Home

EN / Application programming for ACS850 drives application guide

1. 95 Example of releasing tokens for follower to follower communication 96 Example of follower point to point messaging 96 Example of standard multicast messaging 97 Example of broadcast messaging 97 Further information Product and service inquiries 99 Product training 4 99 Providing feedback on ABB Drives 5 99 Document library on the Internet 99 About the manual 7 About the manual What this chapter contains This chapter describes the contents of this manual It also contains information on the compatibility safety intended audience and the purpose of the manual Compatibility This manual is compatible with ACS850 drives with the Standard control program Safety instructions Follow all safety instructions delivered with the drive Read the complete safety instructions before you install commission or use the drive The complete safety instructions are given at the beginning of the drive Hardware manual Read the software function specific warnings and notes before changing default settings of the function For each function the warnings and notes are given in this manual in the secti
2. lt 21 01 Speed xD 22 02 Acc timel Speed ref 20 000 51 22 03 Dec time1 lt 26 02 Const speed sel1 rpm 26 06 Const speed1 Speed ctrl Speed controller settings Speed IOCTRL 2 msec 23 01 Proport gain 23 02 Integration time Standard function blocks 17 Standard function blocks What this chapter contains This chapter presents the standard function blocks The blocks are grouped according to the grouping in the DriveSPC PC tool The number in brackets in the standard block heading is the block number Note The given execution times can vary depending on the drive application used Terms 0 or 1 for each individual bit 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 18 Standard function blocks Alphabetical index ABS dixo 3 3 AND ois RE 6 BOER To xx ire Ies 11 BITAND 11 BITOR 11 BOOL TO DINT 22 BOOL TO INT 23 Rea 64 BSET seas es 12 CRITSPEED 48 Lots 30 CTD DINT 30 CTO 31 33 CT
3. Ho ba h bh k hp e ba s Ho heo mme p o a e h ers CV prey 15 the previous cycle counter output value Counter output CV INT Status output Q Boolean Load input LD Boolean Counter input CD Boolean Preset input PV INT CTD DINT 10046 CTD DINT 94 1 1 msec 1 94 0 94 Standard function blocks 47 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 15 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 O 0 2147483648 4748364 z 2147483648 2147483648 Load input LD Boolean Counter input Boolean Preset input DINT Counter output CV DINT Status output Q Boolean 10049 cv 97 90097 QD 97 48 Standard function blocks Operation The counter output CV value is increased by 1 if the counter input CU value changes from 0 gt 1 and the reset input value is 0 If the counter output has reached its maximum value 32767 the counter output remains unchanged The counter output CV is reset to O if the reset input R is 1
4. 2 01 DI status 2 02 RO status 2 03 DIO status 2 04 2 05 scaled 2 06 AI2 2 07 AI2 scaled 2 16 AO1 2 17 AO2 2 20 Freq in 2 21 Freq out 2 22 FBA main cw 2 24 FBA main sw 2 26 FBA main ref1 2 27 FBA main ref2 Control values Speed reference values Control values IOCTRL 2 msec 2 3 03 SpeedRef unramp 3 06 SpeedRef used Firmware function blocks 15 Description Start stop dir Source selections for start stop run enable and emergency stop signals Configuration of digital input outputs relay outputs and analog outputs Start stop dir MISC 2 msec 2 01 DI1 lt 10 02 Ext1 start 10 03 Ext1 start in2 10 11 Run enable 10 13 Em stop off3 IO config IOCTRL 2 msec 6 02 2 6 02 3 6 02 2 6 02 3 6 01 12 Motor speed rpm 1 1 01 1 05 1 02 lt 14 03 DIO1 out src lt 14 07 DIO2 out src lt 14 42 src lt 14 45 RO2 src lt 14 48 src lt 14 61 out src lt 15 01 AO1 src lt 15 07 2 Drive operation limits Limits IOCTRL 2 msec 20 01 Maximum speed 20 02 Minimum speed 20 07 Maximum torque1 20 08 Minimum torquel 16 Firmware function blocks S Speed reference source selection acceleration deceleration and constant speed settings IOCTRL 2 msec
5. 1 11100000111001011101001100110107 0 00000111001011101001100110101000 The input data is selected by the user Number of bits BITCNT INT DINT Input 1 INT DINT Output O INT DINT SHR 10016 Execution time 0 80 us Operation Input bits I are rotated to the right by the number N of bits defined by BITCNT The N least significant bits LSB of the input are lost and the N most significant bits MSB of the output are set to O Example If BITCNT 3 FF 1 11100000111001011101001100110107 0 00011100000111001011101001100110 The input data type is selected by the user Number of bits BITCNT INT DINT Input 1 INT DINT Output O INT DINT 26 Standard function blocks XOR 10017 OUT 63 Execution time 1 24 us when two inputs are used 0 72 us for every additional input When all inputs are used the execution time is 22 85 Operation The output OUT is 1 if one of the connected inputs IN1 IN32 is 1 Output is zero if all the inputs have the same value Example The inputs can be inverted The number of inputs 2 32 is selected by the user Input IN1 IN32 Boolean Output OUT Boolean Standard function blocks 27 Bitwise BGET 10034 Operation The output is the value of the selected bit BITNR of the input 1 BITNR Bit number 0 bit number 0 31 bit number 31 If bit number is not in the ra
6. 7 Compatibility 7 Safety instructions 7 dace eerste 7 Purpose ofthe manual 8 Contents ofthe Manual x x x 5 dod PR ECCE a aa 8 2 Drive programming What this chapter contains 9 General about drive programming 9 Application programming 10 UNCON DIOCKS Grn ard oe ee Oe eee ee 10 Firmware function blocks 10 Standard function blocks 11 5 11 Application events 11 Program execution 11 Application program licensing and protection 11 Operalon Modes dt SE RAG ea 12 ee os ee 12 CNG ceo eee eee ares a 12 3 Firmware function blocks What this chapter contains 13 4 Standard function b
7. Standard function blocks 51 Operation The counter output CV value is increased by 1 if the 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 O if the reset input R is 1 The up counter status output QU is 1 if the counter output CV value preset input PV value The down counter status output QD is 1 if the counter output CV value lt 0 Example M a a E ____ di aso ist jo eet ae 22220 445 p 2 fe r UND LN UNE NN NE NE XM NE NNNM ON NM UM NE ANE NNNM 716 2 NE NR ONE QE Heuer m c e em c n CV prey IS the previous cycle counter output value NO NM TOT NINI NI NI NINININI NIN Up counter i
8. 63 53 RAMP 54 REAL24 REAL 28 REALn TO DINT 28 REALn TO DINT SIMP 28 REAL TO REAL24 27 suia a Eds 12 55 tous 8 8 36 37 cim NER 68 SHL MEME 9 9 SOLUTION FAULT 57 SOR Passion Sancta 6 e E 37 ahead 13 6 SWITCH 70 SWITCHC 70 TOP scare Rn EE aed 72 72 TP 73 10 Standard function blocks 19 Arithmetic iid o Operation 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 REAL24 ind mE Execution time 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 Operation 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 or REAL24 Output OUT DINT INT REAL or REAL24 DIV 10002 DIV OUT 48 Execution t
9. DS_ReadLocal 73 1 msec 1 LocalDsNr Data1 16B Data1 16B 73 Data2 32B Data2 32B 73 73 _________________ Reads the dataset defined by the LocalDsNr the local dataset table 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 Description LOCAL DS ERR LocalDsNr out of range 16 199 Local dataset number LocalDsNr INT Contents of dataset Data1 16B INT Contents of dataset Data2 32B DINT Error output Error DINT Standard function blocks 35 DS WriteLocal 10093 DS WriteLocal 74 TLA1 1 msec 1 LocalDsNr Error Error 74 Data1 16B Data2 32B 2 Operation 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 i Description LOCAL_DS_ERR LocalDsNr out of range 16 199 Local dataset number LocalDsNr INT Contents of dataset Data1 16B INT Contents of dataset Data2 32B DINT Error output Error DINT 36 Standard function blocks Comparison EQ 10040 EQ OUT 75 Exe
10. Operation 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 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 75 Time level 1 ms fs 1000 Hz 16 2 500 Hz Filter gain 0 50 100 150 200 250 300 350 400 450 500 Frequency Hz Time level 2 ms fs 500 Hz 16 2 250 Hz 0 9 Filter gain o o o Cn o N 0 1 0 0 50 100 150 200 250 Frequency Hz Time level 5 ms fs 200 Hz 16 2 100 Hz 0 9 Filter gain o Cn N 0 1 20 30 40 50 Frequency Hz Time level 10 ms fs 100 Hz fs 2 50 Hz 0 9 Filter gain o o o Cn 0 3 0 2 0 1 20 25 Frequency Hz 76 Standard function blocks Input X REAL 3 dB cutoff frequency
11. The status output Q is 1 if the counter output CV value gt preset input PV value Example 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 10048 CTUD DINT 98 TLA1 1 msec CV 98 QU 98 QD 98 Execution time 0 92 us Operation 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 2147483647 the counter output remains unchanged The counter output CV is reset to O if the reset input R is 1 The status output Q is 1 if the counter output CV value preset input PV value Example CV ___ 22212 5 m ne o mmm __ __ __ ___ 1522221 2 4 CV prey is the previous cycle counter output value Standard function blocks 49 Counter input CU Boolean Reset input R Boolean Preset input PV DINT Counter output CV DINT Status output Q Boolean CTUD 10051 097 9007 00 97 Execution time 1 40 us Operation 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 is 0 and the load input LD is 0 The counter outp
12. bit Example IN1 1 IN2 0 IN3 IN31 1 SIGN 1 OUT 1111 1111 1111 1111 1111 1111 1111 1101 E s SIGN IN31 IN1 Sign input SIGN Boolean Input IN1 IN31 Boolean Output OUT DINT 31 bits sign Standard function blocks 39 BOOL TO INT 10019 BOOL TO INT 82 TLA1 1 msec 1 cur OUT 82 Operation The output OUT value is a 16 bit integer value formed from the boolean input IN1 IN15 and SIGN values IN1 bit O and IN15 bit 14 Example IN1 IN15 1 SIGN 0 OUT 0111 1111 1111 1111 LN SIGN IN15 IN1 Input IN1 IN15 Boolean Sign input SIGN Boolean Outputs 000 Output OUT DINT 15 bits sign 40 Standard function blocks DINT TO BOOL 10020 DINT TO BOOL 83 TLA1 1 msec 1 IN Bei OUT1 83 BUTS OUT2 83 OUT3 OUT3 83 OUT4 83 OUT5 83 OUT6 83 OUT7 83 OUT8 83 Gite OUT9 83 ctis OUT10 83 OUTIL OUT11 83 Dt OUT12 83 Bt OUT13 83 0071483 OUT15 83 pris OUT16 83 DUREE OUT17 83 am OUT18 83 OUTI9 OUT19 83 DUIS OUT20 83 mi OUT21 83 OUT22 83 cim OUT23 83 aiti OUT24 83 OUT25 83 m OUT26 83 00727 OUT27 83 OUT28 83 ais OUT29 83 OUT30 OUT30 83 rs OUT31 83 ems OUT32 83 SIGN SIGN83 Operation The boolean output OUT1 OUT32 values are formed from the 32 bit integer input IN valu
13. gt x lt 11 V or z 2 Alx V or mA gt 11 22 0 x lt Alx Min Scale Alx Min Scale gt Alx Max Scale Alx scaled 32768 Alx Min Scale Alx V or mA The Alx filt gain inputs determine a filtering time for each input as follows figs Ferng me Notes Ho Recommended seting _ wow Wes _ Bo m PS zm 4m The Alx 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 58 Standard function blocks Analogue input filter gain selection filt gain AI3 filt gain INT Minimum value of input signal 11 Min Min REAL gt 11 V or 22 mA Maximum value of input signal Al1 Max REAL x 11 V or 22 mA Minimum value of scaled output signal Min scale Min scale REAL Maximum value of scaled output signal Max scale Max scale REAL Analogue input mode voltage or current mode AI3 mode Boolean Value of analogue input AI3 REAL Scaled value of analogue input scaled Al3 scaled REAL Error output Error DINT 0 No error 1 Application program memory full FIO 11 AI slot2 10089 FIO 11 AI slot2 52 TLA1 1 msec 1 filt gain mode mode 52 Min 11 52
14. 1 if the set input S is 1 The output will retain the previous output state if the set input S and reset input are 0 The output is 0 if the set input is 0 and the reset input is 1 Truth table JR AA 0 0 Previous output value UNE EN INN N NEM 44 v m e a ee 22 1 Reset Reset 7 Set value 0 Data input value for one execution cycle then changes to 1 according to the set input S 1 1 Set value Data input value je D D V A o D 0 gt 1 Oprevious IS the previous cycle output value 2 D and LEN wg Jr Jo a 1 9 x o e 1 222 do m o OMEN ANNE m o 9 2 qt ___ m qe Set input S Boolean Data input D Boolean Clock input C Boolean Reset input R Boolean Output O Boolean Standard function blocks 31 Communication also section Drive to drive communication on page 95 D2D Conf 10092 __________________ 020 Conf 70 TLA1 1 msec 1 Cycle Sel Erro 70 Error 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 mes
15. 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 MUL 10006 MUL TLA1 1 msec OUT 52 Execution time 3 47 us when two inputs are used 2 28 us for every additional input When all inputs are used the execution time is 71 73 us Operation The output OUT is the product of the inputs IN O IN1 x IN2 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 10007 53 0 53 53 Operation The output O is the product of input IN and input MUL divided by input DIV Output I x MUL DIV whole value REM remainder value Example 2 MUL 16 and 10 2 x 16 10 3 2 i e 3 and REM 2 output value is limited to the maximum and minimum values defined by data type range Input I DINT Multiplier input MUL DINT Divider input DIV DINT Output O DINT output REM DINT 22 Standard function blocks SQRT 10008 OUT 54 Execution time 2 09 us Operation Output OUT is the square root of the input IN OUT sqrt IN Output is O if
16. 4 52 scaled AD mode AI2 mode 52 AI1 Max scale m AI2 52 AI2 filt gain scaled AI2 scaled52 AI2 Min AI3 mode AI3 mode 52 AI2 Max AB AI3 52 AI2 Min scale 3 scaled scaled 52 AI2 Max scale Error 52 Error AI3 filt gain AI3 Min AI3 Max AI3 Min scale AI3 Max scale Operation The block controls the three analogue inputs 11 of a FIO 11 Analog I O 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 max and Alx min scale Alx max scale Alx Min must be smaller than Alx Max Alx Max Scale can be greater or smaller than Alx Min Scale Alx Min Scale Alx Max Scale Alx scaled 32768 Alx Max Scale 11 V or Alx V or mA Standard function blocks 59 Alx Min Scale Alx Max Scale Alx scaled 32768 Alx Min Scale Alx V or mA The Alx filt gain inputs determine a filtering time for each input as follows Agam Fiteringtime Notes _ 02 1 sw Recommended seting Bes wem Hm s m o o oo 8 Hm o o The Alx 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
17. DINT_ TLA1 1 msec 0 92 ERRC 92 Standard function blocks 45 Operation Output 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 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 O The output is set to O 1004 Incorrect scale input i e scale input is 0 or is not a factor of 10 Example from REAL to DINT When 2 04998779297and SCALE 100 204 The input data type is selected by the user Input 1 REAL REAL24 Scale input SCALE DINT Output O DINT Error output ERRC DINT 46 Standard function blocks Counters CTD 10047 Operation The counter output CV value is decreased by 1 if the counter input CD value changes from O 1 and the load input LD value is O 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 output Q is 1 if the counter output CV value lt 0 Example tD __ PV _ CV 40 9 0 5 5 1021 590 0 5 J8 1 4
18. are used the execution time is 10 38 us Input I value is stored to the output OA1 0A32 selected by the address input All other outputs are O If the address input is O negative or exceeds the number of the outputs all outputs The input data type is selected by the user Address input A DINT Input I INT DINT Boolean REAL REAL24 The number of the output channels 1 32 is selected by the user Output OA1 0A32 INT DINT REAL REAL24 Boolean PEERS MI 82 OA1 82 OA2 82 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 The input I 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 I 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 O If the address input is O negative or exceeds the number of the outputs all outputs 0 Example 86 Standard function blocks SWITCH 10063 SWITCHC 10064 The input data type is selected by the user Address input A DINT Reset input R Boolean Load input L Boolean Set input S Boolean Input 1 DINT IN
19. 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 D2D MODE ERR Drive is not master 5 SHORT CYCLE Token interval is too short causing overloading INVALID INPUT VAL An input value is out of range GENERAL D2D ERR Drive to drive communication driver failed to initialize message Token recipient Target Node INT Token interval Mcast Cycle INT Error output Error DINT D2D SendMessage 10095 Sent msg count 72 Error 72 LocalDsNr RemoteDsNr je Standard function blocks 33 Operation Configures the transmission between the dataset tables of drives The Msg Type input defines the message type as follows Message type Disabled Master 2 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
20. 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 8 8 IN31 lt 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 LT 10044 LT OUT 79 Execution time 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 8 IN2 lt IN3 amp amp IN31 lt 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 NE 10045 Operation Operation The output is 1 if 11 lt gt 12 Otherwise the output is 0 The input data type is selected by the user Input 11 12 INT DINT REAL REAL24 38 Standard function blocks Conversion BOOL TO DINT 10018 BOOL TO DINT 81 TLA1 1 msec 1 SIGN 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 O and IN31
21. 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 5 lt 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 1 REAL Gain input K REAL Integration time constant input DINT 0 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 Output O REAL High limit output O HL Boolean Low limit output O LL Boolean 68 Standard function blocks MOTPOT 10067 MOTPOT 62 OUTPUT 62 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 decrea
22. of inputs 2 32 is selected by the user Input IN1 IN32 Boolean 24 Standard function blocks ROL 10013 Execution time 1 28 us Operation 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 stored as the N least significant bits LSB of the output Example If BITCNT 3 3 MSB OO 1 11100000111001011101001100110107 0 00000111001011101001100110101111 input data is selected by the user Number of bits input BITCNT INT DINT Input 1 INT DINT Output O INT DINT ROR 10014 Execution time 1 28 us Operation Input bits I are rotated to the right by the number N of bits defined by BITCNT The N least significant bits LSB of the input are stored as the N most significant bits MSB of the output Example If BITCNT 3 M 1 11100000111001011101001100110101 0 10111100000111001011101001100110 The input data type is selected by the user Number of bits input BITCNT INT DINT Input 1 INT DINT Output O INT DINT Standard function blocks 25 SHL 10015 Execution time 0 80 us Operation Input bits 1 are rotated to the left by the number of bits defined by BITCNT The N most significant bits MSB of the input are lost and the N least significant bits LSB of the output are set to O Example If BITCNT 3 3 MSB
23. restart when the clock input CLK is 1 Otherwise the output is always 0 when the clock input is 1 0000 Clock input CLK Boolean Outputs Output Q Boolean Operation The output is set to 1 when the clock input CLK changes from 0 to 1 The output is set back to O with the next execution of the block Otherwise the output is O Kew eK Jt 1 ___ __ __ __ ___ ___ ___ SR 10033 Q1 48 54 Standard function blocks 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 51 and the reset input R are 0 The output is O if the set input is and the reset input is 1 Truth table A 00 LN NEN CNN o F CENE OMEN NENNEN INNEN RENE MEE a ___ NEED __ _ _____ Tuned is the previous cycle output value Set input 51 Boolean Reset input R Boolean Output Q1 Boolean Standard function blocks 55 Extensions FIO 01 slot1 10084 FIO 01 sloti 49 TLA1 1 msec DIO1 conf DI1 49 DIO2 conf DI2 49 DIO3 conf DI3 49 DIO4 conf 014 49 Error 49 Operation 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 d
24. signal 02 04 11 displays as measured e The program is executed at the dedicated time level of 1 ms 92 Examples of using standard function blocks Tpeeds 15005 90792 195 peeds 15005 7097 gt 0 CC IV 0 6 jas peeds 10772 gt anjeA soc Jsu 141201 poods uunuui 80702 Tanbso 0702 peeds 20706 peeds 002 1 2950 141201 sur 215 COV 7051 245 TOV TO ST 245 TOW CV VT 245 110 2018 TT VT 245 2018 0 11 245 1410 0 vT anjea 2950 141201 OI 9045 gt jqeu ung TT OT gt cu 13615 T3X3 20 01 gt Tu 34045 lt 00 gt 8 10 u TS c sug T wasn 8r us 8b T 96 8 2510 Jip do3s 31 36 Wad 26 ygd 9cc MS ygd y
25. the difference between the unlimited and limited outputs is subtracted from the term during limitation If tC or tl 0 anti windup correction is disabled Actual input IN act REAL Reference input 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 OZHL Boolean Low limit output O LL Boolean Error code output ERROR INT32 10066 0 64 O HL 64 O LL 64 Standard function blocks 71 Operation 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
26. the input value is negative The input data type is selected by the user Input IN REAL REAL24 Output OUT REAL REAL24 SUB 10009 SUB OUT 55 Execution time 2 33 us Operation 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 Bitstring OUT 56 Execution time 1 55 us when two inputs are used 0 60 us for every additional input When all inputs are used the execution time is 19 55 us Standard function blocks 23 The output OUT is 1 if all the connected inputs IN1 1N32 are 1 Otherwise the output is O Truth table Output OUT Boolean The number of inputs is selected by the user Input IN1 IN32 Boolean The output O is 1 if the input I is 0 The output is 0 if the input is 1 Outputs 000 Output O Boolean OR 10012 OUT 58 Execution time 1 55 us when two inputs are used 0 60 us for every additional input When all inputs are used the execution time is 19 55 us Operation The output OUT is 0 if all connected inputs IN are 0 Otherwise the output is 1 Truth table The inputs can be inverted Output OUT Boolean The number
27. the message counter to all followers 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 followers Note The example application shown for Master above also applies to the sending follower in follower to follower broadcasting 98 Examples of using standard function blocks Further information Product and service inquiries Address any inquiries about the product to your local ABB representative quoting the type designation 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 Sales Support and Service network Product training For information on ABB product training navigate to www abb com drives and select 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 Document library on the Internet You can find manuals and other product documents in PDF format on the Internet Go to www abb com drives and select Document Library You can browse the library or enter selection criteria for example a document code in the search field Contact us ABB Oy Drives P O Box 184 00381 HELSINKI FINLAND Telephone 358 10 22 11 Fax 358 10 22 22681 www abb com drives ABB Inc Automation Technologies
28. 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 0 Neemrouy Standard function blocks 79 Parameter group Group DINT Parameter index Index DINT Output Output Boolean INT DINT REAL REAL24 Error output Error DINT PARWR 10080 Error 75 Operation 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 Input IN DINT Parameter group input Group DINT Parameter index input Index DINT Store input Store Boolean Outputs 000 Error output Error DINT 80 Standard function blocks Program structure BOP 10105 BOOL TLA2 10 msec B_Output1 Output 46 B_Output2 Execution time The BOP Bundle OutPut block collects the outputs of several different sources The sources are connected to the Output pins The B Output pin that changed last is relayed to the Output pin Operation The block is intended for use with conditional IF ENDIF structures See the example under the F block
29. which is a BOP The BOP block outputs the value from the branch that was executed If the digital input is O the BOP block output is 2 if the digital input is 1 the BOP block output is 1 IF USER 2 10 ms t DI STATUS 4 COND 20115 ock s Execution Position j ndis Select Block s Execution Position in USER_2 2 10 iNi TRGREF 500 psec oun SPDREF 500 psec sec sec sec 5 ENDIF 51 USER 1 1m 52 USER 2 10 ms 3 Change Block Pos Cancel n MOVE DINT 55 USER 2 10 ms 4 INi ouri OUTIG5 USER_2 10 ms inputs Input COND Boolean Standard function blocks 83 Selection LIMIT 10052 MIT 76 OUT 76 Operation 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 MAX 10053 MAX OUT 77 Execution time 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 IN
30. 1 and the timer is started if the input I is set 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 0 If RTG 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 O Example 1 MONO is not re triggable i e RTG 0 RTG 0 45 Example 2 is re triggable i e 1 1 25 Output Boolean Time elapsed output TE DINT 1 7 1 us Re trigger input RTG Boolean Time pulse input TP DINT 1 us Input I Boolean 88 Standard function blocks TOF 10058 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 Input IN Boolean Pulse time input PT DINT 1 1 us Elapsed time output ET DINT 1 lt 1 us Output Q Boolean 10059 Execution time 1 22 us Operation The o
31. 11 Analogue input filter gain selection filt gain filt gain INT Minimum value of input signal Min Min REAL gt 11 V or 22 mA Maximum value of input signal 11 AI3 Max REAL x 11 V or 22 mA Minimum value of scaled output signal 11 Min scale Min scale REAL Maximum value of scaled output signal Max scale Max scale REAL Analogue input mode voltage or current mode AI3 mode Boolean Value of analogue input Al3 REAL Scaled value of analogue input scaled Al3 scaled REAL Error output Error DINT 0 No error 1 Application program memory full FIO 11 10090 53 53 5 AO scaled 60 Standard function blocks Operation 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 than AO Min AO Min AO Max AO mA AO scaled gt gt 5 D 2 9 S D gt AO scaled UIN OV 25 OV Minimum cu
32. 2 master operates as chairman Follower 1 node 1 is allowed to send message every 3 milliseconds Follower 2 node 2 is allowed to send one message every 6 milliseconds TLA2 10 msec Target Node Eno Mcast Cycle DS WriteLocal 50 TLA1 3 msec 1 30 D2D_SendMessage 51 TLA1 3 msec 2 Msg Type 33 Sent ent msg c 50753 lt 401 0 Sent msg count Target Node Grp 4444 Error LocalDsNr Sent msg count 46 15 146 RemoteDsMr DS ReadLocal 3 52 TLA1 3 msec 3 33 Fach Data 16B Data 14444 3 gt gt 9 Data2 328 Data 2162 Error Follower 2 node 2 TLA1 6 msec 1 Datal 168 Data2 328 DS 47 TLA1 msec 2 LocalDsNr Datal 16B Data2 328 020 SendMessage 46 TLA1 6 msec 3 Msg Type Sent msg count Target Node Grp Error LocalDsNr RemoteDsNr 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 Datal 1 amp 23210 27 Da 66542 4 Sent msg 46 Examples of using standard function blocks 97 Example of standard multicast messaging Master F
33. 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 73 SOLUTION FAULT 10097 SOLUTION FAULT 66 TLA1 1 msec 1 Fit code ext Enable 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 code ext input 15 recorded by the fault logger Fault code extension code ext DINT Generate fault Enable Boolean 74 Standard function blocks Filters FILT1 10069 Operation The output O 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 Ts the output value is the input value The step response for a single pole low pass filter is O t I t x 1 e 7 The transfer function for a single pole low pass filter is G s 1 1 511 Input 1 REAL Filter aM constant input T1 DINT 1 1 ms FILT2 10070
34. 97 gt 39d 0 7C DV 60 es peeds 10774 gt udi 057 T sss enje so z 295 2 141201 peeds 80702 winwixe 20 02 peeds 20700 peeds 10 02 pales 1 enje enje 295 2 141201 215 COV Z0 ST gt 215 0 gt 215 TOW gt 215 NO EOI gt 215 2010 20 1 gt 215 10 201 gt co T so T 6b T o 6 LNO T S AS 10 os 1 Jsu Z THLDOI OI 1015 gt uny TT OT gt cut 3485 THA 20 01 gt Yes 1154 20 01 gt 0 05 110 ygd ygd 9c c MS ygd NO ygd COV 9 25 TIY 6072 514215 1 607 5142145 20 C 511815 Id TO C 0021 T 295 2 1141201 5 T 4361 Iva 19 peads 1030 006 T 5 T T 4351 vay 19 pea
35. ABB industrial drives Application programming for ACS850 drives Power and productivity dp for a better world PF List of related manuals Drive hardware manuals and guides Code English 5850 04 Frames A to D hardware manual 3AUA0000045496 5850 04 Frames 0 and E hardware manual 3AUA0000045487 ACS850 04 Frame G hardware manual 3AUA0000026234 Drive firmware manuals and guides 5850 standard control program quick start up guide 3AUA0000045498 5850 standard control program firmware manual 3AUA0000045497 Drive PC tools manuals DriveSPC user manual 3AFE68836590 DriveStudio user manual 3AFE68749026 1 Delivered as a printed copy with the drive if the order includes printed manuals 2 3 Delivered as a printed copy with the control program manuals Delivered as a printed copy with the control program if the order includes printed 1 1 1 2 3 manuals are available in PDF format on the Internet See section Document library the Internet on the inside of the back cover Application guide Application programming for 5850 drives 2010 ABB All Rights Reserved 0000078664 EFFECTIVE 2010 05 26 Table of contents List of related manuals 2 1 About the manual What this chapter contains
36. Drives amp Motors 16250 West Glendale Drive New Berlin Wl 53151 USA Telephone 262 785 3200 1 800 HELP 365 Fax 262 780 5135 www abb com drives ABB Beijing Drive Systems Co Ltd No 1 Block D A 10 Jiuxianqiao Beilu Chaoyang District Beijing P R China 100015 Telephone www abb com drives Power and productivity for a better world 86 10 5821 7788 Fax 86 10 5821 7618 3AUA0000078664 Rev 2010 05 26 ED EP
37. 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 of the I1 In inputs are copied to output during this program cycle If S or Ris 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 O only the array from input EXP is moved to the output If AWR is not 0 the corresponding input is moved to the output This is performed when WR goes from O 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 DATA CONTAINER REAL 47 TLA2 10 msec 1 OUT 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 O 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 I3 are moved to the output After a WR switch the output array is 1 2
38. T DINT REAL REAL24 MIN 10054 MIN OUT 78 Execution time 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 The output OUT is the lowest 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 94 Standard function blocks MUX 10055 MUX OUT 79 Operation 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 Operation The output OUT is the value of the input IN selected by the selection input If G 0 OUT INA 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 85 Switch amp Demux DEMUX I 10061 DEMUX MI 10062 OA1 81 OA2 81 1 38 us when two outputs are used 0 30 for every additional output When all outputs
39. T REAL REAL24 Boolean The number of the output channels 1 32 is selected by the user Output OA1 0A32 DINT INT REAL REAL24 Boolean OUT1 83 OUT2 83 0 68 us when two inputs are used 0 50 us 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 O 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 SWITCHC BOOL 84 TLA1 1 msec 1 OUT1 84 OUT2 84 1 53 us when two inputs are used 0 73 us 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 O 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 CH B32 INT DINT REAL REAL24 Boolean Output OUT1 OUT32 INT DINT REAL REAL24 Boolean Standard function blocks 87 Timers MONO 10057 85 O 85 TE 85 Operation The output is
40. UD DINT 34 25252205 32 CY CUE x suu sith sca aoe 49 D2D Conf 15 020 McastToken 15 D2D SendMessage 16 DATA CONTAINER 49 DEMUX l 69 DEMUX MI 69 DINT TO BOOL 24 DINT TO_INT 24 DINT TO REALn 25 DINT TO REALn SIMP 25 or cc Seu dd t 3 DS Read Local 18 DS WriteLocal 19 ELSE 64 64 ENDIF 52a 65 EXP aii ER 4 ETT oc 58 aa 58 FIO 01 slot1 39 FIO 01 slot2 39 FIO 11 AI slot1 40 FIO 11 AI slot2 42 FIO 11 AO slot 43 FIO 11 AO slot2 45 FIO 11 DIO slot1 46 FIO 11 DIO slot2 46 FETRIG uet 36 1 50 SE gt S vagues x 20 GetBitPtr 61 GetValPtr 61 GS aoe ee 20 WF Se enter ae 65 51 INT TO BOOL 26 INT TO DINT 7 EE SR LV adt 21 LEADLAG sce atur uns 60 rie ec 67 BE GE Em 21 67 MIN As 67 MOD 4 MONO 71 MOTPOT 52 4 ati erat oe 5 MULDI V a eta 5 MUX os sio at xd 68 NESS 2 uem aba 21 7 9c NARRA 7 PARRD 61 PARRDINTR 62 PARRDPTR 62
41. Values from different conditional branches B Output1 B OutputN INT DINT Boolean REAL REAL24 Outputs Output from currently active branch of a IF ELSEIF structure or latest updated input value Output INT DINT Boolean REAL REAL24 ELSE 4 1 TLA 2 10 msec 1 Operation See the description of the F block ELSEIF ELSEIF 48 10 msec 1 COND Operation See the description of the F block Input COND Boolean Standard function blocks 81 ENDIF 49 See the description of the F block IF 10103 IF 50 10 msec eee ee 82 Standard function blocks Operation The IF ELSE ELSEIF and ENDIF blocks define by Boolean logic which parts of the application program 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 02 01 DI status digital input DI5 controls the branching of the application program If the input is O the blocks between the IF and ELSE blocks are skipped but the blocks between ELSE and 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
42. 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 filt gain inputs determine a filtering time for each input as follows pss 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 64 Standard function blocks Feedback amp algorithms CRITSPEED 10068 CRITSPEED 57 REFOUTPUT 57 OUTSTATE 57 OUTACTIVE 57 CRITSPEED2LO CRITSPEED2HI CRITSPEED3LO CRITSPEED3HI Operation 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 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 imm Drive spee
43. aster sends a constant 1 and the value of the message counter into follower EL G dataset 20 Data is prepared to and sent from Datat 168 dataset 16 PRAT Data2 328 Data 375791 lt 2 The follower sends the received counter value and a constant 21 as a reply to the master Error 3 The master calculates the difference of the latest message number and received data DINT 50 TLA2 10 msec 4 OUT Sent msg count 46 INi OUTE _ Data2 32B 47 IN2 15 147 Example of read remote messaging 5 Master Follower node 1 47 TLA1 1 msec 1 TLA1 1 msec 1 i Msg T 2 59 uci cup Sent msg ceo 4 Target Node Grp Ems h 12345 mor 0 18 LocalDsNr 783 RemoteDsNr 1 The master reads the contents of the follower dataset 22 into its own dataset 18 Data is TAI ees accessed using the DS block 1ER Data1 16B Datal 12345 2 Daz In the follower constant data is prepared into E dataset 22 Data2 328 96 Examples of using standard function blocks Example of releasing tokens for follower to follower communication Master Example of follower point to point messaging Follower 1 node 1 Sent msg count 51 15 51 28 020 McastToken 55 1 This drive to drive link consists of three drives master and two followers TLA2 10 msec _
44. atus 2 02 RO status 2 03 DIO status un o lt 14 07 DIO2 out src lt 1442 ROI src lt 14 45 src lt 14 48 src lt 14 61 out src OUT 46 15 01 src 5 lt 15 07 AO2 src 5 O Limits m Standard gt function block LL LL lt 21 01 Speed refi sel 22 02 Acc timei 22 03 Dec timei lt 26 02 Const speed sell 26 06 Const speedi m Function blocks An application program uses two types of function blocks firmware function blocks and standard function blocks Firmware function blocks The essential functions of the drive are represented as firmware function blocks in the DriveSPC PC tool These blocks are part of the drive control firmware and act as an interface between the firmware and the application program The inputs of the blocks correspond to drive parameters in groups 10 99 and can be modified via the application program the outputs provide measured or calculated signals from groups 01 09 Note that not all parameters are accessible through the firmware function blocks The firmware function blocks available are presented in chapter Firmware function blocks Drive programming 11 Standard function blocks Standard function blocks for example ADD AND are used to create an executable application program The maximum size of an application program i
45. cution time 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 Operation The output OUT is 1 if all the connected input values are equal IN1 IN2 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 GE gt 10041 GE OUT 76 Execution time 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 The output OUT is 1 if IN1 gt IN2 amp IN2 gt IN3 8 amp IN31 gt 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 GT gt 10042 GT OUT 77 Execution time 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 The output OUT is 1 if IN1 gt IN2 amp IN2 gt IN3 amp 8 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 Standard function blocks 37 LE lt 10043 LE OUT 78 Execution time 0 89 us when two
46. d reference rpm 234 Output OUTACTIVE is 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 Reference output REFOUTPUT REAL Output state OUTSTATE REAL Output active OUTACTIVE Boolean Standard function blocks 65 CYCLET 10074 CYCLET 58 OUT 58 Output OUT is the time level of the CYCLET function block Output OUT DINT 1 1 us DATA CONTAINER 10073 DATA CONTAINER DINT 59 TLA1 1 msec 1 our OUT 59 Operation Output OUT is an array of data with values 1 99 The array can be used by the XTAB and YTAB tables in block FUNG 1V 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 CONTAINER Array Data REAL REAL 46 TLA2 10 msec 1 Number of Data Items 1 99 Array Data Items 0 1 OUT Min Item Value 32758 Max ltem Value 32767 9999847 Read Data from File g ome The outpu
47. ds 1030 4 5 T T 4361 Iva L1 TIV 87 0 E Gv 1 s g 4351 8v 8b 295 8 SIW 4ip doys 314e3S 0 8r TO TNI OI pesn Jespeeds 90 Jespeeds 0 295 2 1841001 S 5 T T 4351 vay 39 TIV gt senjJeA o quo5 1030W 90 T quauuno 1070W pO T Kouenbay 3ndino 0 T peeds 1070W TO T DSW 7 8 OSIIN SINIYA Examples of using standard function blocks 95 Drive to drive communication For the descriptions of the drive to drive standard function blocks see section Communication on page 31 Example of master point to point messaging Master Follower node 1 DS DS ReadLocal 45 TLA2 10 msec 1 TLA2 10 msec 1 20 Emo Datal 168 16 LocalDsNr Datal 16B 4 T 1 Datal 16B Data2 328 Data S2511 Sent msg count 46 Data2 328 15 46 D2D SendMessage 46 TLA2 10 msec 2 Msg Type Sent msg count Target Node Grp Sent ent msg cot 3796 lt 6 LocalDsNr M ae RemoteDsNr 1 The m
48. e Example IN 111 1111 1111 1111 1111 1111 1111 1100 LH SIGN OUT32 OUT1 Output OUT1 OUT32 Boolean Sign output SIGN Boolean DINT TO INT 10021 DINT TO INT 84 1 1 msec 1 Standard function blocks 41 Operation The output value is a 16 bit integer value of the 32 bit integer input 1 value Examples 31 bits sign 15 bits sign 2147483647 32767 2147483648 32767 DINT TO REALn 10023 DINT TO REALn REAL 85 TLA1 1 msec 1 OUT 85 Operation The output OUT is the REAL REAL24 equivalent of the input IN Input IN1 is the integer value and input 2 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 inputs Input IN1 IN2 DINT The output data type is selected by the user Output OUT REAL REAL24 DINT TO REALn SIMP 10022 DINT _ SI P REA 1 msec 0 86 ERRC 86 42 Standard function blocks 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 outp
49. e levels of 1 and 10 milliseconds as well as other time levels between certain firmware tasks Note Because the firmware and application programs use the same CPU the programmer must ensure that the drive CPU is not overloaded See parameter 01 21 Cpu usage Application 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 see 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 O no licence has been assigned to the drive 12 Drive programming Notes application licence can only be assigned to a complete drive not a stand alone control unit e The protected application can only be downloaded to a complete drive not a stand alone control unit Operation modes The DriveSPC PC tool offers the following operation modes Off line When the off line mode is used wi
50. emoteDsNr input of all followers A token from the master drive is required for a follower to be able to send 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 specifies 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 34 Standard function blocks The error codes indicated by the Error output are as follows __________________ 020 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 5 RESPONSE ERR eror in received response TRA PENDING Message has notyetbeen set Message type Msg Type INT Target node or multicast group Target INT Local dataset number LocalDsNr INT Remote dataset number RemoteDsNr INT Successfully sent messages counter Sent msg count DINT Error output Error PB DS_Read_Local 10094
51. etermines whether the corresponding DIO on the 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 and 2 inputs define the state of the relay outputs of the FIO 01 0 not energized 1 energized The outputs show the state of the DIOs Digital input output state DI1 DI4 Boolean Error output Error DINT 0 7 No error 1 Application program memory full Digital input output mode selection DIO1 conf DIO4 conf Boolean Digital output state selection DO1 DO4 Boolean Relay output state selection RO1 RO2 Boolean FIO 01 slot2 10085 FIO 01 slot2 50 TLA1 1 msec 1 DIO1 conf DI1 50 DIO2 conf DI2 50 DIO3 conf DI3 50 DIO4 conf 014 50 Error 50 56 Standard function blocks Operation 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 2 of the drive control unit The state of a DIOx conf input of the block determines whether the corresponding DIO on the 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 and 2 inputs define the state of the relay outputs of the FIO 01 0 not energised 1 energised The Dlx outputs show the state of the DIOs Dig
52. 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 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 token from the master drive is required for the follower to be able to send the message See block 020 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 4 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 1 2 3 5 the message See block D2D McastToken Note With this message type the Target Node Grp input must be connected in DriveSPC even if not used Broadcast The drive sends the contents of a local dataset specified by LocalDsNr input to the dataset table dataset number specified by R
53. gd COY LTC TOV 9T C 5 6074 O Z 5035 607 511045 5142145 10 2 5 THI2OI p07 T sur T 4361 11 T vau L1 id OI pesn Jeupaeds 90 Jespeeds c Z 141201 6 p07 T swt T 4361 vau 39 _ Jo quo5 nb10 1030W 90 T 3191419 4030 N 0 T paads 1030W TO T 9esulz 8 2510 SANTVA TIVNLOV Examples of using standard function blocks 93 Relay output and digital input output control This example comprises the program presented in the previous example page 91 as well as the following additions Relay output RO1 is activated when the speed is higher than 900 rpm e Digital input output DIO1 is activated when the speed is higher than 1300 rpm e Digital input output DIO2 is activated when constant speed 1 750 rpm is activated by digital input 016 Additional information e Actual signal 02 04 11 displays as measured e Actual signal 02 01 DI status bit 5 displays DI6 e Actual signal 01 01 Motor speed rpm displays the speed e The program is executed at the dedicated time level of 1 ms 94 Examples of using standard function blocks Tpeeds 35000 90 92 1195 peeds 15005 707
54. ime 2 55 us Operation 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 O the output is O 20 Standard function blocks The input data type is selected by the user Input IN1 IN2 INT DINT REAL REAL24 Output OUT INT DINT REAL REAL24 10003 EXPT OUT 49 Operation The output C is input IN1 raised to the power of the input IN2 OUT IN1IN2 If input is 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 10004 MOD OUT 50 Operation The output OUT is the remainder of the division of the inputs IN1 and IN2 OUT 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 MOVE 10005 5 OUT1 51 OUT2 51 Standard function blocks 21 Execution time 2 10 us when two inputs are used 0 42 us for every additional input When all inputs are used the execution time is 14 55 us Copies the input values IN1 32 to the corresponding outputs OUT1
55. input FRQ DINT 0 16383 Hz Reset input RESET Boolean Output Y REAL LEAD LAG 10071 LEAD LAG 69 Operation 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 When RESET input is 1 the input value X is connected to the output Y If ALPHA or Tc lt 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 77 Parameters GetBitPtr 10099 GetBitPtr 70 TLA1 1 msec Bit ptr Out 70 Operation 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 Inputs 0000 Parameter group index and bit Bit ptr DINT Bit status Out DINT GetValPtr 10098 GetValPtr DINT 71 1 msec Out 71 Operation Reads the value of a parameter cyclically The Par ptr input specifies the parameter group and index to be read The output Out provides the value of the parameter inputs 0000 Parameter group and index Pa
56. ital 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 14 Boolean Error output Error DINT 0 No error 1 Application program memory full FIO 11 AI slot1 10088 FIO 11 AI sloti 51 1 msec 1 gain Min scaled Min scale AI2 mode AI1 Max scale AI2 AI2 filt gain AI2 scaled AI2 Min AI3 mode AI2 Max AI3 AI2 Min scale AI3 scaled AI2 Max scale AI3 filt gain AI3 Min AI3 Max AI3 Min scale AI3 Max scale AI1 mode 51 11 51 scaled 51 12 51 12 51 AI2 scaled 51 AI3 mode 51 AI3 51 AI3 scaled 51 Error 51 Standard function blocks 57 Operation The block controls the three analogue inputs 11 of a FIO 11 Analog I O 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 relationship between the ranges Alx min Alx max and Alx min scale Alx max scale Alx Min must be smaller than Alx Max Alx Max Scale can be greater or smaller than Alx Min Scale Alx Min Scale lt Max Scale Alx scaled 32768 Alx Max Scale
57. k Firmware program blocks parameter signal Fieldbus interface interface lt Protections block library Feedback Standard 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 Parameters can be set via the drive control panel the DriveStudio PC tool or the fieldbus interface For more information on programming via parameters see the Firmware manual 10 Drive programming Application programming The functions of the firmware program can be extended with application programming The user can build an application program with firmware and standard functions blocks based on the IEC 61131 standard ABB also offers customized application programs for specific applications for more information contact your local ABB representative Application programs are created with the DriveSPC PC tool The following figure presents a view from DriveSPC ACTUALVALUES 2 msec 1 Start stop dir 2msec lt 10 02 Ext1 start 1 lt 10 03 Ext1 start in2 10 11 Run enable 10 13 Em stop off3 1 01 Motor speed rpm 1 03 Output frequency 1 04 Motor current 1 06 Motor torque IO config IOCTRL 2 msec lt 14 03 DIO1 out src IOCTRL 2 msec 1 2 01 DI st
58. limited by the defined minimum and maximum values and OHL If the actual value of the output falls below the specified minimum limit OLL output O LL is set to 1 If the actual value of the output exceeds the specified maximum limit OHL output 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 and OHL 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 O HL Boolean Low limit output O LL Boolean REG G 10102 ERR 65 0 65 72 Standard function blocks Operation 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 REAL 16 REAL24 or Boolean The output array consists of the data from the EXP input and the values of the I1 In in this order When input S is 1 data is continuously assembled into the output array The element acts as a latch when input
59. locks What this chapter contains 17 EAE 17 Alphabetical index 18 2X icm serrr irinna urineer aee a a a aaa 19 SAA e E 22 27 Communication 31 COIT Dal IS ODE a dada at dodi 36 38 46 51 0 52 Extensions 55 Feedback amp algorithms 64 74 PolamMetelS 77 Pogram 80 Selection 83 Switch amp Demux 85 Timers 87 5 Examples of using standard function blocks What this chapter contains 91 Start stop using analog 91 Relay output and digital input output control 93 Drive to drive communication 95 Example of master point to point messaging 95 Example of read remote messaging
60. n The output O value is 32 bit integer value of the 16 bit integer input 1 value Outputs Output O DINT REAL TO REAL24 10026 Operation Output is the REAL24 equivalent of the REAL input 1 The output value is limited to the maximum value of the data type Example 0000 0000 0010 0110 1111 1111 1111 1111 Integer value Fractional value 0010 0110 1111 1111 1111 1111 0000 0000 Integer value Fractional value 44 Standard function blocks REAL24 TO REAL 10027 REAL24 TO REAL 90 1 msec 1 I Operation Output is the REAL equivalent of the REAL24 input I The output value is limited to the maximum value of the data type range Example 0010 0110 1111 1111 1111 1111 0000 0000 Integer value Fractional value 0000 0000 0010 0110 1111 1111 1111 1111 Integer value Fractional value REALn TO DINT 10029 REALn TO DINT REAL 91 TLA1 1 msec 1 I O1 O1 91 O2 02 91 Operation Output O 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 1 REAL REAL24 Output O1 O2 DINT REALn TO DINT SIMP 10028 REN 510
61. nge of 0 31 for DINT or 0 15 for INT the output is O The input data type is selected by the user Number of the bit BITNR DINT Input I DINT INT Output O Boolean BITAND 10035 BITAND 65 TLA1 1 msec 1 Operation The output bit value is 1 if the corresponding bit values of the inputs and 12 1 Otherwise the output bit value is 0 Example 11100000111001011101001100110101 0000111001011101001100110101111 00000000001 001001001000100100101 BITOR 10036 28 Standard function blocks Operation The output O bit value is 1 if the corresponding bit value of any of the inputs I1 or 12 is 1 Otherwise the output bit value is O Example 1100000111001011101001100110101 0000111001011101001100110101111 00111111011111101101110111111 Outputs Output O DINT BSET 10037 Operation 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 Bit number 0 bit number 0 31 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 3 BIT 0 IN 0000 0000 1111 1111 0000 0000 1111 0111 The input data type is selected b
62. nput CU Boolean Down counter input CD Boolean Reset input R Boolean Load input Boolean Preset input DINT Counter output CV DINT Up counter status output QU Boolean Down counter status output Boolean 52 Standard function blocks Edge amp bistable FTRIG 10030 Operation The output 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 BE 1 1 for execution cycle time returns to 0 at the next execution Hot o JO O CLKprevious S the previous cycle output value Clock input CLK Boolean RS 10032 Operation The output Q1 is 1 if the set input S is 1 and the reset input R1 is O The output will 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 1 Qprevious 1017 5 o jo J4 0 o 9 1 J o __ t n __ ___ 7 90 90 1 ___ Boo Jt 003 Bo 1 __ ___ Bot no ___ 5 the previous cycle output value Standard function blocks 53 Output Q1 Boolean Set input S Boolean Reset input RTRIG 10031 CLKprevious 5 the previous cycle output value Note The output Q is 1 after the first execution of the block after cold
63. ollower s in Std Mcast Group 10 TL 1 1 msec 1 TLA2 10 msec 1 Refi Cycle Sel Error 42 D Ref2 Cycle Sel Sent msg count 54 Std Mcast Group 15 754 DS_ReadLocal 49 TLAL 1 msec 1 020 SendMessage 54 TLA1 1 msec 2 Data1 168 Datal 15876 Msg Type Sent msg count 57637 Target Node Grp 4 Error 5 0 gt Afa Data2 328 79198 LocalDsNr a Emor 45 o 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 53 TLA1L 1 msec 1 DS ReadLocal 43 TLA1 1 msec i 23 0 Datal 168 25 1 6 2al 9876 Datal 158 Data 2 Rf49 Data2 328 325528 4m Error Sent msg count 54 Data2 328 15 154 D2D SendMessage 54 TLAL 1 msec 2 Msg Type Sent msg count zen mig 70651 Target Node Grp 4 Emor Emor S 0 LocalDsNr RemoteDsNr 1 The master sends a constant 9876 and the value of
64. on 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 8 About manual Purpose of the manual The purpose of this manual is to provide the reader with the information needed in designing application programs for ACS850 drives using the DriveSPC PC tool The manual is intended to be used together with the drive Firmware manual which contains the basic information on the drive parameters Contents of the manual The manual consists of the following chapters e Drive programming introduces drive programming and describes application programming using the DriveSPC PC tool Firmware function blocks presents the firmware function blocks available Standard function blocks presents the standards function blocks available e Examples of using standard function blocks contains examples of using standard function blocks in application programming Drive programming 9 Drive programming What this chapter contains This chapter introduces drive programming and describes application programming using the DriveSPC PC tool General about drive programming The drive control program is divided into two parts e firmware program application program Drive control program Application program Speed control Torque control Drive logic I O interface Function bloc
65. r ptr DINT Parameter value Out DINT PARRD 10082 72 Output 72 Error 72 Operation 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 Nem _ See also blocks PARRDINTR PARRDPTR 78 Standard function blocks Parameter group input Group DINT Parameter index input Index DINT Output Output DINT Error output Error DINT PARRDINTR 10101 PARRDINTR BOOL 73 Output 73 Error 73 _______________ Operation 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 _ Note Using this block may cause incompatibility issues when upgrading application to another firmware version Parameter group Group DINT Parameter index Index DINT Output Output Boolean INT DINT REAL REAL24 Error output Error DINT PARRDPTR 10100 PARRDPTR BOOL 74 TLA1 1 msec 1 Group Output 74 Index Error 74 Go ____ 88 Operation Reads the internal non scaled value of the source of a pointer parameter The pointer parameter is specified
66. rrent 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 61 FIO 11 AO slot2 10091 FIO 11 AO slot2 54 TLA1 1 msec 1 AO Min 54 Error Error 54 AO Min Scale AO Max Scale AO scaled Operation The block controls the analogue output AO1 of a FIO 11 Analog 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 AO scaled 9 E2S UIN OV ejeog OV gt mA scaled 26 UIN OV OV 62 Standard function blocks 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 o
67. s approximately 30 standard function blocks depending on the block types used The standard function blocks available are presented in chapter Standard function blocks A standard function block library is always included in the drive delivery User parameters User parameters can be created with the DriveSPC PC tool 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 DriveSPC user manual 3 68836590 English Application events Application programmers can create their 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 PC 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 tim
68. sages The values of the Ref1 2 Cycle Sel inputs correspond to the following intervals Value Handling interval Default 500 us for reference 1 2 ms for reference 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 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 Error output are as follows Description 0 CYCLE ERR Value of input Cycle Sel out of range REF2 CYCLE ERR Value of input Ref2 Cycle Sel out of range STD MCAST ERR Value of input Std Mcast Group out of range Drive to drive reference 1 handling 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 D2D McastToken 10096 D2D McastToken 71 TLA1 1 msec 1 Target Node Error 71 Error Mcast Cycle i 32 Standard function blocks 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 block D2D SendMessage Note This block is only supported in the master The Target Node
69. sed 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 RAMPTIME 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 69 PID 10075 Out 63 Dev 63 O HL 63 O LL 63 ERROR 63 Execution time 15 75 us 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 Outuniimited t Up t Up t Up t P x Dev t Uit x Dev t dt tC x Out t Outynimitea t Up t P 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 simultaneo
70. 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 or the REG G block 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 DINT INT REAL REAL24 Y value output Y DINT INT REAL REAL24 Balance reference output BALREFO DINT INT REAL REAL24 Error output ERROR Boolean 10065 Standard function blocks 67 0 61 O HL 61 O LL 61 The output is the integrated value of the input 1 O t K TI J I t dt Where TI is the integration time constant and K is the integration gain The step response for the integration is O t I t The transfer function for the integration is G s 1 51 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 O LL is set to 1 If the value exceeds the maximum value output O HL is set to 1 The output O retains its value when the input signal I t 0 The
71. t data type and the number of coordinate pairs are selected by the user Output OUT DINT INT REAL REAL24 66 Standard function blocks FUNG 1V 10072 Y 60 BALREFO 60 ERROR 60 Operation The output Y at the value of the input X is calculated with linear interpolation from a piecewise linear function Y Yk X Xx Yi Go 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 YTAB values are defined with the DriveSPC tool Y4 Y3 X table table Interpolated Y 2 Y2 Y2 1 E 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 Y TAB table If BALREF is outside the range defined by the YTAB table when balancing is activated BAL 0 gt 1 the output Y is
72. thout a drive connection the user can open an application program file if it exists e modify and save the application program e print the program pages When the off line mode is used with a drive s connection the user can e 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 e remove the program from the connected drive On line In the on line mode the user can e modify firmware parameters changes are stored directly to the drive memory e modify application program parameters that is parameters created in DriveSPC e monitor the actual values of all function blocks in real time Firmware function blocks 13 Firmware function blocks What this chapter contains This chapter presents the firmware function blocks The blocks are grouped according to parameter numbering in the drive firmware 14 Firmware function blocks ACTUAL VALUES Basic signals for monitoring the drive ACTUAL VALUES MISC 2 msec 1 1 01 Motor speed rpm 1 03 Output frequency 1 04 Motor current 1 06 Motor torque IO values Input and output signals IO values IOCTRL 2 msec 1
73. usly disabled When reset is 1 the controller acts as a PD controller If integration time constant tl is O 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 value 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 1 The minimum limit OLL exceeds the maximum limit OHL Overflow with Up Ui or Ud calculation 70 Standard function blocks 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 set to 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
74. ut 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 O if the reset input R is 1 If the counter output has reached its minimum or maximum value 32768 or 32767 the counter output remains 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 preset input PV value The down counter status output QD is 1 if the counter output CV value x O 50 Standard function blocks 0 gt 0 0 gt 0 0 gt 0 azo oso Jo Hoops Imm E js To m mostre pen perg nml EM ____ we Ie 77 CNN CNN te 0 0 eee EE NE EN EN NN NN UM 2 CV prey 15 the previous cycle counter output value m NINI NI NI PD 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 CTUD DINT 10051 CTUD DINT 98 TLA1 1 msec CV 98 00098 QD 98
75. ut ERRC are as follows Nem 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 O The output is set to O 1004 Incorrect SCALE input i e the scale input is 0 or is not a factor of 10 Example from DINT to REAL24 When 205 and SCALE 100 I SCALE 205 100 2 05 and 2 04999 Input 1 DINT Scale input SCALE DINT The output data type is selected by the user Output O REAL REAL24 Error output ERRC DINT INT TO BOOL 10024 INT TO BOOL 87 TLA1 1 msec 1 IN cm OUT1 87 din OUT2 87 OUT3 87 cita OUT4 87 OUT5 87 cim OUT6 87 OUT7 87 OUT8 87 eus OUT9 87 OUT10 87 OUT11 87 OUT12 87 OUT13 87 OUT14 87 OUT15 87 OUT16 87 SIGN87 Operation The boolean output OUT1 0UT16 values are formed from the 16 bit integer input IN value Example IN 0111 1111 1111 1111 4m OUT16 OUT1 SIGN Standard function blocks 43 55 un Output OUT1 OUT16 Boolean Sign output SIGN Boolean INT TO DINT 10025 INT TO DINT 88 TLA1 1 msec 1 I 0 Operatio
76. utput Error DINT 0 No error 1 Application program memory full FIO 11 DIO slot1 10086 FIO 11 DIO 51041 55 TLA1 1 msec 1 DIO1 conf Bi DI1 55 DIO2 conf DI2 55 Error 55 filt gain DI2 filt gain Operation The block controls the two digital inputs outputs 0101 DIO2 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 Dlx outputs show the state of the DIOs The DIx filt gain inputs determine a filtering time for each input as follows Dix gain Filtering time foros 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 Outputs Digital input output state 011 012 Boolean Error output Error DINT 0 No error 1 Application program memory full FIO 11 DIO slot2 10087 DI1 56 DI2 56 Error 56 filt gain DI2 filt gain Standard function blocks 63 Operation The block controls the two digital inputs outputs 0101 0102 of a FIO 11 Digital Extension mounted on slot 2 of the drive control unit The state of
77. utput 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 O 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 to 0 Example 10060 Operation Standard function blocks 89 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 The output Q is set to 1 when the input IN is set to 1 The output is set to 0 when it has been 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 to O Pulse time input PT DINT 1 1 us Input IN Boolean Output Q Boolean Elapsed output DINT 1 1 us 90 Standard function blocks Examples of using standard function blocks 91 Examples of using standard function blocks What this chapter contains This chapter contains examples of using standard function blocks for e start stop e relay output and digital input output control drive to drive communication Start stop using analog input This example presents an application program where the speed reference is given via analog input e the drive starts when is higher than 5 mA the drive stops when is lower than 3 mA Additional information e Actual
78. y the user Enable input EN Boolean Number of the bit BITNR DINT Bit value input BIT Boolean Input 1 INT DINT Output O INT DINT REG 10038 REG 01 68 02 68 Standard function blocks 29 Execution time 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 Operation The input 11 132 value is stored to the corresponding output O1 032 if the load input L is set to 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 O Example 1 previous IS 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 DINT REAL REAL24 SR D 10039 30 Standard function blocks Operation 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

EN / Application programming for ACS850 drives application guide

Contents

Download Pdf Manuals

Related Search

Related Contents