITS see above Defines the allowed maximum motor current 0 30000 A Maximum allowed motor current 20 06 MAXIMUM TORQUE FW block LIMITS see above Defines the maximum torque limit for the drive in percent of the motor nominal torque 0 1600 Maximum torque limit 20 07 MINIMUM TORQUE FW block LIMITS see above Defines the minimum torque limit for the drive in percent of the motor nominal torque 1600 0 Minimum torque limit 20 08 THERM CURR LIM FW block None Enables the thermal current limitation Thermal current limit is calculated by the inverter thermal protection function isable e calculated thermal limit is not used If the inverter output current is 0 Disabl Th Iculated th limit i d If the i i excessive alarm OVERTEMP is generated and eventually the drive trips on fault IGBT OVERTEMP nable e calculated thermal current value limits the inverter output current 1 Enabl The calculated th lue limits the i i e motor current Parameters and firmware blocks 104 Group 22 SPEED FEEDBACK Settings for selection of speed feedback used in drive control filtering disturbances in measured speed signal motor encoder gear function zero speed limit for stop function delay for Zero S
257. ernal control locations EXT1 and EXT2 are available The user can select control signals e g start stop and reference and control modes for both external control locations Depending on the user selection either EXT1 or EXT2 is active at a time Selection between EXT1 EXT2 is done via digital inputs or fieldbus control word In addition the EXT1 control location is divided into EXT1 CTRL MODE1 and EXT1 CTRL MODE2 Both use the EXT1 control signals for start stop but the control mode can be different for example EXT1 CTRL MODE2 can be used homing Operating modes of the drive The drive can operate in speed and torque control modes A block diagram of the drive control chain for these modes is presented on page 37 more detailed diagrams are presented in Appendix C Control chain and drive logic diagrams page 343 Speed control mode Motor rotates at a speed proportional to the speed reference given to the drive This mode can be used either with estimated speed used as feedback or with an encoder or resolver for better speed accuracy Speed control mode is available in both local and external control Torque control mode Motor torque is proportional to the torque reference given to the drive This mode can be used either with estimated speed used as feedback or with an encoder or resolver for more accurate and dynamic motor control Torque control mode is available in both local and external control Drive contro
258. eters and firmware blocks 60 ENCODER 2 SPEED FW block ENCODER page 169 Encoder 2 speed in rpm ENCODER 2 POS FW block ENCODER page 169 Actual position of encoder 2 within one revolution SPEED ESTIMATED FW block ACTUAL VALUES see above Estimated motor speed in rpm TEMP INVERTER FW block ACTUAL VALUES see above Measured temperature of the heatsink in Celsius 1 16 TEMP BC FW block ACTUAL VALUES see above Brake chopper IGBT temperature in Celsius MOTOR TEMP FW block MOT THERM PROT page 145 Measured motor temperature in Celsius when a KTY sensor is used With a PTC sensor the value is always 0 MOTOR TEMP EST FW block MOT THERM PROT page 145 Estimated motor temperature in Celsius 1 19 USED SUPPLY VOLT FW block VOLTAGE CTRL page 152 Either the user given supply voltage parameter 47 04 SUPPLY VOLTAGE or if auto identification is enabled by parameter 47 03 SUPPLVOLTAUTO ID the automatically determined supply voltage 1 20 BRAKE RES LOAD FW block ACTUAL VALUES see above Estimated temperature of the braking resistor The value is given in percent of the temperature the resistor reaches when loaded with the power defined by parameter 48 04 BR POWER MAX 1 21 CPU USAGE FW block None Microprocessor load in percent 1 22 INVERTER POWER FW block ACTUAL VALUES see above Drive output
259. f the I1 In inputs are copied to output during this program cycle If S or R is 1 L has no effect WR and AWR are used to change individual cells of the output array AWR indicates the input whose value is moved to the output array If AWR is 0 only the array from input EXP is moved to the output is not 0 the corresponding input is moved to the output This is performed when WR goes from 0 to 1 When input R is 1 the output array is cleared and all further data entry is prevented R overrides both S and L If WR is 1 the address at AWR is checked and if it is illegal negative or greater than the number of inputs the error output ERR is set to 2 Otherwise ERR is O Whenever an error is detected ERR is set within one cycle No place in the register is affected when an error occurs Example REG G READ amp TLA2 10 msec FALSE ERR 46 FALSE 046 CONTAINER FALSE REAL 4 TLA2 10 msec FALSE OUT 4 147 6 7 8 In the diagram the DATA CONTAINER block includes an array with values 1 2 3 4 At start the output array is 0 0 0 0 0 0 0 0 When WR changes to 1 and returns to 0 the AWR value of 0 means that only EXP is moved into the output array which now reads 1 2 3 4 0 0 0 0 After this AWR is changed to 3 meaning that inputs EXP and 13 are moved to the output After a WR switch the output array is
260. f the CYCLET function block Output OUT DINT 1 1 us DATA CONTAINER DINT 59 1 msec 1 TS OUT 59 0 00 us Output OUT is an array of data with values 1 99 The array can be used by the XTAB and YTAB tables in the block FUNG 1V page 286 The array is defined by selecting Define Pin Array Data on the output pin in DriveSPC Each value in the array must be on a separate row Data can also be read from an arr file Example DATA CONTAINER Array Data REAL xj REAL 46 TLA2 10 msec 1 Number of Data Items 12 88 P Array Data Items 0 1 0 2 Min Item Value 32768 05 Item Value 0 6 32767 9999847 07 08 Read Data from Cancel The output data type and the number of coordinate pairs are selected by the user Output OUT DINT INT REAL or REAL24 Standard function blocks 286 FUNG 1V 10072 Illustration Execution time Operation Inputs Y 60 BALREFO 60 ERROR 60 9 29 The output Y at the value of the input X is calculated with linear interpolation from a piecewise linear function Y Yk X XY k 1 Yi Xk The piecewise linear function is defined by the X and Y vector tables XTAB and YTAB For each X value in the XTAB table there is a corresponding Y value in the YTAB table The values in XTAB and YTAB must be in ascending order i e from low to high XTAB and YTA
261. fer function for a single pole low pass filter is G s 1 1 sT1 Input I REAL Filter time constant input T1 DINT 1 1 ms Output O REAL FILT2 68 Y 68 6 30 us The output Y is the filtered value of the input X The FILT2 block acts as a 2nd order low pass filter When the RESET input value is set to 1 the input is connected to the output without filtering Notes The 3 dB cutoff frequency FRQ is limited to its maximum value 16383 Hz The frequency of the input signal must be less than half of sampling frequency fs any higher frequencies are aliased to the allowable range The sampling frequency is defined by the time level of the block for example 1 ms corresponds to a sampling frequency of 1000 Hz The following diagrams show the frequency responses for 1 2 5 and 10 ms time levels The 3 dB cutoff level is represented as the horizontal line at 0 7 gain Standard function blocks Time level 1 m 1 0 9 4 0 8 1 0 7 1 4 Frequency Hz Inputs Outputs LEAD LAG 10071 Illustration Execution time Operation Inputs Outputs 297 Time level 10 ms fs 100 Hz fs 2 50 Hz AS 0 7F 0 6 04r 03r 02r 01r i 10 15 20 25 30 35 40 45 0 1 0 5 Filter gain Frequency Hz Input X REAL 3 dB cutoff frequency input FRQ DIN
262. for most cases For information on scalar control see parameter 99 05 MOTOR CTRL MODE 99 05 MOTOR CTRL MODE Enter the motor data from the motor nameplate Asynchronous motor nameplate example 3 motor 2 200 MLA 4 IEC 200 M L 55 Ins cl 55 V Hz kW min cos glwiN tE s 690Y 50 30 1475 325 0 83 4000 50 30 1475 56 10 83 660Y 50 1470 34 0 83 380 V 3800 50 30 1470 59 083 mains 4150 50 30 1475 54 10 83 440D 60 35 1770 59 0 83 voltage 3GAA 202 001 ADA 6312 3 dm 521003 180 kg gt IEC34 1 NS Permanent magnet motor nameplate example ADE 2 54836 4008 43 10 lo in 91 95 IP65 278A Insulation class F To Tn 105 105 Tp 31 3 Nm Pn 3 3 kW Fn 200 Hz 3000 r min C US Bemf Nn 208 7 VQ r min Feedback RESOLVER TS 828 Brake Vdc 68847184AA12345 pv N 00 0007 Made Japan With DTC control 99 05 MOTOR CTRL MODE 0 DTC at least parameters 99 06 99 10 must be set Better control accuracy can be achieved by setting also parameters 99 11 99 12 Note Set the motor data to exactly the same value as on the motor nameplate For example if the motor nominal speed is 1470 rpm on the nameplate setting the value
263. ge in steady state operation is 0 95 x 550 sqrt 2 369 V The dynamic performance of the motor control in the field weakening area can be improved by increasing the voltage reserve value but the drive enters the field weakening area earlier 4 50 96 Minimum allowed voltage reserve 40 05 FLUX OPT FW block MOTOR CONTROL see above Enables the flux optimisation function Flux optimisation improves motor efficiency and reduces noise Flux optimisation is used in drives that usually operate below nominal load Note With a permanent magnet motor flux optimisation is always enabled regardless of this parameter 0 Disable Flux optimisation disabled 1 Enable Flux optimisation enabled 40 06 FORCE OPEN LOOP FW block MOTOR CONTROL see above Defines the speed position information used by the motor model 0 FALSE Motor model uses the speed feedback selected by parameter 22 01 SPEED FB SEL 1 TRUE Motor model uses the internal speed estimate even when parameter 22 01 SPEED FB SEL setting is 1 Enc1 speed 2 2 Parameters and firmware blocks 144 40 07 COMPENSATION FW block MOTOR CONTROL see above Defines the relative output voltage boost at zero speed IR compensation The function is useful in applications with high break away torque when no DTC motor can be applied This parameter is only effective when parameter 99 0
264. he source for torque reference addition used e g for compensating mechanical interferences Also shows the torque reference and reference addition values TORQ REF SEL 500 1 3 09 REF1 3 12 o 132 01 SEL o 32 02 REF ADD SEL Block outputs located in other parameter groups 3 09 TORQ REF1 page 68 3 12 TORQUE REF ADD page 68 32 01 TORQ REF1 SEL FW block TORQ REF SEL see above Selects the source for torque reference 1 See also parameter 32 03 TORQ REF IN 0 ZERO Zero reference 1 Analogue input AI1 2 12 Analogue input AI2 3 FBA REF1 Fieldbus reference 1 4 FBA REF2 Fieldbus reference 2 5 D2D REF1 Drive to drive reference 1 6 D2D REF2 Drive to drive reference 2 32 02 TORQ REF ADD SEL FW block TORQ REF SEL see above Selects the source for the torqu TORQ REF ADD SRC is conne Because the reference is added after the torque reference selection this parameter can be used in speed and torque control modes See block diagram at parameter group 34 REFERENCE CTRL e reference addition 3 12 TORQUE REF ADD Parameter 34 10 cted to signal 3 12 TORQUE REF ADD by default page 136 0 ZERO Zero reference addition 1 Analogue input AI1 2 12 Analogue input AI2 3 FBA REF1 Fieldbus reference 1 4 FBA REF2 F
265. i e 2 18 D2D FOLLOWER CW Value pointer Group and index 57 09 KERNEL SYNC MODE FW block D2D COMMUNICATION see above Determines which signal the time levels of the drive are synchronised with An offset can be defined by parameter 57 10 KERNEL SYNC OFFS if desired 0 NoSync No synchronisation 1 D2DSync If the drive is the master on a drive to drive link it broadcasts a synchronisation signal to the follower s If the drive is a follower it synchronises its firmware time levels to the signal received from the master Parameters and firmware blocks 166 2 FBSync The drive synchronises its firmware time levels to a synchronisation signal received through a fieldbus adapter 3 FBToD2DSync If the drive is the master on a drive to drive link it synchronises its firmware time levels to a synchronisation signal received from a fieldbus adapter and broadcasts the signal on the drive to drive link If the drive is a follower this setting has no effect 57 10 KERNEL SYNC OFFS FW block D2D COMMUNICATION see above Defines an offset between the synchronisation signal received and the time levels of the drive With a positive value the drive time levels will lag behind the synchronisation signal with a negative value the drive time levels will lead 4999 5000 ms Synchronisation offset 57 11 REF 1 MSG TYPE FW block D2D COMMUNI
266. i e parameter factory default values Note This parameter cannot be changed while the drive is running 0 Done Restoration is completed 1 Restore defs All parameter values are restored to default values except motor data ID run results and fieldbus drive to drive link and encoder configuration data 2 Clear all All parameter values are restored to default values including motor data ID run results and fieldbus and encoder configuration data PC tool communication is interrupted during the restoration Drive CPU is re booted after the restoration is completed 16 07 PARAM SAVE FW block None Saves the valid parameter values to permanent memory See also section Programming via parameters on page 30 0 Done Save completed 1 Save Save in progress Parameters and firmware blocks 99 16 09 USER SEL FW block None Enables the save and restoration of up to four custom sets of parameter settings The set that was in use before powering down the drive is in use after the next power up Note Any parameter changes made after loading a user set are not automatically stored into the loaded set they must be saved using this parameter 1 No request Load or save operation complete normal operation 2 Load set 1 Load user parameter set 1 3 Load set 2 Load user parameter set 2 4 Load set 3 Load user p
267. ieldbus reference 2 5 D2D REF1 Drive to drive reference 1 6 D2D REF2 Drive to drive reference 2 Parameters and firmware blocks 130 Firmware block TORQ REF MOD TORQ REF MOD 500 psec 33 3 10 3 11 REF RUSHLIM This block lt 32 03 TORQ REF IN selects the source for the torque 02 32 04 MAXIMUM REF reference 32 05 MINIMUM TORQ REF scales the input torque reference 11 01 32 06 LOAD SHARE according to the defined load share 199951 32 07 TORQ RAMP UP factor d 32 08 TORQ RAMP DOWN defines limits for the torque reference defines ramp up and ramp down times for the torque reference shows the ramped torque reference value and the torque reference value limited by the rush control Block outputs located in other 3 10 TORQ REF RAMPED page 68 parameter groups 3 11 TORQ REF RUSHLIM page 68 32 03 REF IN FW block REF MOD see above Selects the source for the torque reference input for the torque ramp function The default value is 3 9 i e signal 3 09 REF 1 which is the output of the TORQ REF SEL firmware block Value pointer Group and index 32 04 MAXIMUM TORQ REF FW block TORQ REF MOD see above Defines the maximum torque reference 0 1000 Maximum torque reference 32 05 MINIMUM TORQ REF FW block TORQ REF MOD see above
268. ifies the number of the local dataset used as the source or the target of the message The RemoteDsNr input specifies the number of the remote dataset used as the target or the source of the message The Sent msg count output is a wrap around counter of successfully sent messages The error codes indicated by the Error output are as follows Bit Description D2D MODE ERR Drive to drive communication not activated or message type not supported in current drive to drive mode master follower LOCAL DS ERR LocalDsNr input out of range 16 199 TARGET NODE ERR Target Node Grp input out of range 1 62 REMOTE DS ERR Remote dataset number out of range 16 199 MSG TYPE ERR Msg Type input out of range 0 5 Reserved GENERAL D2D ERR Unspecified error in D2D driver RESPONSE ERR Syntax error in received response TRA PENDING Message has not yet been sent 5 0 PENDING Response has not yet been received 11 REC TIMEOUT No response received 12 REC ERROR Frame error in received message 13 REJECTED Message has been removed from transmit buffer 14 BUFFER FULL Transmit buffer full Message type Msg Type INT Target node or multicast group Target Node Grp INT Local dataset number LocalDsNr INT Remote dataset number RemoteDsNr INT Successfully sent messages counter Sent msg count DINT Error output Error
269. imultaneous STOP and 10 05 START commands result in a stop command 10 06 0 No operation 1 START 1 Start Note Simultaneous STOP and START OR 10 02 commands result in a stop command 10 03 0 No operation 10 05 10 06 2 STPMODE 1 Emergency OFF2 bit 0 must be 1 Drive is AND EM OFF stopped by cutting off the motor power supply the inverter IGBTs are blocked The motor coasts to stop The drive will restart only with the next rising edge of the start signal when the run enable signal is on 0 No operation 3 STPMODE 1 Emergency stop OFF3 bit 0 must be 1 Stop within 10 10 EM STOP the time defined by 25 11 EM STOP TIME 0 No operation 4 STPMODE 1 Emergency stop OFF1 bit be 1 Stop along 10 11 OFF1 the currently active deceleration ramp 0 No operation 5 STPMODE 1 Stop along the currently active deceleration ramp 11 03 RAMP 0 No operation 6 STPMODE 1 Coast to stop 11 03 COAST 0 No operation 7 RUN 1 Activate run enable AND 110 09 ENABLE 0 Activate run disable 8 RESET 0 21 Fault reset if an active fault exists OR 10 08 other No operation 9 JOGGING 1 1 Activate jogging function 1 See section Jogging on OR 10 07 page 45 0 Jogging function 1 disabled If all stop mode bits 2 6 are 0 stop mode is selected by 11 03 STOP MODE Coast stop bit 6 overrides the emergency stop bit 2 3 4 Emergency stop overrides the normal ramp stop bit 5 Para
270. imum speed 20 02 MINIMUM SPEED FW block LIMITS see above Defines the allowed minimum speed See also parameter 22 08 SPEED TRIPMARGIN 30000 0 rpm Allowed minimum speed 20 03 POS SPEED FW block LIMITS see above Selects the source of the positive speed reference enable command 1 Positive speed reference is enabled 0 Positive speed reference is interpreted as zero speed reference In the figure below 3 03 SPEEDREF RAMP IN is set to zero after the positive speed enable signal has cleared Actions in different control modes Speed control Speed reference is set to zero and the motor is stopped along the currently active deceleration ramp Torque control Torque limit is set to zero and the rush controller stops the motor A 20 03 POS SPEED ENA 20 04 p cc EC 3 03 SPEEDREF RAMP IN 1 08 1 Example motor is rotating in the forward direction To stop the motor the positive speed enable signal is deactivated by a hardware limit switch e g via digital input If the positive speed enable signal remains deactivated and the negative speed enable signal is active only reverse rotation of the motor is allowed Bit pointer Group index and bit Parameters and firmware blocks 103 20 04 SPEED FW block LIMITS see above Selects the source of the negative speed ref
271. ing mains phase blown fuse or rectifier bridge internal fault 0006 EARTH FAULT Drive has detected load Check there are no power factor correction 0x2330 unbalance typically due to earth capacitors or surge absorbers in motor cable Programmable fault 46 05 fault in motor or motor cable Check that there is no earth fault in motor or EARTH FAULT motor cables measure insulation resistances of motor and motor cable If no earth fault can be detected contact your local ABB representative 0007 FAN FAULT Fanis not able to rotate freely or Check fan operation and connection OxFF83 fan is disconnected Fan operation is monitored by measuring fan current Fault tracing 220 Code Fault Cause What to do fieldbus code 0008 IGBT OVERTEMP Drive temperature based on Check ambient conditions 0x7184 thermal model has exceeded Check air flow and fan operation int fault limit Check heatsink fins for dust pick up Check motor power against unit power 0009 BC WIRING Brake resistor short circuit or Check brake chopper and brake resistor 0x7111 brake chopper control fault connection Ensure brake resistor is not damaged 0010 BC SHORT CIRCUIT Short circuit in brake chopper Ensure brake resistor is connected and not 0x7113 IGBT damaged 0011 BC OVERHEAT Brake chopper IGBT Let chopper cool down 0x7181 temperature has exceeded Check for excessive ambient temperatur
272. ing interval Ref1 Cycle Sel INT Drive to drive reference 2 handling interval Ref2 Cycle Sel INT Standard multicast address Std Mcast Group INT Error output Error PB Standard function blocks 020 McastToken 10096 020 SendMessage 10095 Execution time 247 D2D McastToken 71 1 1 Target Node Error 71 Error Mcast Cycle Configures the transmission of token messages sent to a follower Each token authorizes the follower to send one message to another follower or group of followers For the message types see the block D2D SendMessage Note This block is only supported in the master The Target Node input defines the node address the master sends the tokens to the range is 1 62 The Mcast Cycle specifies the interval between token messages in the range of 2 1000 milliseconds Setting this input to O disables the sending of tokens The error codes indicated by the Error output are as follows Bit Description 0 D2D MODE ERR Drive is not master 5 TOO SHORT CYCLE Token interval is too short causing overloading 6 INVALID INPUT VAL An input value is out of range GENERAL D2D ERR Drive to drive communication driver failed to initialize message Execution time See also section Examples of using standard function blocks in drive to drive communication starting on page 339 Token recipient Target Node INT Token interval
273. ins unchanged until it is reset R or until the load input LD is set to 1 The up counter status output QU is 1 if the counter output CV value gt preset input PV value The down counter status output QD is 1 if the counter output CV value lt 0 Example CU CD R LD PV QU QD CVprey 0 gt 0 0 gt 0 0 0 2 0 1 0 0 0 gt 0 0 gt 0 0 1 2 1 0 0 2 0 gt 0 0 gt 0 1 0 2 0 1 2 0 0 gt 0 0 gt 0 1 1 2 0 1 0 0 0 gt 0 0 gt 1 0 0 2 0 1 0 0 1 1 0 gt 0 1 gt 1 0 1 2 1 0 1 2 0 gt 0 1 gt 1 1 0 2 0 1 2 0 0 gt 0 1 gt 1 1 1 2 0 1 0 0 0 1 1 gt 0 0 0 2 0 0 0 0 1 1 1 21 0 gt 0 0 1 2 1 0 1 2 1 1 0 gt 0 1 0 2 0 1 2 0 1 21 0 gt 0 1 1 2 0 1 0 0 1 21 0 gt 1 0 0 2 0 1 0 0 1 1 1 21 1 gt 1 0 1 2 1 0 1 2 1 21 1 gt 1 1 0 2 0 1 2 0 1 gt 1 1 gt 1 1 1 2 0 1 0 CV prev is the previous cycle counter output value Up counter input CU Boolean Down counter input CD Boolean Reset input R Boolean Load input LD Boolean Preset input PV INT Counter output CV INT Up counter status output QU Boolean Down counter status output QD Boolean Standard function blocks 268 CTUD DINT 10050 Illustration Execution time Operation CTUD DINT 98 1 msec 1 98 QU 98 QD 98 1 40 us The counter output CV value is increased by 1 if the
274. ion 0 READY 1 Drive is ready to receive start command 0 Drive is not ready 1 ENABLED 1 External run enable signal is received 0 external run enable signal is received 2 STARTED 1 Drive has received start command 0 Drive has not received start command 3 RUNNING 1 Drive is modulating O Drive is not modulating 4 EM OFF OFF2 1 Emergency OFF2 is active 0 OFF2 is inactive 5 EM STOP 1 Emergency stop OFF3 ramp stop is active 0 OFF3 is inactive 6 ACK STARTINH 1 Start inhibit is active 0 Start inhibit is inactive 7 ALARM 1 An alarm is active See chapter Fault tracing 0 No alarm 8 EXT2 ACT 1 External control EXT2 is active 0 External control EXT1 is active 9 LOCAL FB 1 Fieldbus local control is active 0 Fieldbus local control is inactive 10 FAULT 1 A fault is active See chapter Fault tracing 0 No fault 11 LOCAL PANEL 1 Local control is active i e drive is controlled from PC tool or control panel 0 Local control is inactive 12 NOT FAULTED 1 No fault 0 A fault is active See chapter Fault tracing 13 15 Reserved Parameters and firmware blocks 71 6 02 STATUS WORD 2 FW block DRIVE LOGIC page 78 Status word 2 Bit Name Val Information 0 START ACT 1 start command is active 0
275. ion of rotation of the motor before starting the ID run During the run Normal or Reduced the motor will rotate in the forward direction When drive output phases U2 V2 and W2 are connected to the corresponding motor terminals cm S forward X direction reverse direction fo 27 Start up 21 Select motor identification method by parameter 99 13 IDRUN MODE During the Motor ID run the drive will identify the characteristics of the motor for optimum motor control The ID run is performed at the next start of the drive Note The motor shaft must NOT be locked and the load torque must be 2090 during Normal or Reduced ID run With permanent magnet motor this restriction applies also when Standstill ID run is selected Note Mechanical brake if present is not opened during the ID run Note The ID run cannot be performed if par 99 05 MOTOR CTRL MODE 1 Scalar NORMAL ID run should be selected whenever possible Note The driven machinery must be de coupled from the motor with Normal ID run if the load torque is higher than 20 the machinery is not able to withstand the nominal torque transient during the ID run The REDUCED ID run should be selected instead of the Normal ID run if the mechanical losses are higher than 2096 i e the motor cannot be de coupled from the driven equipment or full flux is required to keep the motor brake open conical mot
276. ional input When all inputs are used the execution time is 13 87 us Standard function blocks 252 LE 10043 LT 10044 Operation Inputs Outputs lt Illustration Execution time Operation Inputs Outputs lt Illustration Execution time Operation Inputs Outputs The output OUT is 1 if IN1 gt 1 2 8 IN2 gt IN3 4 IN31 gt IN32 Otherwise the output is O The input data type and the number of inputs 2 32 are selected by the user Input IN1 1N32 INT DINT REAL REAL24 Output OUT Boolean OUT 78 0 89 us when two inputs are used 0 43 ys for every additional input When all inputs are used the execution time is 13 87 us Output OUT is 1 if IN1 lt IN2 8 IN2 IN3 amp IN31 IN32 Otherwise the output is O The input data type and the number of inputs 2 32 are selected by the user Input IN1 IN32 INT DINT REAL REAL24 Output OUT Boolean OUT 79 0 89 us when two inputs are used 0 43 us for every additional input When all inputs are used the execution time is 13 87 us Output OUT is 1 if IN1 lt IN2 amp IN2 lt IN3 amp IN31 lt IN32 Otherwise the output is 0 The input data type and the number of inputs 2 32 are selected by the user Input IN1 IN32 INT DINT REAL REAL24 Output OUT Boolean Standard function blocks 10045
277. ions One technology library can be used at a time Technology blocks are used in a similar way as the standard blocks User parameters User parameters can be created with the DriveSPC tool They are inserted into the application program as blocks that can be connected to existing application blocks User parameters can be added to any existing parameter group the first available index is 70 Parameter groups 5 and 75 89 are available for user parameters starting from index 1 Using attributes the parameters can be defined as write protected hidden etc For more information see the DriveSPC User Manual Application events The application programmer can create his her own application events alarms and faults by adding alarm and fault blocks these blocks are managed through the Alarm and Fault Managers of the DriveSPC tool The operation of alarm and fault blocks is the same when the block is enabled by setting the Enable input to 1 an alarm or fault is generated by the drive Program execution The application program is loaded to the permanent non volatile memory of the memory unit JMU When the loading finishes the drive control board is automatically reset and the downloaded program started The program is executed in real time on the same Central Processing Unit CPU of the drive control board as the drive firmware The program can be executed at the two dedicated time levels of 1 and 10 milliseconds as well as
278. ired 28 17 TUNE BANDWIDTH 28 18 TUNE DAMPING The drive must be in local control mode and stopped before an autotune is requested After requesting an autotune with this parameter start the drive within 20 seconds Wait until the autotune routine is completed this parameter has reverted to the value 0 Done The routine can be aborted by stopping the drive Check the values of the parameters set by the autotune function See also section Speed controller tuning on page 46 0 Done No tuning has been requested normal operation The parameter also reverts to this value after an autotune is completed moot equest speed controller autotune with preset settings for smoot 1 5 9 ith i f h operation 2 Middle Request speed controller autotune with preset settings for medium tight operation 3 Tight Request speed controller autotune with preset settings for tight operation ser equest speed controller autotune with the settings defined by 4 U R d ith th i defined b parameters 28 17 TUNE BANDWIDTH and 28 18 TUNE DAMPING 28 17 TUNE BANDWIDTH FW block None Speed controller bandwidth for autotune procedure User mode see parameter 28 16 PI TUNE MODE A larger bandwidth results in more restricted speed controller settings 0 00 2000 00 Hz Tune bandwidth for User autotune mode 28 18 TUNE DAMPING FW block None Speed controller damping for autotu
279. is 1 if the input I is 0 The output is 0 if the input is 1 Input 1 Boolean Output O Boolean Standard function blocks 238 10012 Illustration Execution time Operation Inputs Outputs ROL 10013 Illustration Execution time Operation Inputs OUT 58 1 55 us when two inputs are used 0 60 for every additional input When all inputs are used the execution time is 19 55 us The output OUT is 0 if all connected inputs IN are 0 Otherwise the output is 1 Truth table IN1 IN2 OUT The inputs can be inverted The number of inputs 2 32 is selected by the user Input IN1 IN32 Boolean Output OUT Boolean 0 59 1 28 Input bits I are rotated to the left by the number of bits defined by BITCNT most significant bits MSB of the input are stored as the N least significant bits LSB of the output Example If BITCNT 3 3 MSB 1 11100000111001011101001100110101 00000111001011101001100110101111 3 LSB The input data type is selected by the user Number of bits input BITCNT INT DINT Input I INT DINT Standard function blocks 10014 5 10015 Outputs Illustration Execution time Operation Inputs Outputs Illustration Execution time Operation 239 Output
280. is a follower on the drive to drive link 2 Master The drive is the master on the drive to drive link Only one drive can be the master at a time 57 02 COMM LOSS FUNC FW block D2D COMMUNICATION see above Selects how the drive acts when an erroneous drive to drive configuration or a communication break is detected 0 No Protection inactive 1 Alarm The drive generates an alarm 2 Fault The drive trips on a fault 57 03 ADDRESS FW block D2D COMMUNICATION see above Sets the node address for a follower drive Each follower must have a dedicated node address Note If the drive is set to be the master on the drive to drive link this parameter has no effect the master is automatically assigned node address 0 Parameters and firmware blocks 165 1 62 Node address 57 04 FOLLOWER MASK 1 FW block D2D COMMUNICATION see above On the master drive selects the followers to be polled If no response is received from a polled follower the action selected by parameter 57 02 COMM LOSS FUNC is taken The least significant bit represents follower with node address 1 while the most significant bit represents follower 31 When bit is setto 1 the corresponding node address is polled For example followers 1 and 2 are polled when this parameter is set to the value of 0x3 0x00000000 0x7FFFFFFF Follower mask 1 57 05 FOLLOWER MASK 2 FW block D2D COMMUNICATION see above
281. is specified using the node address Note The data is not sent to the master Token Master a4 Follower Follower Dataset table Dataset table Dataset table TargetNode X LocalDsNr RemoteDsNr 57 03 NODE ADDRESS X Standard multicast messaging In standard multicast messaging one dataset can be sent to a group of drives having the same standard multicast group address The target group is defined by the D2D Conf standard function block see page 246 The sending drive can either be the master or a follower after receiving a token from the master Note The master does not receive the sent data even if it is a member of the target multicast group Master to follower s multicasting Master Follower Follower Dataset table Dataset table Dataset table Target Grp X LocalDsNr RemoteDsNr aa RemoteDsNr Std Mcast Group X Std Mcast Group X Appendix B Drive to drive link 336 Follower to follower s multicasting Master Dataset table Token Follower Dataset table Broadcast messaging In broadcasting the master sends one dataset to all fol
282. k REFERENCE CTRL see above Selects the control mode for local control Note This parameter cannot be changed while the drive is running 1 Speed Speed control Torque reference is 3 08 TORQ REF SP CTRL which is the output of the SPEED CONTROL firmware block Torque reference source can be changed by parameter 34 08 TREF SPEED SRC 2 Torque Torque control Torque reference is 3 11 TORQ REF RUSHLIM which is an output of the TORQ REF MOD firmware block Torque reference source can be changed by parameter 34 09 TREF TORQ SRC 34 08 TREF SPEED SRC FW block REFERENCE CTRL see above Selects the source for the torque reference from the speed controller Default value is P 3 8 i e 3 08 TORQ REF SP CTRL which is Note This parameter has been locked i e no user setting is possible the output of the SPEED CONTROL firmware block Value pointer Group and index 34 09 TREF TORQ SRC FW block REFERENCE CTRL see above Selects the source for the torque reference from the torque reference chain Default value is P 3 11 which is an output of the TORQ REF MOD firmware block Note This parameter has been locked i e no user setting is possible i e 3 11 TORQ REF RUSHLIM Value pointer Group and index Parameters and firmware blocks 138 34 10 REF ADD SRC FW block REFERENCE CTRL see above Selects the source for the torque refe
283. kW With multimotor drives see section Multimotor drives on page 19 motor nominal cos not applicable for permanent magnet motors This value can be set for better DTC control accuracy If value is not given by the motor manufacturer use value 0 i e default value Range 0 1 motor nominal shaft torque This value can be set for better DTC 99 06 MOT NOM CURRENT 99 07 MOT NOM VOLTAGE 99 08 MOT NOM FREQ 99 09 MOT NOM SPEED 99 10 MOT NOM POWER 99 11 MOT NOM COSFII 99 12 MOT NOM control accuracy If value is not given by the motor manufacturer use TORQUE value 0 i e default value Range 0 2147483 647 Nm After the motor parameters have been set alarm ID RUN is generated Alarm to inform that the ID run needs to be performed ID RUN Start up 19 Check that the motors the same relative slip only for asynchronous motors nominal voltage and number of poles If the manufacturer motor data is insufficient use the following formulas to calculate the slip and the number of poles N fy 60 n 2262 ns n S N 100 Ng 5 where p number of pole pairs motor pole number 2 f motor nominal frequency Hz Ny motor nominal speed rpm 5 motor slip ng motor synchronous speed rpm Set the sum of the motor nominal currents 99 06 MOT NOM CURRENT Set the nomi
284. l and features 37 Ly 916 dig 18 dig JONLNOO WSN 4 9 2 2101 919 sdojsul3 06 dig pue dio 01414 SNOILO3 LOHd OL di YOLOW 9 JAYA penises duo ovadaaad Qqaads 31901 19 jay peedg sog 92 dig Os LOIG LOY dig SLAdLNO SO WNY duo 9 LId duo WLISIG 82410 JOYLNOO dO gz dig 48385 43385 434 48345 yc dio yc 419 GOW 43 135 J3H qaads qaads Or dig 02 duo SIAN HOLON 434 08401 J043uo2 pue 6 10 cedo 419 GOW 135 4354 0801 Drive control and features 38 Motor control features Scalar motor control It is possible to select scalar control as the motor control method instead of Direct Torque Control DTC In scalar control mode the drive is controlled with a frequency reference However the performance of DTC is not achieved in scalar control It is recommended to activate the scalar motor control mode in the following situations n multimotor drives 1 if the load is not equally shared between the motors 2
285. l speed 2 0 11 di Ground AGND 12 C X5 Drive to drive link termination J3 B 1 Drive to drive link A 2 BGND 3 X6 Safe Torque Off Both circuits must be closed for the onf 7 drive to start See appropriate drive hardware 3 4 INZ 4 Control panel connection X7 Default connections of the control unit 57 Parameters and firmware blocks What this chapter contains This chapter lists and describes the parameters provided by the firmware Types of parameters Parameters are user adjustable operation instructions of the drive groups 10 99 There are four basic types of parameters Actual signals value parameters value pointer parameters and bit pointer parameters Actual signal Type of parameter that is the result of a measurement or calculation by the drive Actual signals can be monitored but not adjusted by the user Actual signals are typically contained within parameter groups 1 9 For additional actual signal data e g update cycles and fieldbus equivalents see chapter Parameter data Value parameter A value parameter has a fixed set of choices or a setting range Example 1 Motor phase loss supervision is activated by selecting 1 Fault from the selection list of parameter 46 04 MOT PHASE LOSS Example 2 The motor nominal power kW is set by writing the appropriate value to parameter 99 10 MOT NOM POWER e g 10 Value pointer parameter A value pointer paramete
286. lled as follows Par 10 05 Command 0 gt 1 Start 1 20 Stop 2 3 wire Source of the start and stop commands are selected by parameters 10 05 EXT2 START IN1 and 10 06 EXT2 START IN2 The start stop is controlled as follows Par 10 05 Par 10 06 Command 0 21 1 Start Any 1 20 Stop Any 0 Stop 3 FBA Start and stop control from the source selected by parameter 10 13 FB CW USED 4 D2D Start and stop control from another drive via D2D Control Word B IN1 F IN2R The source selected by 10 05 EXT2 START 1 1 is the forward start signal the source selected by 10 06 EXT2 START IN2 is the reverse start signal Par 10 05 Par 10 06 Command 0 0 Stop 1 0 Start forward 0 1 Start reverse 1 1 Stop 6 15 IN2DIR The source selected by 10 05 EXT2 START IN1 is the start signal 0 7 stop 1 lt start the source selected by 10 06 EXT2 START IN2 is the direction signal 0 forward 1 reverse Parameters and firmware blocks 81 10 05 2 1 1 FW block DRIVE LOGIC see above Selects the source 1 for the start and stop commands in external control location EXT2 See parameter 10 04 EXT2 START FUNC selections 1 In1 and 2 3 wire Note This parameter cannot be changed while the drive is running Bit pointer Group index and bit 10 06 EXT2 START IN2 FW
287. lock SPEED CONTROL see above remains constant Controller output Kp xe Defines the proportional gain of the speed controller Too large a gain may cause speed oscillation The figure below shows the speed controller output after an error step when the error Gain K 1 T Integration time 0 Derivation time 0 Error value Controller output e Error value t output to change by 1090 28 16 PI TUNE MODE If gain is set to 1 a 1096 change in error value reference actual value causes the speed controller Note This parameter is automatically set by the speed controller autotune function See parameter 0 200 Proportional gain for speed controller Parameters and firmware blocks 123 28 03 FW block SPEED CONTROL see above Defines the integration time of the speed controller The integration time defines the rate at which the controller output changes when the error value is constant and the proportional gain of the speed controller is 1 The shorter the integration time the faster the continuous error value is corrected Too short integration time makes the control unstable If parameter value is set to zero the of the controller is disabled Anti windup stops the integrator if the controller output is limited See 6 05 LIMIT WORD 1 The figure below shows the speed controller ou
288. lowers or a follower sends Target Grp X LocalDsNr e cc Follower Dataset table RemoteDsNr B RemoteDsNr Follower Dataset table Std Mcast Group X Std Mcast Group X one dataset to all other followers after receiving a token from the master The target Target Grp is automatically set to 255 denoting all followers Note The master does not receive any data broadcast by the followers Master to follo wer s broadcasting Master Dataset table Follower Dataset table Follower Dataset table Target Grp 255 LocalDsNr 7 RemoteDsNr 1988 RemoteDsNr Appendix B Drive to drive link 337 Follower to follower s broadcasting Master Dataset table Token Follower Follower Follower Dataset table Dataset table Dataset table Target Grp 255 LocalDsNr RemoteDsNr a RemoteDsNr Chained multicast messaging Chained multicasting is supported only for drive to drive reference 1 by the firmware The message chain is always started by the master The target group is defined by parameter
289. ly when an SSI encoder with sine cosine incremental signals is used in initial position mode 0 315 45 deg 315 45 degrees 1 45 135 deg 45 135 degrees Parameters and firmware blocks 177 2 135 225 deg 135 225 degrees 3 225 315 deg 225 315 degrees 91 30 ENDAT MODE FW block ABSOL ENC CONF see above Selects the EnDat encoder mode Note This parameter needs to be set only when an EnDat encoder is used in continuous mode i e EnDat encoder without incremental sin cos signals supported only as encoder 1 EnDat encoder is selected by setting parameter 91 02 ABS to 2 EnDat 0 Initial pos Single position transfer mode initial position 1 Continuous Continuous position data transfer mode 91 31 ENDAT MAX CALC FW block ABSOL ENC CONF see above Selects the maximum encoder calculation time for EnDat encoder Note This parameter needs to be set only when an EnDat encoder is used in continuous mode i e EnDat encoder without incremental sin cos signals supported only as encoder 1 EnDat encoder is selected by setting parameter 91 02 ABS to 2 EnDat 0 10 us 10 us 1 100 us 100 us 2 1 ms 1 ms 3 50 ms 50 ms Parameters and firmware blocks 178 92 Resolver configuration used when parameter 90 01 ENCODER 1 SEL 90 02 EN
290. magnet motors automatic start must be used This parameter cannot be changed while the drive is running 0 Fast DC magnetising should be selected if a high break away torque is required The drive pre magnetises the motor before the start The pre magnetising time is determined automatically being typically 200 ms to 2 s depending on the motor size 1 Const time Constant DC magnetising should be selected instead of FAST DC magnetising if a constant pre magnetising time is required e g if the motor start must be simultaneous with a mechanical brake release This selection also guarantees the highest possible break away torque when the pre magnetising time is set long enough The pre magnetising time is defined by parameter 11 02 DC MAGN TIME WARNING The drive will start after the set magnetising time A has passed even if motor magnetisation is not completed In applications where a full break away torque is essential ensure that the constant magnetising time is long enough to allow generation of full magnetisation and torque 2 Automatic Automatic start guarantees optimal motor start in most cases It includes the flying start function starting to a rotating machine and the automatic restart function stopped motor can be restarted immediately without waiting the motor flux to die away The drive motor control program identifies the flux as well as the mechanical state of the motor and starts the moto
291. merator for the motor encoder gear function 22 03 MOTOR GEAR MUL _ Actual speed 22 04 MOTOR GEAR DIV Input speed where input speed is encoder 1 2 speed 1 08 ENCODER 1 SPEED 1 10 ENCODER 2 SPEED or speed estimate 1 14 SPEED ESTIMATED Note If the motor gear ratio differs from 1 the motor model uses an estimated speed instead of the speed feedback value See also section Motor encoder gear function on page 48 485 251 1 Numerator motor encoder gear Note A setting of 0 is changed internally to 1 22 04 MOTOR GEAR DIV FW block SPEED FEEDBACK see above Defines the motor gear denominator for the motor encoder gear function See parameter 22 03 MOTOR GEAR MUL 1 251 1 Denominator motor encoder gear 22 05 ZERO SPEED LIMIT FW block SPEED FEEDBACK see above Defines the zero speed limit The motor is stopped along a speed ramp until the defined zero speed limit is reached After the limit the motor coasts to stop Note Too low a setting may result in the drive not stopping at all 0 30000 rpm Zero speed limit Parameters and firmware blocks 107 22 06 FW block SPEED FEEDBACK see above Defines the delay for the zero speed delay function The function is useful in applications where a smooth and quick restarting is essential During the delay the drive knows accurately the rotor position No Zero Speed Del
292. meter 33 04 SUPERV1 LO 33 02 SUPERV1 ACT FW block SUPERVISION see above Selects the signal to be monitored by supervision 1 See parameter 33 01 SUPERV1 FUNC Value pointer Group and index Parameters and firmware blocks 133 33 03 SUPERV1 LIM HI FW block SUPERVISION see above Sets the upper limit for supervi sion 1 See parameter 33 01 SUPERV1 FUNC 32768 32768 Upper limit for supervision 1 33 04 SUPERV1 LIM LO FW block SUPERVISION see above Sets the lower limit for supervision 1 See parameter 33 01 SUPERV1 FUNC 32768 32768 Lower limit for supervision 1 33 05 SUPERV2 FUNC FW block SUPERVISION see above Selects the mode of supervision 2 0 Disabled Supervision 2 not in use 1 Low When the signal selected by parameter 33 06 SUPERV2 ACT falls below the value of parameter 33 08 SUPERV2 LIM LO bit 1 of 6 14 SUPERV STATUS is activated To clear the bit the signal must exceed the value of parameter 33 07 SUPERV2 LIM HI 2 High When the signal selected by parameter 33 06 SUPERV2 ACT exceeds the value of parameter 33 07 SUPERV2 LIM HI bit 1 of 6 14 SUPERV STATUS is activated To clear the bit the signal must fall below the value of parameter 33 08 SUPERV2 LIM LO 3 Abs Low When the absolute value of the signal selected by parameter 33 06 SUPERV2 ACT falls below the value of para
293. meter 16 12 USER IO SET selects the user parameter set when parameter 16 09 USER SET SEL is set to 10 IO mode The status of the source defined by this parameter and parameter 16 12 select the user parameter set as follows Status of source Status of source User parameter set defined by par 16 11 defined by par 16 12 selected FALSE FALSE Set 1 TRUE FALSE Set 2 FALSE TRUE Set 3 TRUE TRUE Set 4 Bit pointer Group index and bit 16 12 USER IO SET HI FW block None See parameter 16 11 USER IO SET LO Bit pointer Group index and bit 16 13 TIME SOURCE PRIO FW block None Selects which real time clock source is adopted by the drive as the master real time clock Some selections specify multiple sou rces that are in order of priority 0 020 Fieldbus highest priority drive to drive link man machine interface control panel or PC 1 020 FB Drive to drive link highest priority fieldbus man machine interface control panel or PC 2 FB D2D Fieldbus highest priority drive to drive link 3 D2D FB Drive to drive link highest priority fieldbus 4 FB Only Fieldbus only 5 D2D Only Drive to drive link only 6 FB 020 Man machine interface control panel or PC highest priority fieldbus drive to drive link 7 MMI Only Man machine interface control panel or PC only
294. meter 33 08 SUPERV2 LIM LO bit 1 of 6 14 SUPERV STATUS is activated To clear the bit the absolute value of the signal must exceed the value of parameter 33 07 SUPERV2 LIM HI 4 Abs High When the absolute value of the signal selected by parameter 33 06 SUPERV2 ACT exceeds the value of parameter 33 07 SUPERV2 LIM HI bit 1 of 6 14 SUPERV STATUS is activated To clear the bit the absolute value of the signal must fall below the value of parameter 33 08 SUPERV2 LIM LO 33 06 SUPERV2 ACT FW block SUPERVISION see above Selects the signal to be monitored by supervision 2 See parameter 33 05 SUPERV2 FUNC Value pointer Group and index 33 07 SUPERV2 LIM HI FW block SUPERVISION see above Sets the upper limit for supervi sion 2 See parameter 33 05 SUPERV2 FUNC 32768 32768 Upper limit for supervision 2 33 08 SUPERV2 LIM LO FW block SUPERVISION see above Sets the lower limit for supervision 2 See parameter 33 05 SUPERV2 FUNC 32768 32768 Lower limit for supervision 2 Parameters and firmware blocks 134 33 09 SUPERV3 FUNC FW block SUPERVISION see above Selects the mode of supervision 3 0 Disabled Supervision 3 not in use 1 Low When the signal selected by parameter 33 10 SUPERV3 ACT falls below the value of parameter 33 12 SUPERV3 LIM LO bit 2 of 6 14 SUPERV ST
295. meter group 93 PULSE ENC CONF 7 FEN 31 HTL Communication active Module type FEN 31 HTL Encoder Interface Input HTL encoder input X82 See parameter group 93 PULSE ENC CONF 90 02 ENCODER 2 SEL FW block ENCODER see above Activates the communication to the optional encoder resolver interface 2 For selections see parameter 90 01 ENCODER 1 SEL Note The counting of full shaft revolutions is not supported for encoder 2 90 03 EMUL MODE SEL FW block ENCODER see above Enables the encoder emulation and selects the position value and the TTL output used in the emulation process In encoder emulation a calculated position difference is transformed to a corresponding number of TTL pulses to be transmitted via the TTL output The position difference is the difference between the latest and the previous position values The position value used in emulation can be either a position determined by the drive software or a position measured by an encoder If drive software position is used the source for the used position is selected by parameter 93 22 EMUL POS REF Because the software causes a delay it is recommended that actual position is always taken from an encoder Drive software is recommended to be used only with position reference emulation Encoder emulation can be used to increase or decrease the pulse number when TTL encoder data is transmitted via the TTL output e g to another drive If the pulse number requires no alter
296. meters and firmware blocks 64 2 12 MAIN continued from previous page Bit Name Val Information Log Par 10 JOGGING 2 1 Activate jogging function 2 See section Jogging OR 10 14 page 45 0 Jogging function 2 disabled 11 REMOTE 1 Fieldbus control enabled 0 Fieldbus control disabled 12 RAMP OUT 11 Force Ramp Function Generator output to zero 0 Drive ramps to a stop current and DC voltage lim its in force 0 No operation 13 RAMP HOLD 1 Halt ramping Ramp Function Generator output held 0 No operation 14 RAMP 0 1 Force Ramp Function Generator to zero 0 No operation 15 EXT1 2 1 Switch to external control location 2 OR 34 01 0 Switch to external control location EXT1 16 REQ 1 Activate start inhibit STARTINH 0 No start inhibit 17 LOCAL 1 Request local control for Control Word Used when the drive is controlled via PC tool or panel or through local fieldbus Local fieldbus Transfer to fieldbus local control control via fieldbus control word or reference Fieldbus steals the control Panel or PC tool Transfer to local control 0 Request external control 18 FBLOCAL 1 Request fieldbus local control REF 0 No fieldbus local control 19 27 Not in use 28 CW B28 Freely programmable control bits 29 CW B29 30 CW B30 31 CW B31
297. ms 32 06 01 10 88 12 07 DIO3 F OUT PTR Val pointer 10ms 32 P 01 01 88 12 08 DIO3 F MAX REAL 3 32768 Hz 151 10 16 1000 88 12 09 F MIN 3 32768 2 151 10 16 3 88 12 10 DIO3 F SCALE REAL 0 32768 121 10ms 16 1500 89 12 11 DIO3 F MIN SCALE REAL 0 32768 151 10 16 0 89 12 12 RO1 OUT Bit pointer 10ms 32 03 15 00 89 12 13 DI INVERT MASK UINT32 0 63 121 10ms 16 0 89 12 14 DIO2 F MAX REAL 3 32768 Hz 151 10 16 1000 90 12 15 0102 F 3 32768 2 151 10 16 3 90 12 16 DIO2 SCALE REAL 32768 151 10 16 1500 90 32768 12 17 DIO2 F MIN SCALE REAL 32768 151 10 16 0 90 32768 13 ANALOGUE INPUTS 13 01 AI1 FILT TIME REAL 0 30 S 151000 10ms 16 0 91 13 02 REAL 11 117 151000 10 16 10 91 22 22 mA 13 03 MIN REAL 11 117 151000 10 16 10 92 22 22 mA 13 04 AI1 MAX SCALE REAL 32768 121000 10ms 32 1500 92 32767 13 05 MIN SCALE 32768 121000 10 5 32 1500 92 32767 13 06 2 FILT TIME 0 30 5 151000 10ms 16 0 92 13 07 12 11 117 151000 10 16 10 93 22 22 13 08 AI2 MIN REAL 11 117 12 1000 10 16 10 93 22 22 mA 13 09 AI2 MAX SCALE REAL 32768 121000 10 5 32 100 93 32767 13 10 AI2 MIN SCALE R
298. n blocks 310 10058 Illustration ET 86 Q 86 Execution time 1 10 us Operation The output Q is set to 1 when the input IN is set to 1 The output is reset to zero when the input has been 0 for a time defined by the pulse time input PT Elapsed time count ET starts when the input is set to 0 and stops when the input is set to 1 Example IN 2 l l 1 Inputs Input IN Boolean Pulse time input PT DINT 1 7 1 us Outputs Elapsed time output ET DINT 1 lt 1 us Output Q Boolean TON 10059 Illustration ET 87 Q 87 Execution time 1 22 us Standard function blocks 10060 Operation Inputs Outputs Illustration Execution time Operation Inputs Outputs 311 The output Q is set to 1 when the input IN has been 1 for a time defined by the pulse time input PT The output is set to 0 when the input is set to O Elapsed time count ET starts when the input is set to 1 and stops when the input is set 100 Example IN lt gt gt gt ET at Q 1 Input IN Boolean Pulse time input PT DINT 1 1 us Elapsed time output ET DINT 1 1 us Output Q Boolean Q 88 ET 88 1 46 us The output Q is set to 1 when the input IN is set to 1 The output is set to 0 when it has b
299. n break the initial rate is 9600 baud 1 9600 9600 baud 2 19200 19200 baud 3 38400 38400 baud 4 57600 57600 baud 55 03 MDB PARITY FW block None Defines the use of parity bits The same setting must be used in all on line stations 0 3 Number of parity bits Parameters and firmware blocks Group 57 020 COMMUNICATION Drive to drive communication settings See Appendix Drive to drive link on page 331 Firmware block D2D COMMUNICATION 57 This block sets up the drive to drive communication It also shows the main drive to drive control word and the two references D2D COMMUNICATION TLF9 500 psec 2 2 17 D2D MAIN CW 2 19 D2D 2 20 D2D REF2 57 01 LINK MODE 57 02 COMM LOSS FUNC 57 03 NODE ADDRESS 57 04 FOLLOWER MASK 1 57 05 FOLLOWER MASK 2 57 06 REF 1 SRC 57 07 REF 2 SRC 57 08 FOLLOWER CW SRC 57 09 KERNEL SYNC MODE 57 10 KERNEL SYNC OFFS 57 11 REF 1 MSG TYPE 57 12 REF1 MC GROUP 57 13 NEXT REF1 MC 57 14 NR REF1 MC GRPS 6 3 04 REF TO TC 1 Block outputs located in other parameter groups 2 17 D2D MAIN CW page 66 2 19 D2D REF1 page 67 2 20 D2D REF2 page 67 57 01 LINK MODE FW block D2D COMMUNICATION see above Activates the drive to drive connection 0 Disabled Drive to drive connection disabled 1 Follower The drive
300. n from the master drive is required for the follower to be able to send the message See the block D2D McastToken Standard Multicast The drive sends the contents of a local dataset specified by LocalDsNr input to the dataset table dataset number specified by RemoteDsNr input of a group of followers specified by Target Node Grp input Which multicast group a drive belongs to is defined by the Std Mcast Group input of the D2D Conf block A token from the master drive is required for a follower to be able to send the message See the block D2D McastToken Broadcast The drive sends the contents of a local dataset specified by LocalDsNr input to the dataset table dataset number specified by RemoteDsNr input of all followers A token from the master drive is required for a follower to be able to send the message See the block D2D McastToken Note With this message type the Target Node Grp input must be connected in DriveSPC even if not used See also section Examples of using standard function blocks in drive to drive communication starting on page 339 Standard function blocks Inputs Outputs DS ReadLocal 10094 Illustration Execution time 249 The Target Node Grp input specifies the target drive or multicast group of drives depending on message type See the message type explanations above Note The input must be connected in DriveSPC even if not used The LocalDsNr input spec
301. n time Operation R HALn TO DINT SIMP REAL 92 0 92 ERRC 92 5 54 us Output O is the 32 bit integer equivalent of the REAL REAL24 input I multiplied by the scale input SCALE Error codes are indicated by the error output ERRC as follows Error code Description 0 No error 1001 The calculated integer value exceeds the minimum value The output is set to the minimum value 1002 The calculated integer value exceeds the maximum value The output is set to the maximum value 1003 Scale input is 0 The output is set to 0 1004 Incorrect scale input i e scale input is 0 or is not a factor of 10 Example from REAL to DINT When 7 2 04998779297and SCALE 100 O lt 204 Standard function blocks 262 Inputs Outputs The input data type is selected by the user Input I REAL REAL24 Scale input SCALE DINT Output O DINT Error output ERRC DINT Standard function blocks 263 Counters CTD 10047 Illustration Cv 93 Q 93 Execution time 0 92 us Operation The counter output CV value is decreased by 1 if the counter input CD value changes from 0 gt 1 and the load input LD value is 0 If the load input value is 1 the preset input PV value is stored as the counter output CV value If the counter output has reached its minimum value 32768 the counter output remains unchanged The status o
302. nal motor frequencies Frequencies must be the same 99 08 MOT NOM FREQ Set the sum of the motor nominal powers If the motor powers are close to each other or the same but the nominal speeds vary slightly parameter 99 09 MOT NOM SPEED can be set to an average value of the motor speeds 99 10 MOT NOM POWER 99 09 MOT NOM SPEED If the control unit of the drive is powered from an external power supply as specified in Hardware Manual set parameter 95 01 CTRL UNIT SUPPLY to EXTERNAL 24V 95 01 CTRL UNIT SUPPLY If the drive is equipped with an external choke specified in Hardware Manual set parameter 95 02 EXTERNAL CHOKE to YES 95 02 EXTERNAL CHOKE Select how the drive reacts when motor overtemperature is detected 45 01 MOT TEMP PROT Select the motor temperature protection motor thermal model or motor temperature measurement For motor temperature measurement connections see section Temperature sensors page 40 45 02 MOT TEMP SOURCE Start up efesofomasyon com 20 RUN THE MOTOR BEFORE PERFORMING THE ID RUN WARNING With Normal or Reduced ID run the motor will run at up to approximately 50 100 of the nominal speed during the ID run ENSURE THAT IT IS SAFE run Note Ensure that possible Safe Torque Off and emergency stop circuits are closed during the ID Check the direct
303. nation use encoder echo for data transformation See parameter 90 04 TTL ECHO SEL Note If encoder emulation and echo are enabled for the same FEN xx TTL output the emulation overrides the echo If an encoder input is selected as emulation source the corresponding selection must be activated either with parameter 90 01 ENCODER 1 SEL or 90 02 ENCODER 2 SEL The TTL encoder pulse number used in emulation must be defined by parameter 93 21 EMUL PULSE NR See parameter group 93 PULSE ENC CONF 0 Disabled Emulation disabled 1 FEN 01 SWref Module type FEN 01 TTL Encoder interface Module Emulation Drive software position source selected by par 93 22 EMUL POS REF is emulated to FEN 01 TTL output 2 FEN 01 TTL Module type FEN 01 TTL Encoder interface Module Emulation FEN 01 TTL encoder input X32 position is emulated to FEN 01 TTL output 3 FEN 01 TTL Module type FEN 01 TTL Encoder interface Module Emulation FEN 01 TTL encoder input X31 position is emulated to FEN 01 TTL output 4 FEN 11 SWref Module type FEN 11 Absolute Encoder Interface Emulation Drive software position source selected by par 93 22 EMUL POS REF is emulated to FEN 11 TTL output 5 FEN 11 ABS Module type FEN 11 Absolute Encoder Interface Emulation FEN 11 absolute encoder input X42 position is emulated to FEN 11 TTL output Parameters and firmware blocks 171 6 11 Module
304. nces definition of absolute minimum speed reference Depending on user selection either speed reference 1 or speed reference 2 is active at a time Speed reference can be any of the following in priority order fault speed reference in a control panel or PC tool communication break local speed reference from panel fieldbus local reference jogging reference 1 2 constant speed reference 1 2 external speed reference Note Constant speed overrides external speed reference Speed reference is limited according to the set minimum and maximum speed values and ramped and shaped according to the defined acceleration and deceleration values See parameter group 25 SPEED REF RAMP page 114 24 01 SPEED REF1 SEL 3 01 SPEED REF1 ENC1 SPEED ENC2 SPEED 3 02 SPEED REF2 ENC1 SPEED ENC2 SPEED Parameters and firmware blocks 110 24 09 CONST SPEED 24 08 CONST SPEED 3 01 SPEED REF1 3 02 SPEED REF2 24 05 SPEED REF 1 2 SEL 24 06 SPEED SHARE 7 4 24 07 SPEEDREF 24 10 SPEED REF 3061 24 11 SPEED REF JOG2 10 13 FB CW USED bit 10 JOGGING 06 02 STATUS WORD 2 bit 5 JOGGING 20 03 POS SPEED ENA 20 01 MAXIMUM SPEED 06 01 STATUS WORD 1 bit 9 LOCAL FB 2 14 FBA MAIN REF1 03 03 SPEEDREF Local speed reference RAMP IN 06 01 STATUS WORD 1 bit 11 LOCAL PANEL 46 02 SPEED REF SAFE SAFE SPEED COMMAND 24 12 SPEED REF MIN ABS
305. nction cannot be cancelled even though the signal is cancelled For more information refer to Application Guide Functional Safety Solutions with 5 1 Drives 3AUA0000031517 English Miscellaneous features Backup and restore of drive contents General The drive offers a possibility of backing up numerous settings and configurations to external storage such as a PC file using the DriveStudio tool and the internal memory of the control panel These settings and configurations can then be restored to the drive or a number of drives Backup using DriveStudio includes Parameter settings User parameter sets Application program Backup using the drive control panel includes Parameter settings User parameter sets For detailed instructions for performing the backup restore refer to the DriveStudio and control panel documentation Limitations A backup can be done without interfering with drive operation but restoring a backup always resets and reboots the control unit so restore is not possible with the drive running Backup restore between different program variants such as the Motion Control Program and the Speed and Torque Control Program is not possible Restoring backup files from one firmware version to another is considered risky so the results should be carefully observed and verified when done for the first time The parameters and application support are bound to change between firmware versions
306. ne procedure User mode see parameter 28 16 TUNE MODE Higher damping results in safer and smoother operation 0 0 200 0 Speed controller damping for User autotune mode Parameters and firmware blocks 128 Group 32 TORQUE REFERENCE Reference settings for torque control In torque control the drive speed is limited between the defined minimum and maximum limits Speed related torque limits are calculated and the input torque reference is limited according to these limits An OVERSPEED fault is generated if the maximum allowed speed is exceeded 32 01 TORQ REF1 SEL ZERO 3 09 2 REF1 REF2 020 020 REF2 32 02 REF ADD SEL ZERO 2 2 020 REF1 020 3 12 TORQUE REF ADD 22 08 SPEED TRIP MARGIN 1 01 SPEED ACT 32 07 TORQ RAMP UP 32 04 MAXIMUM TORQ REF 32 06 LOAD SHARE 3 09 TORQ REF1 RUSHCTRL 3 11 TORQ REF RUSHLIM LOCAL CONTROL REF LOCAL CONTROL 32 05 MINIMUM TORQ REF 32 08 TORQ RAMP DOWN 20 01 MAXIMUM SPEED 20 02 MINIMUM SPEED LIMIT WORD 1 06 05 LIMIT WORD 1 bit 3 TORQ REF bit 5 TLIM MAX SPEED bit 4 TORQ REF MIN bit 6 TLIM MIN SPEED Parameters and firmware blocks 129 Firmware block TORQ REF SEL 32 Selects the source for torque reference 1 from a parameter selection list and t
307. ng load of the motor Set the zero speed load A higher value can be used if the motor has an external motor fan to boost the cooling 45 06 MOT LOAD CURVE 45 07 ZERO SPEED LOAD 45 08 BREAK POINT 45 09 MOTNOM TEMP Set the break point frequency of the motor load curve RISE Set the motor nominal temperature rise Set time inside which temperature has reached 63 of the nominal temperature 99 13 IDRUN MODE If possible perform the motor ID run again at this point see page 20 The measured speed always has a small ripple because of electrical and mechanical interferences couplings and encoder resolution i e small pulse number A small ripple is acceptable as long as it does not affect the speed control chain The interferences in the speed measurement can be filtered with a speed error filter or with an actual speed filter Reducing the ripple with filters may cause speed controller tuning problems A long filter time constant and fast acceleration time contradict one another A very long filter time results in unstable control 26 06 SPD ERR FTIME If the used speed reference changes rapidly servo application use the speed error filter to filter the possible interferences in the speed measurement In this case the speed error filter is more suitable than the actual speed filter Set the filter time constant Start u
308. nput 1 INT DINT Boolean REAL REAL24 Outputs The number of the output channels 1 32 is selected by the user Output OA1 0A32 INT DINT REAL REAL24 Boolean DEMUX MI 10062 Illustration DEMUX MI BOOL 82 1 msec 1 OA1 82 OA2 82 Execution time 0 99 us when two outputs are used 0 25 us for every additional output When all outputs are used the execution time is 8 4 us Standard function blocks Operation Inputs Outputs SWITCH 10063 Illustration Execution time Operation Inputs Outputs 307 The input 1 value is stored to the output OA1 0A32 selected by the address input A if the load input L or the set input S is 1 When the load input is set to 1 the input 1 value is stored to the output only once When the set input is set to 1 the input 1 value is stored to the output every time the block is executed The set input overrides the load input If the reset input R is 1 all connected outputs are 0 If the address input is 0 negative or exceeds the number of the outputs all outputs are 0 Example S L R A 1 1 2 4 1 0 0 2 150 0 150 0 0 0 0 2 120 0 150 0 0 1 0 3 100 0 150 100 1 0 0 1 200 200 150 100 1 1 0 4 250 200 150 100 250 1 1 1 2 300 0 0 0 0 The input data type is selected the user Address input A DINT Reset input R Boolean Loa
309. nship between the ranges Alx min Alx max and Alx min scale Alx max scale Min must be smaller than Alx Alx Max Scale be greater or smaller than Alx Min Scale Alx Min Scale Alx Max Scale Alx scaled 32768 Alx Max Scale x Vo Z 22 mA 5 lt gt Alx V or mA gt 11Vor 22 lt Min Scale 1 1 Standard function blocks 276 Inputs Outputs Alx Min Scale Alx Max Scale Alx scaled 4 32768 Min Scale 22 mA Alx V or mA lt 11 V or 22 mA gt gt 11Vor 1 Max Scale 4 T 32768 The Alx filt gain inputs determine a filtering time for each input as follows Alx filt gain Filtering time Notes No filtering 125 us Recommended setting 250 us 500 us 1 ms 2ms 4 ms 7 9375 ms Mm The mode outputs show whether the corresponding input is voltage 0 or current 1 The voltage current selection is made using the hardware switches on the FIO 11 Analogue input filter gain selection filt gain AI3 gain INT Minimum value of input signal 11 Min Min REAL gt 11 V or 22 mA Maximum value of input signal
310. nsulated according to IEC 60664 the connection of the motor temperature sensor requires double or reinforced insulation between motor live parts and the sensor If the assembly does not fulfil the requirement the I O board terminals must be protected against contact and must not be connected to other equipment Or the temperature sensor must be isolated from the 1 terminals The figure below shows a motor temperature measurement when thermistor input TH is used One PTC or KTY84 sensor JCU Control Unit 2 Motor a AGND T 4 40 nF 1 JCU Control Unit Y TH Motor For encoder interface module FEN xx connection see the User s Manual of the appropriate encoder interface module Drive control and features 42 DC voltage control features Overvoltage control Overvoltage control of the intermediate DC link is needed with two quadrant line side converters when the motor operates within the generating quadrant To prevent the DC voltage from exceeding the overvoltage control limit the overvoltage controller automatically decreases the generating torque when the limit is reached Undervoltage control If the incoming supply voltage is cut off the drive will continue to operate by utilising the kinetic energy of the rotating motor The drive will be fully opera
311. o parameter group 90 ENC MODULE SEL on page 169 and FEN 11 Absolute Encoder Interface User s Manual 68784841 English Note Configuration data is written into the logic registers of the interface module once after the power up If parameter values are changed save values into the permanent memory using parameter 16 07 PARAM SAVE The new settings will take effect when the drive is powered up again or after re configuration is forced using parameter 90 10 ENC PAR REFRESH Firmware block ABSOL ENC CONF 91 This block configures the absolute encoder connection ABSOL ENC CONF TLF11 10 msec 2 91 01 SINE COSINE NR 91 02 ABS ENC INTERF 91 03 REV COUNT BITS 91 04 POS DATA BITS 91 05 REFMARK ENA 91 10 HIPERFACE PARITY 91 11 HIPERF BAUDRATE 91 12 HIPERF NODE ADDR 91 20 SSI CLOCK CYCLES 91 21 SSI POSITION MSB 91 22 SSI REVOL MSB 91 23 SSI DATA FORMAT 91 24 SSI BAUD RATE 91 25 SSI MODE 91 26 SSI TRANSMIT CYC 91 27 SSI ZERO PHASE 91 30 ENDAT MODE 91 31 ENDAT MAX CALC Parameters and firmware blocks 174 91 01 SINE COSINE FW block ABSOL ENC CONF see above Defines the number of sine cosine wave cycles within one revolution Note This parameter does not need to be set when EnDat or SSI encoders are used in continuous mode See parameter 91 25 SSI MODE 91 30 ENDAT MODE 0 65535 Num
312. o shows ps the value of the output 300000 IS TRU MEINTE 10000 15 12 AO2 MIN SCALE Block outputs located in other 2 09 AO2 page 62 parameter groups 15 07 AO2 PTR FW block AO2 see above Selects a drive signal to be connected to analogue output AO2 Value pointer Group and index 15 08 AO2 FILT TIME FW block AO2 see above Defines the filtering time constant for analogue output AO2 See parameter 15 02 AO1 FILT TIME 0 30 8 Filter time constant for 2 15 09 AO2 MAX FW block AO2 see above Defines the maximum value for analogue output 2 Parameters and firmware blocks 97 10 10 V Maximum 2 output value 15 10 AO2 MIN FW block AO2 see above Defines the minimum value for analogue output AO2 10 10 V Minimum AO2 output value 15 11 AO2 MAX SCALE FW block AO2 see above Defines the real value that corresponds to the maximum analogue output value defined by parameter 15 09 AO2 MAX AO V V 15 09 18 03 15 10 15 10 gt 15 12 15 11 15 11 15 12 real 32768 32767 Real value corresponding to value of parameter 15 09 15 12 AO2 MIN SCALE FW block AO2 see above Defines the real value that corresponds to the minimum analogue output value defined by parameter 15 10 AO2 MIN See parameter 15 11 AO2 MAX SCAL
313. o the digital output The block also shows the DIO status Frequency input can be scaled with standard function blocks See chapter Standard function blocks 2 03 2 03 DIO 5 51 22 2 10 DIO2 FREQ IN 12 02 DIO2 CONF 12 05 DIO2 OUT PTR 12 14 DIO2 F MAX 12 15 DIO2 F MIN 12 16 DIO2 F MAX SCALE 12 17 DIO2 F MIN SCALE STATUS WORD 2 3 1 8 6 02 MODULATING Block outputs located in other parameter groups 2 03 DIO STATUS page 62 2 10 DIO2 FREQ IN page 62 Firmware block DIO3 8 Selects whether DIO3 is used as a digital input or as a digital frequency output connects an actual signal to the digital frequency output and scales the frequency output The block also shows the DIO status DIO3 20 9 TLF7 2 msec 2 03 2 03 DIO STATUS 113 2 11 DIO3 FREQ OUT ome 12 03 DIO3 CONF lt 12 06 0103 OUT PTR lt 12 07 DIO3 OUT PTR 12 08 DIO3 MAX Ind 12 09 DIO3 F MIN 12 10 DIO3 F MAX SCALE toj 12 11 DIO3 F MIN SCALE Block outputs located in other parameter groups 2 03 DIO STATUS page 62 2 11 DIO3 FREQ OUT page 62 12 01 DIO1 CONF FW block 0101 see above Selects whether DIO1 is used as a digital input or as a digital output 0 Output 0101 is used as a digital output 1 Input 0101 is used as a digital input Parameters and firmware blocks 88 12 0
314. ogram are executed If the condition input COND is true the blocks between the IF block and the next ELSEIF ELSE or ENDIF block in execution order are run If the condition input COND is false the blocks between the IF block and the next ELSEIF ELSE or ENDIF block are skipped The outputs of the branches are collected and selected by using the BOP block Example Bit 4 of 2 01 DI STATUS digital input DI5 controls the branching of the application program If the input is 0 the blocks between the IF and ELSE blocks are skipped but the blocks between ELSE and ENDIF are run If the input is 1 the blocks between IF and ELSE are run The program execution then jumps to the block that follows ENDIF which is a BOP The BOP block outputs the value from the branch that was executed If the digital input is 0 the BOP block output is 2 if the digital input is 1 the BOP block output is 1 USER 2 10 ms 0 DISTATUS 4 007154 05755 Change Block s Execution Position DINT 54 Select Time Level Select Block s Execution Position in USER 2 USER_2 10 ms D TROREF 500 psec 43 OUTIG4 _ SPDREF 500 psec 2 54 SPDCTR 250 psec 3 ELSE 50 POSCTR 500 psec M MOVE 55 SYNREF 500 psec ENDIF 51 52 USER 2 toms 55 1 INI USER 2 10 ms 9 Input COND Boolean Standard function blocks 304
315. omatically prolong the deceleration in order not to exceed drive torque limits If there is any doubt about the deceleration time being too short ensure that the DC overvoltage control is on parameter 47 01 OVERVOLTAGE CTRL Note If a short deceleration time is needed for a high inertia application the drive should be equipped with an electric braking option e g with a brake chopper built in and a brake resistor 0 1800 s Deceleration time 25 05 SHAPE TIME ACC1 FW block SPEED REF see above Selects the shape of the acceleration ramp at the beginning of the acceleration 0 00 s Linear ramp Suitable for steady acceleration or deceleration and for slow ramps 0 01 1000 00 s S curve ramp S curve ramps are ideal for conveyor and lifting applications The S curve consists of symmetrical curves at both ends of the ramp and a linear part in between Note When jogging or emergency ramp stop is active acceleration and deceleration shape times are forced to zero Linear ramp Linear ramp Speed Par 25 06 08 Speed Par 25 07 0s Par 25 05 08 S curve ramp Par 25 08 0s Par 25 06 gt 0 s S curve ramp Par 25 07 gt 0s S curve ramp S curve ramp abd 25 05 0585 Par 25 08 gt 0 5 gt gt 0 1000 5 Ramp shape at beginning of acceleration 25 06 TIME ACC2 FW block SPEED REF RAMP see above Selects the shape of the acceleration ramp a
316. only for permanent magnet motors 0 00 100000 00 mH Quadrature axis synchronous inductance Parameters and firmware blocks 185 97 20 POS OFFSET USER FW block None Defines an angle offset between the zero position of the synchronous motor and the zero position of the position sensor Notes The value is in electrical degrees The electrical angle equals the mechanical angle multiplied by the number of motor pole pairs This parameter is valid only for permanent magnet motors 0 360 Angle offset Parameters and firmware blocks 186 Group 98 MOTOR CALC VALUES Calculated motor values 98 01 NOM SCALE FW block None value is calculated Nominal torque in Nem which corresponds to 100 Note This parameter is copied from parameter 99 12 MOT NOM TORQUE if given Otherwise the 0 2147483 Nm Nominal torque 98 02 POLEPAIRS FW block None Calculated number of motor pole pairs Note This parameter cannot be set by the user 0 1000 Calculated number of motor pole pairs Parameters and firmware blocks Group 99 START UP DATA 187 Start up settings such as language motor data and motor control mode The nominal motor values must be set before the drive is started for detailed instructions see chapter Start up on page 15 With DTC motor control mode parameters 9
317. onnected to relay output RO1 Bit pointer Group index and bit Firmware block DI DI TLF7 2 msec a 4 2 01 DI STATUS gt Shows the status of the digital inputs Inverts the status of any DI if desired Block outputs located in other 2 01 DI STATUS page 62 parameter groups 12 13 DI INVERT MASK FW block DI see above Inverts status of digital inputs as reported by 2 01 DI STATUS For example a value of 05000100 inverts the status of DI3 in the signal 0b000000 0b111111 DI status inversion mask Parameters and firmware blocks 90 12 14 DIO2 F FW block 0102 see above Defines the maximum value for frequency input when 12 02 0102 is set to 2 input 3 32768 Hz Maximum 0102 input frequency 12 15 DIO2 F MIN FW block DIO2 see above Defines the minimum value for frequency input when 12 02 0102 is set to 2 Freq input 3 32768 Hz Minimum DIO2 input frequency 12 16 DIO2 F MAX SCALE FW block DIO2 see above Defines the real value that corresponds to the maximum frequency input value defined by parameter 12 14 DIO2 F MAX DIO2 Hz DIO2 Hz 12 15 1247 1216 gt 0102 real 12 16 1247 DIO real 32768 32768 Real value corresponding to value of parameter 12 14 12 17 DIO2 F MIN SCALE FW block DIO2 see above Define
318. oopa Regulate the speed by adjusting the voltage of analogue input AI1 Check analogue input AI1 signal scaling values can be monitored 13 02 13 04 with signals 2 04 and 2 05 SCALED 2 04 AI When is used as a voltage input the input is differential and the negative value corresponds to the negative speed and the positive value to the positive speed 2 05 SCALED Stop the drive by switching digital input DI1 off 2 01 DI STATUS Start up 28 Start up 29 Drive programming using tools What this chapter contains General This chapter introduces the drive programming using the DriveStudio and DriveSPC applications For more information see DriveStudio User Manual 3AFE68749026 English and DriveSPC User Manual 3AF E68836590 English The drive control program is divided into two parts firmware program application program The firmware program performs the main control functions including speed and torque control drive logic start stop feedback communication and protection functions Firmware functions are configured and programmed with parameters The functions of the firmware program can be extended with application programming Application programs are built out of function blocks The drive supports two different programming methods parameter programming application programming with function blocks the blocks are based on the
319. or 22 lt Min Scale 1 1 Standard function blocks 278 Inputs Outputs Alx Min Scale Alx Max Scale Alx scaled 4 32768 Min Scale 22 mA Alx V or mA lt 11 V or 22 mA gt gt 11Vor 1 Max Scale 4 T 32768 The Alx filt gain inputs determine a filtering time for each input as follows Alx filt gain Filtering time Notes No filtering 125 us Recommended setting 250 us 500 us 1 ms 2ms 4 ms 7 9375 ms Mm The mode outputs show whether the corresponding input is voltage 0 or current 1 The voltage current selection is made using the hardware switches on the FIO 11 Analogue input filter gain selection filt gain AI3 gain INT Minimum value of input signal 11 Min Min REAL gt 11 V or 22 mA Maximum value of input signal Max REAL x 11 V or 22 mA Minimum value of scaled output signal Min scale AI3 Min scale REAL Maximum value of scaled output signal 11 Max scale AI3 Max scale REAL Analogue input mode voltage or current mode AI3 mode Boolean Value of analogue input REAL Scaled value of analogue input scaled scaled
320. or The STANDSTILL ID run should be selected only if the Normal or Reduced ID run is not possible due to the restrictions caused by the connected mechanics e g with lift or crane applications AUTOPHASING can only be selected after the Normal Reduced Standstill ID run has been performed once Autophasing is used when an absolute encoder or a resolver or encoder with commutation signals has been added changed to a permanent magnet motor but there is no need to perform the Normal Reduced Standstill ID run again See parameter 11 07 AUTOPHASING MODE on page 86 for information on autophasing modes and section Autophasing on page 38 99 13 IDRUN MODE 11 07 AUTOPHASING MODE Check the drive limits The following must apply for all ID run methods 20 05 MAXIMUM CURRENT gt 99 06 MOT NOM CURRENT In addition the following must apply for Reduced and Normal ID run 20 01 MAXIMUM SPEED gt 50 of synchronous speed of the motor 20 02 MINIMUM SPEED lt 0 supply voltage gt 6696 of 99 07 MOT NOM VOLTAGE 20 06 MAXIMUM TORQUE gt 100 asynchronous machines with Normal ID run only 20 06 MAXIMUM TORQUE gt 3096 asynchronous machines with Reduced ID run and permanent magnet motors When the ID run has been successfully completed set the limit values as required by the application Start up 22 Start the motor to activate the ID run Note RUN ENABLE must be acti
321. or position latching Note With serial interfaces i e when parameter 91 02 ABS INTERF is set to 2 EnDat 3 Hiperface 4 SSI or 5 Tamag 17 33B the zero pulse does not exist 0 FALSE Zero pulse disabled 1 TRUE Zero pulse enabled 91 10 HIPERFACE PARITY FW block ABSOL ENC CONF see above Defines the use of parity and stop bit s for HIPERFACE encoder i e when parameter 91 02 ABS ENC INTEREF is set to 3 Hiperface Typically this parameter does not need to be set Parameters and firmware blocks 175 0 Odd indication bit one stop bit 1 Even Even parity indication bit one stop bit 91 11 HIPERF BAUDRATE FW block ABSOL ENC CONF see above Defines the transfer rate of the link for HIPERFACE encoder i e when parameter 91 02 ABS ENC INTERF is set to 3 Hiperface Typically this parameter does not need to be set 0 4800 4800 bits s 1 9600 9600 bits s 2 19200 19200 bits s 3 38400 38400 bits s 91 12 HIPERF NODE ADDR FW block ABSOL ENC CONF see above Defines the node address for HIPERFACE encoder i e when parameter 91 02 ABS INTERF is set to 3 Hiperface Typically this parameter does not need to be set 0 255 HIPERFACE encoder node address 91 20 SSI CLOCK CYCLES FW block ABSOL ENC CONF see above Defines the length of the SSI message The length is defined as the number of clock cycles
322. other time levels between certain firmware tasks Drive programming using PC tools 32 Note Because firmware and application programs use the same CPU the programmer must ensure that the drive CPU is not overloaded See parameter 1 21 CPU USAGE Solution program licensing and protection Note This functionality is only available with DriveSPC version 1 5 and later The drive can be assigned an application licence consisting of an ID and password using the DriveSPC tool Likewise the application program created in DriveSPC can be protected by an ID and password For instructions refer to the DriveSPC user manual If a protected application program is downloaded to a licensed drive the IDs and passwords of the application and drive must match A protected application cannot be downloaded to an unlicensed drive On the other hand an unprotected application can be downloaded to a licensed drive The ID of the application licence is displayed by DriveStudio in the drive software properties as APPL LICENCE If the value is 0 no licence has been assigned to the drive Notes The application licence can only be assigned to a complete drive not a stand alone control unit protected application can only be downloaded to a complete drive not a stand alone control unit Operation modes The DriveSPC tool offers the following operation modes Off line When the off line mode is used without a drive connection the user c
323. oup and index to be read The output Out provides the value of the parameter Parameter group and index Par ptr DINT Parameter value Out DINT PARRD 72 1 msec 1 Group Output 72 Index Error 72 6 00 Standard function blocks Operation Inputs Outputs PARRDINTR 10101 Illustration Execution time Operation Inputs Outputs PARRDPTR 10100 Illustration Execution time 299 Reads the scaled value of a parameter specified by the Group and Index inputs If the parameter is a pointer parameter the Output pin provides the number of the source parameter instead of its value Error codes are indicated by the error output Error as follows Error code Description 0 No error lt gt 0 Error See also blocks PARRDINTR and PARRDPTR Parameter group input Group DINT Parameter index input Index DINT Output Output DINT Error output Error DINT PARRDINTR Output 73 Error 73 Reads the internal non scaled value of a parameter specified by the Group and Index inputs The value is provided by the Output pin Error codes are indicated by the error output Error as follows Error code Description 0 No error or busy lt gt 0 Error Note Using this block may cause incompatibility issues when upgrading the application to another firmware version Parameter group Group
324. our local ABB representative 0x6100 Note This fault cannot be reset 0208 A2INIT FAULT Application task creation fault Contact your local ABB representative 0x6100 Note This fault cannot be reset 0209 STACK ERROR Drive internal fault Contact your local ABB representative 0x6100 Note This fault cannot be reset Fault tracing 228 Code Fault Cause What to do fieldbus code 0210 JMU MISSING JMU Memory Unit is missing or Checkthat the JMU is properly installed If the OxFF61 broken problem persists replace JMU 0301 UFF FILE READ File read error Contact your local ABB representative 0x6300 Note This fault cannot be reset 0302 APPL DIR CREATION Drive internal fault Contact your local ABB representative 0x6100 Note This fault cannot be reset 0303 FPGA CONFIG DIR Drive internal fault Contact your local ABB representative 0x6100 Note This fault cannot be reset 0304 PU RATING ID Drive internal fault Contact your local ABB representative 0x5483 Note This fault cannot be reset 0305 RATING DATABASE Drive internal fault Contact your local ABB representative 0x6100 Note This fault cannot be reset 0306 LICENSING Drive internal fault Contact your local ABB representative 0x6100 Note This fault cannot be reset 0307 DEFAULT FILE Drive internal fault Contact your local ABB representative 0x6100 Note This fault cannot be reset
325. ove Defines the DC hold current in percent of the motor nominal current See parameter 11 06 DC HOLD 0 100 DC hold current Parameters and firmware blocks 86 11 06 DC HOLD FW block START STOP MODE see above Enables the DC hold function The function makes it possible to lock the rotor at zero speed When both the reference and the speed drop below the value of parameter 11 04 DC HOLD SPEED the drive will stop generating sinusoidal current and start to inject DC into the motor The current is set by parameter 11 05 DC HOLD CUR REF When the reference speed exceeds parameter 11 04 DC HOLD SPEED normal drive operation continues Motor speed Reference 11 04 DC HOLD SPEED Notes DC Hold The DC hold function has no effect if the start signal is switched off The DC hold function can only be activated in speed control mode The DC hold function cannot be activated if par 99 05 MOTOR CTRL MODE is set to 1 Scalar Injecting DC current into the motor causes the motor to heat up In applications where long DC hold times are required externally ventilated motors should be used If the DC hold period is long the DC hold cannot prevent the motor shaft from rotating if a constant load is applied to the motor 0 Disabled DC hold function disabled 1 Enabled DC hold function enabled 11 07 AUTOPHASING
326. p 26 If the used speed reference remains constant use the actual speed 22 02 SPEED ACT filter to filter the possible interferences the speed measurement this case the actual speed filter is more suitable than the speed error filter Set the filter time constant If there are substantial interferences in the speed measurement the filter time constant should be proportional to the total inertia of the load and motor i e approximately 10 30 of the mechanical time constant tmech nom 27 60 where total inertia of the load and motor the gear ratio between the load and the motor must be taken into account motor nominal speed Thom motor nominal torque For the most demanding applications the P and l parts of the speed controller of the drive can be tuned either manually or automatically See parameter 28 16 PI TUNE MODE If itis necessary to adjust acceleration deceleration compensation it must be done manually Acceleration deceleration compensation can be used to improve the 26 08 ACC COMP speed control dynamic reference change when the speed ramp times PERTIME gt 0 In order to compensate inertia during acceleration a derivative of the speed reference is added to the output of the speed controller Set the derivation time for acceleration deceleration compensation The value should be proportional to th
327. parameter 45 03 surfaces etc MOT TEMP ALM LIM Check value of alarm limit Check motor thermal model settings parameters 45 06 45 08 and 45 10 MOT THERM TIME Measured motor temperature Check that actual number of sensors has exceeded alarm limit corresponds to value set by parameter 45 02 defined by parameter 45 03 MOT TEMP SOURCE MOT TEMP ALM LIM Check motor ratings and load Let motor cool down Ensure proper motor cooling Check cooling fan clean cooling surfaces etc Check value of alarm limit 2006 EMERGENCY OFF Drive has received emergency To restart drive activate RUN ENABLE signal source selected by parameter 10 09 RUN ENABLE and start drive Fault tracing 212 fieldbus code Cause What to do 2007 RUN ENABLE No Run enable signal is Check setting of parameter 10 09 RUN OxFF54 received ENABLE Switch signal on e g in the fieldbus Control Word or check wiring of selected source 2008 ID RUN Motor identification run is on This alarm belongs to normal start up OxFF84 procedure Wait until drive indicates that motor identification is completed Motor identification is required This alarm belongs to normal start up procedure Select how motor identification should be performed parameter 99 13 IDRUN MODE Start identification routines by pressing Start key 2009 EMERGENCY STOP OxF081 Drive has received emergency
328. peed Delay function definition of limits for actual speed supervision loss of speed feedback signal protection 22 02 SPEED ACT FTIME 22 03 MOTOR GEAR MUL 1 08 ENCODER 1 SPEED X 1 10 ENCODER 2 SPEED y 1 14 SPEED ESTIMATED 22 01 SPEED FB SEL 22 04 MOTOR GEAR DIV 1 01 SPEED ACT 26 07 SPEED WINDOW 3 03 SPEEDREF RAMP IN a a b zb 6 03 SPEED CTRL STAT a bit 3 AT SETPOINT b a b 3 05 SPEEDREF USED 22 07 ABOVE SPEED LIM a a b azb 6 03 SPEED CTRL STAT OPMODE F bit 2 ABOVE LIMIT ABS b a lt b POSITION SYNCRON gt 5 6 03 SPEED CTRL STAT a bit 0 SPEED ACT NEG ABS a a b 6 03 SPEED CTRL STAT 22 05 ZERO SPEED LIMIT b lt bit 1 ZERO SPEED 22 06 ZERO SPEED DELAY Parameters and firmware blocks 105 Firmware block SPEED FEEDBACK SPEED FEEDBACK 250 psec 22 1 01 SPEED ACT 47 01 SPEED FB SEL 13990753 550 SPEED ACT 121 ____________ gt 2 03 MOTOR GEAR MUL 121 ____________ 22 04 MOTOR GEAR DIV 1300001 00 05 ZERO SPEED LIMIT 12506 ZERO SPEED DELAY 122 07 ABOVE SPEED I9999 1 5508 SPEED TRIPMARGIN 122 09 SPEED FB FAULT Block outputs located in other 1 01 SPEED ACT page 59 parameter groups 22 01 SPEED FB SEL FW block SPEED FEEDBACK see above Selects the speed feedback value used in control 0 Estimated Calculated speed estimate 1 Enc1 speed Actual speed measured
329. peed of the load curve A higher value can be used if the motor has an external motor fan to boost the cooling See the motor manufacturer s recommendations The value is given in percent of nominal motor current The load curve is used by the motor thermal protection model when parameter 45 02 MOT TEMP SOURCE is set to 0 ESTIMATED 50 15096 Motor current at zero speed 45 08 BREAK POINT FW block MOT THERM PROT see above Defines the load curve together with parameters 45 06 MOT LOAD CURVE and 45 07 ZERO SPEED LOAD Defines the break point frequency of the load curve i e the point at which the motor load curve begins to decrease from the value of parameter 45 06 MOT LOAD CURVE to the value of parameter 45 07 ZERO SPEED LOAD The load curve is used by the motor thermal protection model when parameter 45 02 MOT TEMP SOURCE is set to 0 ESTIMATED 0 01 500 Hz Load curve breakpoint Parameters and firmware blocks 148 45 09 MOTNOM TEMP RISE FW block MOT THERM PROT see above Defines the temperature rise of the motor when the motor is loaded with nominal current See the motor manufacturer s recommendations The temperature rise value is used by the motor thermal protection model when parameter 45 02 MOT TEMP SOURCE is set to 0 ESTIMATED 1 Motor nominal temperature rise Ambient temperature 0 300 C Motor temperature rise
330. previous cycle counter output value Load input LD Boolean Counter input CD Boolean Preset input PV DINT Counter output CV DINT Status output Q Boolean 95 0 95 0 92 Standard function blocks Operation Inputs Outputs DINT 10048 Illustration Execution time Operation 265 The counter output CV value is increased by 1 if the counter input CU value changes from 0 gt 1 and the reset input R value is 0 If the counter output has reached its maximum value 32767 the counter output remains unchanged The counter output is reset to 0 if the reset input R is 1 The status output Q is 1 if the counter output CV value gt preset input PV value Example R CU PV Q 0 1 gt 0 20 0 10 10 0 0 gt 1 11 1 10 10 1 11 1 1 gt 0 20 0 11 0 1 0 gt 1 5 0 0 0 0 0 gt 1 20 0 0 0 1 1 0 0 gt 1 30 1 32767 32767 CV prey is the previous cycle counter output value Counter input CU Boolean Reset input R Boolean Preset input PV INT Counter output CV INT Status output Q Boolean CTU DINT 96 1 msec 1 096 Q 99 0 92 us The counter output CV value is increased by 1 if the counter input CU value changes from 0 gt 1 and the reset input R value is 0 If the counter output has reached its maximum value 21474
331. puts RO1 of a FIO 01 Digital Extension mounted on slot 2 of the drive control unit The state of a DIOx conf input of the block determines whether the corresponding DIO on the FIO 01 is an input or an output 0 7 input 1 lt output If the DIO is an output the DOx input of the block defines its state The RO1 and RO2 inputs define the state of the relay outputs of the FIO 01 0 7 not energised 1 energised The outputs show the state of the DIOs Digital input output mode selection DIO1 conf DIO4 conf Boolean Digital output state selection DO1 DO4 Boolean Relay output state selection RO1 RO2 Boolean Digital input output state 011 014 Boolean Error output Error DINT 0 lt No error 1 lt Application program memory full Standard function blocks 275 FIO 11 AI slot 10088 Illustration FIO 11 sloti mode 51 AI1 51 scaled 51 AI2 mode 51 12 51 AI2 51 mode 51 51 5 51 Error 51 AI3 Min scale AI3 Max scale Execution time 11 1 us Operation The block controls the three analogue inputs AI1 A13 of a FIO 11 Analog Extension mounted on slot 1 of the drive control unit The block outputs both the unscaled Alx and scaled Alx scaled actual values of each analogue input The scaling is based on the relatio
332. puts 2 32 are selected by the user Input IN1 IN32 INT DINT REAL REAL24 Output OUT INT DINT REAL REAL24 OUT 79 0 70 us The value of an input IN selected by the address input K is stored to the output OUT If the address input is 0 negative or exceeds the number of the inputs the output is 0 The input data type and number of inputs 2 32 are selected by the user Address input K DINT Input IN1 IN32 INT DINT REAL REAL24 Output OUT INT DINT REAL REAL24 OUT 80 1 53 us The output OUT is the value of the input IN selected by the selection input G If G 0 OUT INA If G 1 OUT IN B The input data type is selected by the user Selection input G Boolean Input IN A IN B Boolean INT DINT REAL REAL24 Output OUT Boolean INT DINT REAL REAL24 Standard function blocks 306 Switch 4 Demux DEMUX I 10061 Illustration DEMUX I OA1 81 2 81 Execution time 1 38 us when two outputs are used 0 30 for every additional output When outputs are used the execution time is 10 38 us Operation Input 1 value is stored to the output 1 2 selected by the address input All other outputs are 0 If the address input is O negative or exceeds the number of the outputs all outputs are 0 Inputs The input data type is selected by the user Address input A DINT I
333. quires additional DC power supply JPO 01 Different system configurations are detailed in ACSM1 System Engineering Manual SAFE68978297 English Drive control and features 45 Speed control features Jogging Jogging is typically used during servicing or commissioning to control the machinery locally It involves rotating the motor in small increments until the desired load position is achieved Two jogging functions 1 or 2 are available When a jogging function is activated the drive starts and accelerates to the defined jogging speed parameters 24 10 SPEED REF JOG1 and 24 11 SPEED REF JOG2 along the defined jogging acceleration ramp When the function is deactivated the drive decelerates to a stop along the defined jogging deceleration ramp One push button can be used to start and stop the drive during jogging Jogging functions 1 and 2 are activated by a parameter or through fieldbus The source of the jogging command is selected by bit pointer parameters 10 07 JOG1 START and 10 14 JOG2 START For activation through fieldbus see 2 12 FBA MAIN CW The figure and table below describe the operation of the drive during jogging Note that they cannot be directly applied to jogging commands through fieldbus as those require no enable signal see parameter 10 15 JOG ENABLE They also represent how the drive shifts to normal operation jogging inactive when the drive start command is switched on Jog cmd State of the
334. r resolver cable connection has been modified Autotuning routines can be activated by setting parameter 92 02 EXC SIGNAL AMPL or 92 03 EXC SIGNAL FREQ and then setting parameter 90 10 ENC PAR REFRESH to 1 Configure If the resolver is used with a permanent magnet motor an AUTOPHASING ID run should be performed as well 1 08 ENCODER 1 SPEED 1 10 ENCODER 2 SPEED Stop the motor Set parameter 22 01 SPEED FB SEL to 1 Enc1 speed or 2 Enc2 speed If the speed feedback cannot be used in motor control In special applications parameter 40 06 FORCE OPEN LOOP must be set to TRUE 22 01 SPEED FB SEL Note Speed filtering needs to be adjusted especially when the encoder pulse number is small See section Speed filtering on page 25 If there is an emergency stop circuit in use check that the circuit functions emergency stop signal is connected to the digital input which is selected as the source for the emergency stop activation 10 10 EM STOP OFF3 or 10 11 EM STOP OFF1 emergency stop control through fieldbus 2 12 FBA MAIN CW bits 2 4 Start up 24 The Safe Torque Off function disables the control voltage of the power semiconductors of the drive output stage thus preventing the inverter from generating the voltage required to rotate the motor For Safe Torque Off wiring see the appropriate hardware manual If there is a Saf
335. r testing must be done to find out the most suitable standstill mode The drive is also capable of determining the rotor position when started to a running motor in open loop or closed loop modes In this situation the setting of 11 07 AUTOPHASING MODE has no effect Thermal motor protection With the parameters in group 45 MOT THERM the user can set up the motor overtemperature protection and configure motor temperature measurement if present This block also shows the estimated and measured motor temperature The motor can be protected against overheating by the motor thermal protection model measuring the motor temperature with PTC or KTY84 sensors This will result in a more accurate motor model Drive control and features 40 Thermal motor protection model The drive calculates the temperature of the motor on the basis of the following assumptions 1 When power is applied to the drive for the first time the motor is at ambient temperature defined by parameter 45 05 AMBIENT TEMP After this when power is applied to the drive the motor is assumed to be at the estimated temperature value of 1 18 MOTOR TEMP EST saved at power switch off 2 Motor temperature is calculated using the user adjustable motor thermal time and motor load curve The load curve should be adjusted in case the ambient temperature exceeds 30 C It is possible to adjust the motor temperature supervision limits and select how th
336. r instantly under all conditions Parameters and firmware blocks 85 11 02 FW block START STOP MODE see above Defines the constant DC magnetising time See parameter 11 01 START MODE After the start command the drive automatically premagnetises the motor the set time To ensure full magnetising set If not known use the rule of thumb value given in the table below this value to the same value as or higher than the rotor time constant Motor rated power Constant magnetising time lt 1 gt 50 to 100 ms 110 10 gt 100 to 200 ms 10 to 200 kW gt 200 to 1000 ms 200 to 1000 kW gt 1000 to 2000 ms Note This parameter cannot be changed while the drive is running 0 10000 ms DC magnetising time 11 03 STOP MODE FW block START STOP MODE see above Selects the motor stop function 1 Coast Stop by cutting of the motor power supply The motor coasts to a stop WARNING the mechanical brake is used ensure it is safe A to stop the drive by coasting For more information on mechanical brake function see parameter group 35 MECH BRAKE CTRL 2 Ramp Stop along ramp See parameter group 25 SPEED REF RAMP 11 04 HOLD SPEED FW block START STOP MODE see above Defines the DC hold speed See parameter 11 06 DC HOLD 0 1000 rpm DC hold speed 11 05 DC HOLD CUR REF FW block START STOP MODE see ab
337. r points to the value of another parameter The source parameter is given in format P xx yy where xx lt Parameter group yy lt Parameter index In addition value pointer parameters may have a set of pre selected choices Example Motor current signal 1 05 CURRENT is connected to analogue output 1 by setting parameter 15 01 AO1 PTR to value P 01 05 Bit pointer parameter A bit pointer parameter points to the value of a bit in another parameter or can be fixed to 0 FALSE or 1 TRUE In addition bit pointer parameters may have a set of pre selected choices When adjusting a bit pointer parameter on the optional control panel CONST is selected in order to fix the value to 0 displayed as C FALSE or 1 C TRUE POINTER is selected to define a source from another parameter A pointer value is given in format P xx yy zz where xx lt Parameter group yy Parameter index zz Bit number Example Digital input DI5 status 2 01 DI STATUS bit 4 is used for brake supervision by setting parameter 35 02 BRAKE ACKNOWL to value 02 01 04 Parameters and firmware blocks 58 Note Pointing to nonexisting bit will be interpreted 0 FALSE For additional parameter data e g update cycles and fieldbus equivalents see chapter Parameter data Firmware blocks Firmware blocks accessible from the DriveSPC PC tool are described in the parameter group that contains the most of the block inputs outputs Wh
338. r time constant for analogue input AI1 20 signal 0 1 1 eT 108 lt gt filter input step 63 O filter output Filtered signal t time T filter time constant t T Note The signal is also filtered due to the signal interface hardware approximately 0 25 ms time constant This cannot be changed by any parameter 0 30 5 Filter time constant 13 02 MAX FW block see above Defines the maximum value for analogue input The type is selected with jumper J1 on the JCU Control Unit 11 11 V 22 22 mA Maximum input value Parameters and firmware blocks 92 13 03 MIN FW block see above Defines the minimum value for analogue input AI1 The type is selected with jumper J1 on the JCU Control Unit 11 11 V 22 22mA Minimum input value 13 04 MAX SCALE FW block see above Defines the real value that corresponds to the maximum analogue input value defined by parameter 13 02 AI1 MAX i scaled 13 04 1302 AI mA V 13 05 32768 32768 Real value corresponding to value of parameter 13 02 13 05 MIN SCALE FW block see above Defines the real value that corresponds to the minimum analogue input value defined by parameter 13 03 MIN See parameter 13 04 MAX SCALE
339. r will run at up to approximately Parameters and firmware blocks 191 3 Standstill Standstill ID run The motor is injected with DC current With asynchronous motor the motor shaft is not rotating with permanent magnet motor the shaft can rotate 0 5 revolution Note This mode should be selected only if the Normal or Reduced ID run is not possible due to the restrictions caused by the connected mechanics e g with lift or crane applications 4 Autophasing During autophasing the start angle of the motor is determined Note that other motor model values are not updated See also parameter 11 07 AUTOPHASING MODE and section Autophasing on page 38 Notes Autophasing can only be selected after the Normal Reduced Standstill ID run has been performed once Autophasing is used when an absolute encoder a resolver or an encoder with commutation signals has been added changed to a permanent magnet motor and there is no need to perform the Normal Reduced Standstill ID run again During Autophasing the motor shaft must NOT be locked and the load torque must be 596 5 Cur meas cal Current offset and gain measurement calibration The calibration will be performed at next start Parameters and firmware blocks 192 Parameters and firmware blocks Parameter data What this chapter contains 193 This chapter lists the parameters of the drive with some additional data
340. rammable Logic Controller Drive to drive link PC tool DriveStudio DriveSPC Fieldbus adapter Control panel optional L 4 A efesotomasyon com Encoder 1 Extra inputs outputs can be added by installing optional I O extension modules FIO xx in drive Slot 1 2 2 Incremental or absolute encoder or resolver interface module FEN xx installed in drive Slot 1 2 3 Two encoder resolver interface modules of the same type are not allowed Local control The control commands are given from a PC equipped with DriveStudio and or DriveSPC or from the control panel keypad when the drive is in local control Speed torque and position control modes are available for local control Drive control and features 36 Local control is mainly used during commissioning and maintenance control panel always overrides the external control signal sources when used in local control Changing the control location to local can be disabled by parameter 16 01 LOCAL LOCK The user can select by a parameter 46 08 LOCAL CTRL LOSS how the drive reacts to a control panel or PC tool communication break External control When the drive is in external control control commands start stop reset etc are given through the fieldbus interface an optional fieldbus adapter module the terminals digital inputs optional I O extension modules or the drive to drive link Two ext
341. ration 14 RAMP OUT 0 1 Ramp Function Generator output is forced to zero 0 operation 15 DATALOGGER 1 The drive data logger is on and has not been triggered ON 0 The drive data logger is off or its post trigger time has not yet elapsed See the DriveStudio user manual Parameters and firmware blocks 72 6 03 SPEED CTRL STAT FW block DRIVE LOGIC page 78 Speed control status word Bit Name Val Information 0 SPEED ACT 1 speed is negative NEG 1 ZERO SPEED 1 Actual speed has reached the zero speed limit 22 05 ZERO SPEED LIMIT 2 ABOVE LIMIT 1 Actual speed has exceeded the supervision limit 22 07 ABOVE SPEED LIM 3 AT SETPOINT 1 Difference between 1 01 SPEED ACT and 3 03 SPEEDREF RAMP IN in speed control or 3 05 SPEEDREF USED in posi tion control is within speed window 26 07 SPEED WINDOW 4 BAL ACTIVE 1 Speed controller output balancing is active 28 09 SPEEDCTRL BAL EN 5 TUNE 1 Speed controller autotune is active ACTIVE 6 TUNE REQ 1 Speed controller autotune has been requested by parameter 28 16 PI TUNE MODE 7 PI TUNE DONE 1 Speed controller autotune has been completed successfully 8 15 Reserved 6 05 WORD 1 FW block DRIVE LOGIC page 78 Limit word 1 Bit Name Val Information 0 1 Drive
342. rence added to the torque value after the torque selection Default value is P 3 12 i e 3 12 TORQUE REF ADD which is an output of the TORQ REF SEL firmware block Note This parameter has been locked i e no user setting is possible Value pointer Group and index Parameters and firmware blocks 139 Group 35 MECH BRAKE CTRL Settings for the control of a mechanical brake See also section Mechanical brake control on page 49 Firmware block MECH BRAKE CTRL MECH BRAKE CTRL 2msec 35 3 14 BRAKE MEM 3 15 BRAKE COMMAND no 35 01 BRAKE CONTROL FENSRI 35 02 BRAKE ACKNOWL 35 03 BRAKE OPEN DELAY Towel 35 04 BRAKE CLOSE DLY m 35 05 BRAKE CLOSE SPD es 35 06 BRAKE OPEN TORQ rase 35 07 BRAKE CLOSE REQ Tes lt 35 08 BRAKE OPEN HOLD 35 09 BRAKE FAULT FUNC Block outputs located in other 3 14 BRAKE TORQ MEM page 68 parameter groups 3 15 BRAKE COMMAND page 69 35 01 BRAKE CONTROL FW block MECH BRAKE CTRL see above Activates the brake control function with or without supervision Note This parameter cannot be changed while the drive is running 0 NO Inactive 1 WITH ACK Brake control with supervision supervision is activated by parameter 35 02 BRAKE ACKNOWL 2 NO ACK Brake control without supervision 35 02 BRAKE ACKNOWL FW block MECH BRAKE CTRL see above Selects the source for the external brake on off
343. rface How to start up the drive The drive can be operated locally from PC tool or control panel externally via connections or fieldbus interface The start up procedure presented uses the DriveStudio PC tool program Drive references and signals can be monitored with DriveStudio Data Logger or Monitor Window For instructions on how to use DriveStudio see DriveStudio User Manual 3AFE68749026 English The start up procedure includes actions which need to be performed only when the drive is powered up for the first time e g entering the motor data After the first start up the drive can be powered up without using these start up functions The start up procedure can be repeated later if start up data needs to be changed In addition to the PC tool commissioning and drive power up the start up procedure includes the following steps entering the motor data and performing the motor identification run setting up the encoder resolver communication checking the emergency stop and Safe Torque Off circuits setting up the voltage control setting the drive limits Setting up the motor overtemperature protection tuning the speed controller setting up the fieldbus control If an alarm or a fault is generated during the start up see chapter Fault tracing for the possible causes and remedies If problems continue disconnect the main power and wait 5 minutes for the intermediate circuit capacitors to discharg
344. rive to drive Check the settings of the parameters in group 0x7583 link configuration parameters 57 D2D COMMUNICATION group 57 are incompatible 2047 SPEED FEEDBACK No speed feedback is received Checkthe settings of the parameters in group 0x8480 22 SPEED FEEDBACK Check encoder installation See the description of fault 0039 ENCODER for more information 2048 OPTION COMM LOSS Communication between drive Check that option modules are properly 0x7000 and option module FEN xx connected to Slot 1 and or Slot 2 and or FIO xx is lost Check that option modules or Slot 1 2 connectors are not damaged To determine whether module or connector is damaged Test each module individually in Slot 1 and Slot 2 2072 DC NOT CHARGED The voltage of the intermediate Wait for the DC voltage to rise 0x3250 DC circuit has not yet risen to operating level Fault tracing 218 What to fieldbus code 2073 SPEED TUNE FAIL Speed controller autotune See parameter 28 16 PI TUNE MODE 0x8481 routine did not finish successfully 2075 LOW VOLT MOD CON Low voltage mode has been Check the Low voltage mode parameters in 0 015 activated but the parameter group 47 VOLTAGE CTRL See also section settings are outside allowable Low voltage mode on page 43 limits Fault tracing Fault messages generated by drive 219
345. rm MOTOR TEMPERATURE or trips on fault MOTOR OVERTEMP when the temperature exceeds the alarm fault level defined by parameter 45 03 MOT TEMP ALM LIM 45 04 MOT TEMP FLT LIM 45 02 TEMP SOURCE FW block MOT THERM PROT see above Selects the motor temperature protection When overtemperature is detected the drive reacts as defined by parameter 45 01 MOT TEMP PROT 0 ESTIMATED The temperature is supervised based on the motor thermal protection model which uses the motor thermal time constant parameter 45 10 MOT THERM TIME and the motor load curve parameters 45 06 45 08 User tuning is typically needed only if the ambient temperature differs from the normal operating temperature specified for the motor The motor temperature increases if it operates in the region above the motor load curve The motor temperature decreases if it operates in the region below the motor load curve if the motor is overheated WARNING The model does not protect the motor if it does not cool properly due to dust and dirt Parameters and firmware blocks 146 e temperature is supervised using sensor connected to 1 KTY JCU Th i ised usi KTY84 d drive thermistor input TH 2 KTY 1st FEN The temperature is supervised using a KTY84 sensor connected to encoder interface module FEN xx installed in drive Slot 1 2 If two encoder interface modules are used encoder module connected to Slot 1 is us
346. rotor position when it rotates but the initial position is not known However a pulse encoder can be used as an absolute encoder if it is equipped with Hall sensors albeit with coarse initial position accuracy The Hall sensors generate so called commutation pulses that change their state six times during one revolution so it is only known within which 60 sector of a complete revolution the initial position is Drive control and features 39 Rotor 0 Absolute encoder resolver The autophasing routine is performed with permanent magnet synchronous motors in the following cases 1 One time measurement of the rotor and encoder position difference when an absolute encoder a resolver or an encoder with commutation signals is used 2 At every power up when an incremental encoder is used 3 With open loop motor control repetitive measurement of the rotor position at every start Several autophasing modes are available see parameter 11 07 AUTOPHASING MODE The turning mode is recommended especially with case 1 as it is the most robust and accurate method In turning mode the motor shaft is turned back and forward 360 5 in order to determine the rotor position In case 2 open loop control the shaft is turned only in one direction and the angle is smaller The standstill modes can be used if the motor cannot be turned for example when the load is connected As the characteristics of motors and loads diffe
347. rror output Error DINT Standard function blocks Program structure BOP 10105 Illustration Execution time Operation Inputs Outputs ELSE Illustration Execution time Operation Inputs Outputs ELSEIF Illustration Execution time Operation Inputs Inputs Outputs 301 The BOP Bundle OutPut block collects the outputs of several different sources The Sources are connected to the Output pins The Output pin that changed last is relayed to the Output pin The block is intended for use with conditional IF ENDIF structures See the example under the IF block Values from different conditional branches Output1 B OutputN INT DINT Boolean REAL REAL24 Output from currently active branch of a IF ELSEIF structure or latest updated input value Output INT DINT Boolean REAL REAL24 ELSE TLA2 10 msec See description of IF block ELSEIF 48 TLA2 10 msec 1 COND See description of IF block Input COND Boolean Standard function blocks 302 Illustration TLA2 10 msec 0 Execution time Operation See description of IF block Inputs Outputs IF 10103 TLA2 10 msec 1 E COND Execution time Standard function blocks Operation Inputs Outputs 303 The IF ELSE ELSEIF and ENDIF blocks define by Boolean logic which parts of the application pr
348. rtia compensation during acceleration shows the used speed reference filtered speed error and the output of the acceleration compensation Block outputs located in other 3 05 SPEEDREF USED page 68 parameter groups 3 06 SPEED ERROR FILT page 68 3 07 ACC COMP TORQ page 68 26 01 SPEED ACT NCTRL FW block SPEED ERROR see above Selects the source for the actual speed in the speed control mode Note This parameter has been locked i e no user setting is possible Value pointer Group and index 26 02 SPEED REF NCTRL FW block SPEED ERROR see above Selects the source for the speed reference in the speed control mode Note This parameter has been locked i e no user setting is possible Value pointer Group and index 26 03 SPEED REF PCTRL FW block SPEED ERROR see above Selects the source for the speed reference in position and synchron control modes Note This parameter is only for positioning applications Value pointer Group and index 26 04 SPEED FEED PCTRL FW block SPEED ERROR see above This parameter is only for positioning applications Value pointer Group and index Parameters and firmware blocks 119 26 05 FW block SPEED ERROR see above Defines an additional speed step given to the input of the speed controller added to the speed error value 30000 30000 rpm Speed step 26 06 SPD ERR FW block SPEED ERROR
349. s 38 Thermal motor protection 39 Table of contents DC voltage control Gals lt 2 ccd sasse ood pe Me Ped ERO Le Re ERS Hee 42 Overvoltage control 42 Undervoltage control 42 Voltage control and trip 42 Braking 43 Low voltage mode 43 Speed control features 45 ECCE 45 Speed controller tuning Tr _____ ines 46 Motor xus oA CE ee 48 Motor encoder gear function 48 Mechanical brake control 49 Emergency St0p s gan cee eae AR C RET 53 Miscellangsods TOI QE ERU de gba UL GC pape dod RO cB REL Gre Us pr RC Rot 53 Backup and restore of drive contents 53 Default connections of the control unit What this chapter contains
350. s EXT1 and EXT2 selecting sources for external fault reset run enable and start enable signals selecting sources for emergency stop OFF1 and OFF3 selecting source for jogging function activation signal enabling the start inhibit function See also section Jogging on page 45 Firmware block DRIVE LOGIC 10 This block selects the sources for the start stop direction signals for external control locations EXT1 and EXT2 selects the sources for external fault reset run enable and start enable signals selects the sources for emergency stop OFF1 and OFF3 selects the source for jogging activation signal enables the start inhibit function DRIVE LOGIC 21 TLF10 2msec 2 2 0101 10 04 EXT2 START FUNC 2 2 01 DI1 E lt 10 07 1061 START 2 2 01 013 lt 10 10 EM STOP OFF3 7 10 11 EM STOP OFF1 10 12 START INHIBIT 421215 10 13 CW USED 10 14 1062 START 10 15 JOG ENABLE lt 10 16 D2D USED 10 17 START ENABLE e 5 5 28 2 2 18 D2D FOLLOWER CW 6 01 STATUS WORD 1 6 02 STATUS WORD 2 6 03 SPEED CTRL STAT 6 05 LIMIT WORD 1 6 07 TORQ LIM STATUS 6 09 POS CTRL STATUS 6 10 POS CTRL STATUS2 6 11 POS CORR STATUS 10 01 EXT1 START FUNC lt 10 02 EXT1 START IN1 lt 10 03 EXT1 START IN2 lt 10 05 EXT2 START IN1 lt 10 06 EXT2 START IN2 lt
351. s are detected in communication between encoder interface module and encoder For more information on encoders see parameter groups 90 ENC MODULE SEL page 169 91 ABSOL ENC CONF page 173 92 RESOLVER page 178 and 93 PULSE ENC CONF page 179 Fault tracing 225 What to do fieldbus code 0040 ENCODER2 Encoder 2 feedback fault See fault ENCODER1 0x7381 EnDat or SSI encoder is usedin If possible use single position transfer continuous mode as encoder 2 instead of continuous position transfer i e if 90 02 ENCODER 2 SEL encoder has incremental sin cos signals 3 FEN 11 ABS Change parameter 91 25 SSI MODE 91 30 and ENDAT MODE to value 0 Initial pos 91 02 ABS INTERF 2 Otherwise use 551 encoder as EnDat or 4 SSI encoder 1 and 91 30 ENDAT MODE 1 Change parameter 90 01 ENCODER 1 SEL Continuous or 91 25 SSI to value 3 FEN 11 ABS and parameter MODE 1 Continuous 90 02 ENCODER 2 SEL to value 0 None Note The new setting will only take effect after parameter 90 10 ENC PAR REFRESH is used or after the JCU control unit is powered up the next time 0045 FIELDBUS COMM Cyclical communication Check status of fieldbus communication See 0x7510 between drive and fieldbus appropriate User s Manual of fieldbus adapter Programmable fault 50 02 adapter module or between module COMM LO
352. s received the stop command Simultaneously with the counter start the brake control function de energises the relay output controlling the brake and the brake starts closing During the delay the brake function keeps the motor live preventing the motor speed from falling below zero Set the delay time to the same value as the mechanical make up time of the brake 7 operating delay when closing specified by the brake manufacturer 0 605 35 05 FW block MECH BRAKE CTRL see above Defines the brake close speed an absolute value See parameter 35 04 BRAKE CLOSE DLY 0 1000 rpm Brake close speed 35 06 BRAKE OPEN TORQ FW block MECH BRAKE CTRL see above Defines the motor starting torque at brake release in percent of the motor nominal torque 0 1000 Motor starting torque at brake release 35 07 BRAKE CLOSE REQ FW block MECH BRAKE CTRL see above Selects the source for the brake close open request 1 Brake close request 0 Brake open request Note This parameter cannot be changed while the drive is running Bit pointer Group index and bit 35 08 BRAKE OPEN HOLD FW block MECH BRAKE CTRL see above Selects the source for the activation of the brake open command hold 1 Hold active 0 Normal operation Note This parameter cannot be changed while the drive is running Bit point
353. s the real value that corresponds to the minimum frequency input value defined by parameter 12 15 DIO2 F MIN See parameter 12 16 DIO2 F MAX SCALE 32768 32768 Real value corresponding to value of parameter 12 15 Parameters and firmware blocks 91 Group 13 ANALOGUE INPUTS Settings for the analogue inputs The drive offers two programmable analogue inputs and AI2 Both inputs can be used either as a voltage or a current input 11 11 V or 22 22 mA The input type is selected with jumpers J1 and J2 respectively on the JCU Control Unit The inaccuracy of the analogue inputs is 196 of the full scale range and the resolution is 11 bits sign The hardware filter time constant is approximately 0 25 ms Analogue inputs can be used as the source for speed and torque reference Analogue input supervision can be added with standard function blocks See chapter Standard function blocks AM 12 Firmware block Filters and scales the analogue input TLF7 2 msec 6 2 04 2 05 SCALED 00051 signal and selects the supervision Also shows the value of iiu input 13 03 AI1 MIN 13 04 1 MAX SCALE 13 05 MIN SCALE Block outputs located in other 2 04 AI1 page 62 parameter groups 2 05 AI1 SCALED page 62 13 01 FILT TIME FW block see above Defines the filte
354. s to the jogging speed along the deceleration ramp of the jogging function 14 15 1 1 0 Drive runs at the jogging speed 15 16 x 0 0 Drive decelerates to zero speed along the deceleration ramp of the jogging function Notes Jogging is not operational when the drive start command is on or when the drive is in local control Normal start is inhibited when jog enable is active The ramp shape time is set to zero during jogging Speed controller tuning The speed controller of the drive can be automatically adjusted using the autotune function parameter 28 16 TUNE MODE Autotuning is based on the load inertia of the motor and the machine It is however also possible to manually adjust the controller gain integration time and derivation time Automatic autotuning can be performed in four different ways depending on the setting of parameter 28 16 PI TUNE MODE The selections 1 Smooth 2 Middle and 3 Tight define how the drive torque reference should react to a speed reference step after tuning The selection 1 Smooth will produce a slow response 3 Tight will produce a fast response The selection 4 User allows customised control sensibility adjustment through parameters 28 17 TUNE BANDWIDTH and 28 18 TUNE DAMPING Detailed tuning status information is provided by parameter 6 03 SPEED CTRL STAT If the autotuning routine fails the SPEED CTRL TUNE FAIL alarm will occur for approximately 15 seconds If a stop
355. sages generated by the drive on page 211 error code F followed by Fault See section Fault messages generated by the drive on page 219 error code How to reset The drive can be reset either by pressing the reset key on the PC tool or control panel RESET or switching the supply voltage off for a while When the fault has been removed the motor can be restarted A fault can also be reset from an external source by parameter 10 08 FAULT RESET SEL Fault tracing 210 Fault history When a fault is detected it is stored in the fault logger with a time stamp The fault history stores information on the 16 latest faults of the drive Three of the latest faults are stored at the beginning of a power switch off Signals 8 01 ACTIVE FAULT and 8 02 LAST FAULT store the fault codes of the most recent faults Alarms can be monitored via alarm words 8 05 ALARM WORD 1 8 08 ALARM WORD 4 Alarm information is lost at power switch off or fault reset Fault tracing Alarm messages generated by drive 211 OxF083 OFF2 command Code Alarm Cause What to do fieldbus code 2000 BRAKE START TORQUE Mechanical brake alarm Alarm Check brake open torque setting parameter 0x7185 is activated if required motor 35 06 Programmable fault 35 09 Starting torque 35 06 BRAKE Check drive torque and current limits See BRAKE FAULT FUNC OPEN is not a
356. seconds This mode should be selected whenever it is possible Note The driven machinery must be de coupled from the motor with Normal ID run if the load torque is higher than 20 ifthe machinery is not able to withstand the nominal torque transient during the ID run Note Check the direction of rotation of the motor before starting the ID run During the run the motor will rotate in the forward direction WARNING The motor will run at up to approximately 50 100 of the nominal speed during the ID run ENSURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE PERFORMING THE ID RUN 2 Reduced Reduced ID Run This mode should be selected instead of the Normal ID Run if mechanical losses are higher than 2090 i e the motor cannot be de coupled from the driven equipment or if flux reduction is not allowed while the motor is running i e in case of a motor with an integrated brake supplied from the motor terminals With Reduced ID run the control in the field weakening area or at high torques is not necessarily as accurate as with the Normal ID run Reduced ID run is completed faster than the Normal ID Run 90 seconds Note Check the direction of rotation of the motor before starting the ID run During the run the motor will rotate in the forward direction 50 100 of the nominal speed during the ID run ENSURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE PERFORMING THE ID RUN WARNING The moto
357. section Examples of using standard function blocks in drive to drive communication starting on page 339 Local dataset number LocalDsNr INT Contents of dataset Data1 16B INT Contents of dataset Data2 32B DINT Error output Error DINT Standard function blocks Comparison EQ 10040 Illustration GE 10041 GT 10042 Execution time Operation Inputs Outputs gt Execution time Operation Inputs Outputs gt Illustration Execution time 251 OUT 75 0 89 us when two inputs are used 0 43 ys for every additional input When all inputs are used the execution time is 13 87 us The output OUT is 1 if all the connected input values are equal IN1 IN2 IN32 Otherwise the output is O The input data type and the number of inputs 2 32 are selected by the user Input IN1 IN32 INT DINT REAL REAL24 Output OUT Boolean OUT 76 0 89 us when two inputs are used 0 43 ys for every additional input When all inputs are used the execution time is 13 87 us The output OUT is 1 if IN1 gt IN2 8 IN2 gt IN3 amp amp IN31 gt IN32 Otherwise the output is O The input data type and the number of inputs 2 32 are selected by the user Input IN1 IN32 INT DINT REAL REAL24 Output OUT Boolean OUT 77 0 89 us when two inputs are used 0 43 us for every addit
358. sed in emulation 90 03 EMUL MODE SEL corresponds to FEN xx encoder interface 1 or and 2 activated by parameter 90 01 ENCODER 1 SEL 90 02 ENCODER 2 SEL Parameter 90 01 90 02 activates the position calculation of the used FEN xx input If position value used in emulation is determined by drive software Check that FEN xx encoder used in emulation 90 03 EMUL MODE SEL corresponds to FEN xx encoder interface 1 or and 2 activated by parameter 90 01 ENCODER 1 SEL 90 02 ENCODER 2 SEL because position data used in emulation is written to FEN xx during encoder data request Encoder interface 2 is recommended Note The new setting will only take effect after parameter 90 10 ENC PAR REFRESH is used or after the JCU control unit is powered up the next time 2027 FEN TEMP MEAS FAILURE 0x7385 Error in temperature measurement when temperature sensor KTY or PTC connected to encoder interface FEN xx is used Check that parameter 45 02 MOT TEMP SOURCE setting corresponds to encoder interface installation 9 20 OPTION SLOT 1 9 21 OPTION SLOT 2 If one FEN xx module is used Parameter 45 02 MOT TEMP SOURCE setting must be either 2 KTY 1st FEN or 5 PTC 1st FEN FEN xx module can be in either Slot 1 or Slot 2 If two FEN xx modules are used When parameter 45 02 MOT TEMP SOURCE setting is 2 KTY 1st FEN or 5 PTC 1st FEN the encoder installed in drive Slot 1 is used When parameter 45
359. see above Defines the time constant of the speed error low pass filter If the used speed reference changes rapidly servo application the possible interferences in the speed measurement can be filtered with the speed error filter Reducing the ripple with filter may cause speed controller tuning problems A long filter time constant and fast acceleration time contradict one another A very long filter time results in unstable control See also parameter 22 02 SPEED ACT FTIME 0 1000 ms Time constant for speed error low pass filter 0 ms filtering disabled 26 07 SPEED WINDOW FW block SPEED ERROR see above Defines the absolute value for the motor speed window supervision i e the absolute value for the difference between the actual speed and the unramped speed reference 1 01 SPEED ACT 3 03 SPEEDREF RAMP IN When the motor speed is within the limits defined by this parameter signal 2 13 bit 8 AT SETPOINT value is 1 If the motor speed is not within the defined limits bit 8 value is 0 0 30000 rpm Absolute value for motor speed window supervision 26 08 ACC COMP DERTIME FW block SPEED ERROR see above Defines the derivation time for acceleration deceleration compensation Used to improve the speed control dynamic reference change In order to compensate inertia during acceleration a derivative of the speed reference is added to the output of the speed controller The principle of a derivative action is described for p
360. see the description of parameter 28 16 PI TUNE MODE Drive control and features 48 Motor feedback features Motor encoder gear function The drive provides motor encoder gear function for compensating of mechanical gears between the motor shaft the encoder and the load Motor encoder gear application example Speed control uses the motor speed If no encoder is mounted on the motor shaft the motor encoder gear function must be applied in order to calculate the actual motor speed on the basis of the measured load speed LOAD ENCODER The motor encoder gear parameters 22 03 MOTOR GEAR MUL and 22 04 MOTOR GEAR DIV are set as follows 22 03 MOTOR GEAR MUL _ Actual speed 22 04 MOTOR GEAR DIV Encoder 1 2 speed Note If the motor gear ratio differs from 1 the motor model uses an estimated speed instead of the speed feedback value See also section Examples of gear function usage on page 58 Drive control and features 49 Mechanical brake control The program supports the use of a mechanical brake to hold the motor and load at zero speed when the drive is stopped or not powered Mechanical brake control with or without acknowledgement is activated by parameter 35 01 BRAKE CONTROL The acknowledgement supervision signal can be connected to for example a digital input The brake on off value is reflected by 3 15 BRAKE COMMAND which should b
361. speed controller adaptation See parameter 28 12 ADAPT SPD 0 30000 rpm Minimum actual speed for speed controller adaptation 28 14 P GAIN ADPT COEF FW block SPEED CONTROL see above Proportional gain coefficient See parameter 28 12 ADAPT MAX SPD 0 000 10 000 Proportional gain coefficient 28 15 TIME ADPT COEF FW block SPEED CONTROL see above Integration time coefficient See parameter 28 12 ADAPT SPD 0 000 10 000 Integration time coefficient Parameters and firmware blocks 127 28 16 FW block None Activates the speed controller autotune function The autotune will automatically set parameters 28 02 PROPORT GAIN and 28 03 INTEGRATION TIME as well as 1 31 MECH TIME CONST If the User autotune mode is chosen also 26 06 SPD ERR FTIME is automatically set The status of the autotune routine is shown by parameter 6 03 SPEED CTRL STAT WARNING The motor will reach the torque and current limits during the autotune routine A ENSURE THAT IT 15 SAFE TO RUN THE MOTOR BEFORE PERFORMING THE AUTOTUNE ROUTINE Notes Before using the autotune function the following parameters should be set All parameters adjusted during the start up as described in chapter Start up page 15 22 05 ZERO SPEED LIMIT Speed scaling and reference ramp settings in Group 25 SPEED REF RAMP 26 06 SPD ERR If the User autotune mode is des
362. speed of the motor overspeed protection If the actual speed 1 01 SPEED ACT exceeds the speed limit defined by parameter 20 01 or 20 02 by more than 22 08 SPEED TRIPMARGIN the drive trips on fault OVERSPEED Example If the maximum speed is 1420 rpm and speed trip margin is 300 rpm the drive trips at 1720 rpm SPEED TRIPMARGIN 20 01 MAXIMUM SPEED 20 02 MINIMUM SPEED SPEED TRIPMARGIN 0 10000 rpm Speed trip margin 22 09 SPEED FB FAULT FW block SPEED FEEDBACK see above Selects the action in case of speed feedback data loss Note If this parameter is set to 1 Warning or 2 No a loss of feedback will cause an internal faulted state To clear the internal fault and to reactivate speed feedback use parameter 90 10 ENC PAR REFRESH 0 Fault Drive trips on a fault OPTION COMM LOSS ENCODER 1 2 ENCODER 1 2 CABLE or SPEED FEEDBACK depending on the type of problem 1 Warning Drive continues operation with open loop control and generates an alarm OPTION COMM LOSS ENCODER 1 2 FAILURE ENCODER 1 2 CABLE or SPEED FEEDBACK depending on the type of problem 2 No Drive continues operation with open loop control No faults or alarms are generated Parameters and firmware blocks 109 Group 24 SPEED Settings for speedreference selection speed reference modification scaling and inversion constant speed and jogging refere
363. ss of the follower RemoteDsNr specifies the target dataset number The follower responds by returning the contents of the next dataset The response is stored into dataset LocalDsNr 1 in the master Note Master point to point messaging is only supported at the master because the response is always sent to node address 0 the master Master Follower Dataset table Dataset table LocalDsNr TargetNode X LocalDsNr 1 E AL RemoteDsNr RemoteDsNr 1 57 03 NODE ADDRESS X Read remote messaging The master can read a dataset RemoteDsNr from a follower specified by TargetNode The follower returns the contents of the requested dataset to the master The response is stored at dataset LocalDsNr in the master Note Read remote messaging is only supported at the master because the response is always sent to node address 0 the master Master Follower Dataset table Dataset table TargetNode X LocalDsNr T RemoteDsNr 57 03 NODE ADDRESS X Appendix B Drive to drive link 335 Follower point to point messaging This type of messaging is for point to point communication between followers After receiving a token from the master a follower can send one dataset to another follower with a follower point to point message The target drive
364. state operation but improves the dynamics 93 06 ENC1 OSC LIM FW block PULSE ENC CONF see above Activates transient filter for encoder 1 Changes of direction of rotation are ignored above the selected pulse frequency 0 4880Hz Change in rotation of direction allowed below 4880 Hz 1 2440Hz Change in rotation of direction allowed below 2440 Hz 2 1220Hz Change in rotation of direction allowed below 1220 Hz 3 Disabled Change in rotation of direction allowed at any pulse frequency Parameters and firmware blocks 181 93 11 ENC2 PULSE FW block PULSE ENC CONF see above Defines the pulse number per revolution for encoder 2 0 65535 Pulses per revolution for encoder 2 93 12 ENC2 TYPE FW block PULSE ENC CONF see above Selects the type of encoder 2 For selections see parameter 93 02 ENC1 TYPE 93 13 ENC2 SP CALCMODE FW block PULSE ENC CONF see above Selects the speed calculation mode for encoder 2 For selections see parameter 93 03 ENC 1 SP CALCMODE 93 14 ENC2 POS EST ENA FW block PULSE ENC CONF see above Selects whether measured or estimated position is used with encoder 2 For selections see parameter 93 04 ENC1 POS EST ENA 93 15 ENC2 SP EST ENA FW block PULSE ENC CONF see above Selects whether calculated or estimated speed is used with encoder 2 For selections see parameter 93 05 ENC1
365. stop command OFF 1 OFF3 Check that it is safe to continue operation Return emergency stop push button to normal position or adjust the fieldbus Control Word accordingly Restart drive 2011 BR OVERHEAT 0x7112 Brake resistor temperature has exceeded alarm limit defined by parameter 48 07 BR TEMP ALARMLIM Stop drive Let resistor cool down Check resistor overload protection function settings parameters 48 01 48 05 Check alarm limit setting parameter 48 07 Check that braking cycle meets allowed limits 2012 BC OVERHEAT 0x7181 Brake chopper IGBT temperature has exceeded internal alarm limit Let chopper cool down Check for excessive ambient temperature Check for cooling fan failure Check for obstructions in the air flow Check the dimensioning and cooling of the cabinet Check resistor overload protection function settings parameters 48 01 48 05 Check that braking cycle meets allowed limits Check that drive supply AC voltage is not excessive 2013 DEVICE OVERTEMP 0x4210 Measured drive temperature has exceeded internal alarm limit Check ambient conditions Check air flow and fan operation Check heatsink fins for dust pick up Check motor power against unit power Fault tracing 213 What to do fieldbus code 2014 INTBOARD OVERTEMP Interface board between power
366. t IN ref REAL Proportional gain input P REAL Integration time constant input tl REAL 1 1 ms Derivation time constant input tD REAL 1 1 ms Antiwind up correction time constant input tC 106 1 1 ms Integrator reset input reset Boolean Balance input BAL Boolean Balance reference input BAL ref REAL Output high limit input OHL REAL Output low limit input OLL REAL Output Out REAL Deviation output Dev REAL actual reference IN act IN ref High limit output O HL Boolean Low limit output O LL Boolean Error code output ERROR INT32 0 64 O HL 64 0 64 4 23 us Limits the rate of the change of the signal The input signal IN is connected directly to the output O if the input signal does not exceed the defined step change limits STEP and STEP If the input signal change exceeds these limits the output signal change is limited by the maximum step change STEP STEP depending on the direction of rotation After this the output signal is accelerated decelerated by the defined ramp value SLOPE SLOPE per second until the input and output signal values are equal The output is limited by the defined minimum and maximum values OLL and OHL If the actual value of the output falls below the specified minimum limit output O LL is set to 1 If the actual value of the output exceeds the specified maximum limit OHL ou
367. t input S Boolean Reset input R1 Boolean Outputs Output Q1 Boolean Illustration RTRIG 47 TLA1 1 msec 1 gt 0 47 9 The output is to 1 when the clock input CLK changes from 0 to 1 The output is Note The output Q is 1 after the first execution of the block after cold restart when the Execution time 0 38 us Operation set back to 0 with the next execution of the block Otherwise the output is 0 CLK previous CLK Q 0 0 1 1 1 0 0 1 1 0 CLKprevious 5 the previous cycle output value clock input CLK is 1 Otherwise the output is always 0 when the clock input is 1 Inputs Clock input CLK Boolean Outputs Output Q Boolean Standard function blocks 272 SR 10033 Illustration Q1 48 Execution time 0 38 us Operation The output Q1 is 1 if the set input 51 is 1 The output will retain the previous output state if the set input S1 and the reset input R are 0 The output is 0 if the set input is 0 and the reset input is 1 Truth table 1 R Q1 previous Q1 0 0 0 0 0 0 1 1 0 1 0 0 0 1 1 0 1 0 0 1 1 0 1 1 1 1 0 1 1 1 1 1 1 previous S the previous cycle output value Inputs Set input 81 Boolean Reset input R Boolean Outputs Output Q1 Boolean Standard function blocks Extensions FIO 01 slot1 10084 Illustration Execution time
368. t the end of the acceleration See parameter 25 05 SHAPE TIME ACC1 0 1000 s Ramp shape at end of acceleration 25 07 SHAPE TIME DEC1 FW block SPEED REF RAMP see above Selects the shape of the deceleration ramp at the beginning of the deceleration See parameter 25 05 SHAPE TIME ACC1 0 1000 s Ramp shape at beginning of deceleration Parameters and firmware blocks 116 25 08 5 TIME DEC2 FW block SPEED REF RAMP see above Selects the shape of the deceleration ramp at the end of the deceleration See parameter 25 05 SHAPE TIME ACC1 0 1000 s Ramp shape at end of deceleration 25 09 ACC TIME JOGGING FW block SPEED REF RAMP see above Defines the acceleration time for the jogging function i e the time required for the speed to change from zero to the speed value defined by parameter 25 02 SPEED SCALING 0 1800 s Acceleration time for jogging 25 10 DEC TIME JOGGING FW block SPEED REF RAMP see above Defines the deceleration time for the jogging function i e the time required for the speed to change from the speed value defined by parameter 25 02 SPEED SCALING to zero 0 1800 s Deceleration time for jogging 25 11 EM STOP TIME FW block SPEED REF RAMP see above Defines the time inside which the drive is stopped if an emergency stop OFF3 is activated i e the time required for the speed to change from the
369. temperature alarm limit 45 04 MOT TEMP FLT LIM FW block MOT THERM PROT see above Defines the fault limit for the motor overtemperature protection when par 45 01 MOT TEMP PROT 2 Fault 0 200 C Motor overtemperature fault limit 45 05 AMBIENT TEMP FW block MOT THERM PROT see above Defines the ambient temperature for the thermal protection mode 60 100 C Ambient temperature Parameters and firmware blocks 147 45 06 FW block MOT THERM PROT see above Defines the load curve together with parameters 45 07 ZERO SPEED LOAD and 45 08 BREAK POINT The value is given in percent of nominal motor current When the parameter is set to 10096 the maximum load is equal to the value of the parameter 99 06 MOT NOM CURRENT higher loads heat up the motor The load curve level should be adjusted if the ambient temperature differs from the nominal value 15 Motor current 99 IN Nominal motor current 150 45 06 oe 50 45 07 15 08 gt Drive output frequency The load curve is used by the motor thermal protection model when parameter 45 02 MOT TEMP SOURCE is set to 0 ESTIMATED 50 150 Motor current above breakpoint 45 07 ZERO SPEED LOAD FW block MOT THERM PROT see above Defines the load curve together with parameters 45 06 MOT LOAD CURVE and 45 08 BREAK POINT Defines the maximum motor load at zero s
370. the Hardware Manual of the drive 1 Fault The drive trips on SAFE TORQUE OFF when one or both of the STO signals are lost 2 Alarm Drive running The drive trips on SAFE TORQUE OFF when one or both of the STO signals is lost Drive stopped The drive generates a SAFE TORQUE OFF alarm if both STO signals are absent If only one of the signals is lost the drive trips on STO1 LOST or STO2 LOST Parameters and firmware blocks 151 3 Drive running The drive trips on SAFE TORQUE OFF when one or both of the STO signals is lost Drive stopped No action if both STO signals are absent If only one of the signals is lost the drive trips on STO1 LOST or STO2 LOST 4 Only Alarm The drive generates a SAFE TORQUE OFF alarm if both STO signals are absent If only one of the signals is lost the drive trips on STO1 LOST or STO2 LOST 46 08 CROSS CONNECTION FW block FAULT FUNCTIONS see above Selects how the drive reacts to incorrect input power and motor cable connection i e input power cable is connected to drive mo tor connection 0 No No reaction Drive trips on CABLE CROSS CON fault 1 Fault Parameters and firmware blocks 152 Group 47 VOLTAGE CTRL Settings for overvoltage and undervoltage control and supply voltage Firmware block VOLTAGE CTRL VOLTA
371. tional as long as the motor rotates and generates energy to the drive The drive can continue the operation after the break if the main contactor remained closed Note Units equipped with main contactor option must be equipped with a hold circuit e g UPS which keeps the contactor control circuit closed during a short supply break Umains Tu fout Upc Nm Hz Upd 160 80 520 120 60 390 80 40 260 40 20 130 1 6 4 8 8 11 2 14 4 Upc intermediate circuit voltage of the drive output frequency of the drive 7 motor torque Loss of supply voltage at nominal load 40 Hz The intermediate circuit DC voltage drops to the minimum limit The controller keeps the voltage steady as long as the supply is switched off The drive runs the motor in generator mode The motor speed falls but the drive is operational as long as the motor has enough kinetic energy Voltage control and trip limits The control and trip limits of the intermediate DC voltage regulator are relative either to a supply voltage value provided by the user or to an automatically determined supply voltage The actual voltage used is shown by parameter 1 19 USED SUPPLY VOLT The DC voltage Upc equals 1 35 times this value Automatic identification of the supply voltage is performed every time the drive is powered Automatic identification can be disabled
372. tput O HL is set to 1 If the balancing input BAL is set to 1 the output O is set to the value of the balance reference input BAL ref Balancing reference is also limited by the minimum and maximum values OLL and OHL Standard function blocks 292 Inputs Outputs REG G 10102 Illustration Execution time Input IN REAL Maximum positive step change input STEP REAL Maximum negative step change input STEP REAL Ramp up value per second input SLOPE REAL Ramp down value per second input SLOPE REAL Balance input BAL Boolean Balance reference input BALREF REAL Output high limit input OHL REAL Output low limit input OLL REAL Output O REAL High limit output OZHL Boolean Low limit output O LL Boolean ERR 65 0 65 Standard function blocks Operation Inputs Outputs 293 Combines the array group of variables if any on the EXP input with the values of the 11 132 pins to produce an output array The data type of the arrays can be INT DINT REAL16 REAL24 or Boolean The output array consists of the data from the EXP input and the values of the 11 in this order When input S is 1 data is continuously assembled into the output array The element acts as a latch when input S is 0 the latest data assembled then remains at the output If S is 0 and changes state from 0 to 1 the array from the EXP input and the values o
373. tput after an error step when the error remains constant 4 Controller output au f Gain Kp 1 xe i Integration time gt 0 Derivation time 0 Error value Note This parameter is automatically set by the speed controller autotune function See parameter 28 16 PI TUNE MODE 0 600 s Integration time for speed controller Parameters and firmware blocks 124 28 04 FW block SPEED CONTROL see above Defines the derivation time of the speed controller Derivative action boosts the controller output if the error value changes The longer the derivation time the more the speed controller output is boosted during the change If the derivation time is set to zero the controller works as a PI controller otherwise as a PID controller The derivation makes the control more responsive for disturbances The speed error derivative must be filtered with a low pass filter to eliminate disturbances The figure below shows the speed controller output after an error step when the error remains constant Gain 1 T Integration time gt 0 Derivation time gt 0 Sample time period 250 us e Error value Error value change between two samples Controller output e Error value Note Changing this parameter value is recommended only if a pulse encoder is used 0
374. type FEN 11 Absolute Encoder Interface Emulation FEN 11 TTL encoder input X41 position is emulated to FEN 11 TTL output 7 FEN 21 SWref Module type FEN 21 Resolver Interface Emulation Drive software position source selected by par 93 22 EMUL POS REF is emulated to FEN 21 TTL output 8 FEN 21 RES Module type FEN 21 Resolver Interface Emulation FEN 21 resolver input X52 position is emulated to FEN 21 TTL output 9 FEN 21 TTL Module type FEN 21 Resolver Interface Emulation FEN 21 TTL encoder input X51 position is emulated to FEN 21 TTL output 10 FEN 31 SWref Module type FEN 31 HTL Encoder Interface Emulation Drive software position source selected by par 93 22 EMUL POS REF is emulated to FEN 31 TTL output 11 FEN 31 HTL Module type FEN 31 HTL Encoder Interface Emulation FEN 31 HTL encoder input X82 position is emulated to FEN 31 TTL output 90 04 TTL ECHO SEL FW block ENCODER see above Enables and selects the interface for the TTL encoder signal echo Note If encoder emulation and echo are enabled for the same FEN xx TTL output the emulation overrides the echo 0 Disabled TTL echo disabled 1 FEN 01 TTL Module type FEN 01 TTL Encoder Interface Echo TTL encoder input X32 pulses are echoed to the TTL output 2 FEN 01 TTL Module type FEN 01 TTL Encoder Interface Echo TTL encoder input X31 pulses are echoed to the
375. ue pointer Group and index 24 05 SPEED REF 1 2SEL FW block SPEED REF MOD see above REF1 IN 24 04 SPEED REF2 Selects between speed reference 1 or 2 Reference 1 2 source is defined by parameter 24 03 SPEED IN 0 Speed reference 1 Bit pointer Group index and bit 24 06 SPEED SHARE FW block SPEED REF MOD see above Defines the scaling factor for speed reference 1 2 speed reference 1 or 2 is multiplied by the defined value Speed reference 1 or 2 is selected by parameter 24 05 SPEED REF 1 2SEL 8 8 Scaling factor for speed reference 1 2 Parameters and firmware blocks 112 24 07 SPEEDREF FW block SPEED REF MOD above Selects the source for the speed reference inversion 1 Sign of the speed reference is changed inversion active Bit pointer Group index and bit 24 08 CONST SPEED FW block SPEED REF MOD see above Defines the constant speed 30000 30000 rpm Constant speed 24 09 CONST SPEED ENA FW block SPEED REF MOD see above Selects the source for enabling the use of the constant speed reference define by parameter 24 08 CONST SPEED 1 Enable Bit pointer Group index and bit 24 10 SPEED REF JOG1 FW block SPEED REF MOD see above Defines the speed reference for jogging function 1 See section Jogging on page 45 30000 30000 rpm Speed reference for jogging
376. unctionality may not be supported by the fieldbus communication profile Bit pointer Group index and bit 50 10 FBA SW B14 SRC FW block FIELDBUS see above Selects the source for freely programmable fieldbus status word bit 30 2 13 FBA MAIN SW bit 30 Note that this functionality may not be supported by the fieldbus communication profile Bit pointer Group index and bit 50 11 FBA SW B15 SRC FW block FIELDBUS see above Selects the source for freely programmable fieldbus status word bit 31 2 13 FBA MAIN SW bit 31 Note that this functionality may not be supported by the fieldbus communication profile Bit pointer Group index and bit Parameters and firmware blocks 159 Group 51 SETTINGS Further fieldbus communication configuration These parameters need to be only if a fieldbus adapter module is installed See also Appendix A Fieldbus control on page 325 Notes This parameter group is presented in the User s Manual of the fieldbus adapter as parameter group 1 or A The new settings will take effect when the drive is powered up the next time before powering off the drive wait at least 1 minute or when parameter 51 27 FBA PAR REFRESH is activated 51 01 FBA TYPE FW block None Displays the fieldbus protocol on the basis of the adapter module installed Not defined Fieldbus adapter module not found not properly connected
377. uration is forced by parameter 90 10 ENC PAR REFRESH 93 Firmware block PULSE ENC CONF This block configures the TTL HTL input and TTL output PULSE ENC CONF TLF11 10 msec 93 01 PULSE NR 93 02 1 TYPE 93 03 SP CALCMODE 93 04 ENC1 POS EST 93 05 1 SP EST 93 06 OSC 93 11 2 PULSE NR 93 12 2 93 13 2 5 93 14 2 5 5 93 15 ENC2 SP EST 93 16 ENC2 OSC LIM 93 01 ENC1 PULSE NR FW block PULSE ENC CONF see above Defines the pulse number per revolution for encoder 1 0 65535 Pulses per revolution for encoder 1 93 02 ENC1 TYPE FW block PULSE ENC CONF see above Selects the type of encoder 1 0 Quadrature Quadrature encoder two channels channels A and B 1 single track Single track encoder one channel channel A 93 03 ENC1 SP CALCMODE FW block PULSE ENC CONF see above Selects the speed calculation mode for encoder 1 When single track mode has been selected by parameter 93 02 1 TYPE the speed is always positive Parameters and firmware blocks 180 0 Channels B Rising falling edges are used for speed calculation Channel B Defines the direction of rotation Note When single track mode has been selected by parameter 93 02 ENC1 TYPE setting O acts like setting 1
378. ution time Operation Inputs Outputs The output OUT is input IN1 divided by input IN2 OUT IN1 IN2 The output value is limited to the maximum and minimum values defined by the selected data type range If the divider IN2 is 0 the output is 0 The input data type is selected by the user Input IN1 IN2 INT DINT REAL REAL24 Output OUT INT DINT REAL REAL24 OUT 49 81 90 us The output OUT is input IN1 raised to the power of the input IN2 OUT If input IN1 0 the output is 0 The output value is limited to the maximum value defined by the selected data type range Note The execution of the EXPT function is slow The input data type is selected by the user Input IN1 REAL REAL24 Input IN2 REAL Output OUT REAL REAL24 OUT 50 1 67 us The output OUT is the remainder of the division of the inputs IN1 and IN2 OUT lt remainder of IN1 IN2 If input IN2 is zero the output is zero The input data type is selected by the user Input IN1 IN2 INT DINT Output OUT INT DINT Standard function blocks 10005 Execution time Operation Inputs Outputs MUL 10006 Illustration Execution time Operation Inputs Outputs MULDIV 10007 Illustration Execution time 235 OUT1 51 OUT2 51 2 10 us when two inputs are used 0 42 us for every additional input When all inputs are
379. utput Q is 1 if the counter output CV value lt 0 Example LD CD PV Q prev 0 1 gt 0 10 0 5 0 0 gt 1 10 0 5 1 4 1 1 gt 0 2 1 4 2 1 0 gt 1 1 0 2 1 0 0 gt 1 5 1 1 1 1 0 1 1 gt 0 32768 1 0 32768 0 0 gt 1 10 1 32768 32768 CV prev is previous cycle counter output value Inputs Load input LD Boolean Counter input CD Boolean Preset input PV INT Outputs Counter output CV INT Status output Q Boolean CTD DINT 10046 Illustration CTD DINT 94 1 msec 1 94 Q 94 Execution time 0 92 us Standard function blocks 264 Operation Inputs Outputs CTU 10049 Illustration Execution time The counter output CV value is decreased by 1 if the counter input CD value changes from 0 gt 1 and the load input LD value is 0 If the load input LD value is 1 the preset input PV value is stored as the counter output CV value If the counter output has reached its minimum value 2147483648 the counter output remains unchanged The status output Q is 1 if the counter output CV value lt 0 Example LD 0 1 gt 0 10 0 5 0 0 1 10 0 5 1 4 1 1 gt 0 2 1 2 1 0 gt 1 1 0 2 1 0 0 gt 1 5 1 1 1 1 0 1 1 gt 0 2147483648 1 0 2147483648 0 0 gt 1 10 1 2147483648 2147483648 CV prey is the
380. ve ID run is indicated by alarm ID RUN and by a rotating display on the 7 segment display 10 09 RUN ENABLE Alarm ID RUN 7 segment display rotating display If the ID run is not successfully completed fault ID RUN FAULT is generated Fault ID RUN FAULT An encoder resolver feedback can be used for more accurate motor control Follow these instructions when encoder resolver interface module FEN xx is installed in drive option Slot 1 or 2 Note Two encoder interface modules of the same type are not allowed Select the used encoder resolver For more information see parameter group 90 ENC MODULE SEL on page 169 90 01 ENCODER 1 SEL 90 02 ENCODER 2 SEL Set other necessary encoder resolver parameters Absolute encoder parameters group 91 page 173 Resolver parameters group 92 page 178 Pulse encoder parameters group 93 page 179 91 01 91 31 92 01 92 03 93 01 93 22 Set parameter 90 10 ENC PAR REFRESH to 1 Configure so that the new parameter settings take effect 90 10 ENC PAR REFRESH Follow these instructions when encoder resolver interface module FEN xx is installed in drive option Slot 1 or 2 Note Two encoder interface modules of the same type are not allowed Set parameter 22 01 SPEED FB SEL to 0 Estimated 22 01 SPEED FB SEL
381. verse start signal Par 10 02 Par 10 03 Command 0 0 Stop 1 0 Start forward 0 1 Start reverse 1 1 Stop 6 15 IN2DIR The source selected by 10 02 EXT1 START 1 1 is the start signal 0 stop 1 start the source selected by 10 03 1 START IN2 is the direction signal 0 lt forward 1 7 reverse 10 02 EXT1 START IN1 FW block DRIVE LOGIC see above Selects the source 1 for the start and stop commands in external control location EXT1 See parameter 10 01 EXT1 START FUNC selections 1 In1 and 2 3 wire Note This parameter cannot be changed while the drive is running Parameters and firmware blocks 80 Bit pointer Group index and bit 10 03 EXT1 START IN2 FW block DRIVE LOGIC see above Selects the source 2 for the start and stop commands in external control location EXT1 See parameter 10 01 EXT1 START FUNC selection 2 3 wire Note This parameter cannot be changed while the drive is running Bit pointer Group index and bit 10 04 EXT2 START FUNC FW block DRIVE LOGIC see above Selects the source for the start and stop control in external control location EXT2 Note This parameter cannot be changed while the drive is running 0 Not sel No source selected 1 In1 Source of the start and stop commands are selected by parameter 10 05 EXT2 START 1 1 The start stop is contro
382. voltage mode on page 43 Note The value of this parameter must be higher than 47 06 LOW VOLT DC MIN 50 V 350 810 V Maximum DC voltage for Low voltage mode 47 08 EXT PU SUPPLY FW block None Enables disables or selects a signal source that enables disables external power unit supply used with low DC supply voltages such as a battery 0 External power unit supply disabled 1 External power unit supply enabled See section Low voltage mode on page 43 Bit pointer Group index and bit Parameters and firmware blocks 154 48 Configuration of internal brake chopper Firmware block BRAKE CHOPPER BRAKE CHOPPER a 48 meme 48 01 BC ENABLE RE lt 48 02 BC RUN TIME ENA This block configures the brake 18 07 BRTHERMTIMECONST h tol and ision 48 04 BR POWER MAX CNT chopper control supervision m ERES 48 06 BR TEMP FAULTLIM m 48 07 BR TEMP ALARMLIM 48 01 BC ENABLE FW block BRAKE CHOPPER see above Enables the brake chopper control Note Before enabling brake chopper control ensure the brake resistor is installed and the overvoltage control is switched off parameter 47 01 OVERVOLTAGE CTRL The drive has a built in brake chopper 0 Disable Brake chopper control disabled 1 EnableTherm Enable brake chopper control with resistor overload protection 2 Enable Enable brake chopp
383. with encoder 1 The encoder is selected by parameter 90 01 ENCODER 1 SEL 2 Enc2 speed Actual speed measured with encoder 2 The encoder is selected by parameter 90 02 ENCODER 2 SEL 22 02 SPEED ACT FTIME FW block SPEED FEEDBACK see above Defines the time constant of the actual speed filter i e time within the actual speed has reached 6396 of the nominal speed filtered speed 1 01 SPEED ACT If the used speed reference remains constant the possible interferences in the speed measurement can be filtered with the actual speed filter Reducing the ripple with filter may cause speed controller tuning problems A long filter time constant and fast acceleration time contradict one another A very long filter time results in unstable control If there are substantial interferences in the speed measurement the filter time constant should be proportional to the total inertia of the load and motor in this case 10 30 of the mechanical time constant tmech Tnom Ytot X 27 60 where total inertia of the load and motor the gear ratio between the load and motor must be taken into account motor nominal speed Thom motor nominal torque See also parameter 26 06 SPD ERR FTIME 0 10000 ms Time constant for actual speed filter Parameters and firmware blocks 106 22 03 FW block SPEED FEEDBACK see above Defines the motor gear nu
384. xFFFFFFFF 2 14 MAIN REF1 INT32 291 251 1 1 1 500 32 66 215 MAIN REF2 INT32 231 231 41 1 1 500 us 32 WP 66 Parameter data 197 Index Name Type Range Unit FbEq Update Data PT Save Page time length PF no 2 16 STATUS Pb 0 0x33 1 500 16 66 2 17 1020 MAIN CW Pb 0 0xFFFF 1 500 16 66 2 18 1020 FOLLOWER 0 0xFFFF 1 2ms 16 WP 67 2 19 1020 REAL 27 27 31 1 500 32 67 2 20 1020 REF2 REAL 231 231 1 2008 32 67 03 CONTROL VALUES 3 01 SPEED REF1 REAL 30000 30000 rpm 1 100 500 32 68 3 02 SPEED REF2 REAL 30000 30000 rpm 1 100 500 32 68 3 03 SPEEDREF RAMP IN REAL 30000 30000 1 100 500 32 68 3 04 SPEEDREF REAL 30000 30000 rpm 1 100 500 32 68 3 05 SPEEDREF USED REAL 30000 30000 rpm 1 100 250 5 32 WP 68 3 06 SPEED ERROR FILT REAL 30000 30000 rpm 1 100 250 us 32 68 3 07 TORQ 1600 1600 1510 250 us 16 68 3 08 REF SP CTRL REAL 1600 1600 96 1510 250 16 68 3 09 1000 1000 1510 500 us 16 68 3 10 TORQ REF 1000 1000
385. ximum number of data words is protocol dependent 53 01 FBA DATA OUT1 FW block None Selects data to be transferred from the fieldbus controller to the drive 0 Not in use 1 Control Word 16 bits 2 Reference REF1 16 bits 3 Reference REF2 16 bits 11 Control Word 32 bits 12 Reference REF1 32 bits 13 Reference REF2 32 bits 1001 9999 Parameter index 53 02 FBA DATA OUT2 FW block None 53 12 DATA OUT 12 FW block None See 53 01 DATA OUT1 Parameters and firmware blocks 163 Group 55 COMMUNICATION TOOL Settings for an RS 485 network implemented using optional JPC 01 Network communication adapters The network enables the use of a single PC or control panel to control multiple drives For more information see the JPC 01 Network communication adapter User s manual 0 0000072233 55 01 MDB STATION ID FW block None Defines the ID of the drive on the RS 485 network Each drive must have a dedicated ID number 1 247 ID number For drives use number between 1 and 31 DriveStudio uses ID number 247 55 02 MDB BAUD RATE FW block None Sets the baud rate on the network Note This parameter must be set to 0 Auto if a control panel is used as the controlling device 0 Auto Baud rate is determined automatically At start up and after a communicatio

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