FDNA-01 3AFE68573360 ACS350 ACS355 ACS850 ACQ810 TRANSPARENT16 TRANSPARENT32 - Datasheet Archive

 

User's Manual DeviceNet Adapter Module FDNA-01 DeviceNet Adapter Module FDNA-01 User's Manual 3AFE68573360 Rev D EN EFFECTIVE:

 

ABB Drives User's Manual DeviceNet Adapter Module FDNA-01 FDNA-01 DeviceNet Adapter Module FDNA-01 FDNA-01 User's Manual 3AFE68573360 3AFE68573360 Rev D EN EFFECTIVE: 2009-12-01 © 2009 ABB Oy. All Rights Reserved. 5 Safety instructions What this chapter contains This chapter states the general safety instructions that must be followed when installing and operating the FDNA-01 FDNA-01 DeviceNet Adapter module. The material in this chapter must be studied before attempting any work on, or with, the unit. In addition to the safety instructions given below, read the complete safety instructions of the specific drive you are working on. General safety instructions WARNING! All electrical installation and maintenance work on the drive should be carried out by qualified electricians. The drive and adjoining equipment must be properly earthed. Do not attempt any work on a powered drive. After switching off the mains, always allow the intermediate circuit capacitors 5 minutes to discharge before working on the frequency converter, the motor or the motor cable. It is good practice to check (with a voltage indicating instrument) that the drive is in fact discharged before beginning work. The motor cable terminals of the drive are at a dangerously high voltage when mains power is applied, regardless of motor operation. There can be dangerous voltages inside the drive from external control circuits even when the drive mains power is shut off. Exercise appropriate care when working on the unit. Neglecting these instructions can cause physical injury or death. Safety instructions 6 Safety instructions 7 Table of contents Safety instructions What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Table of contents Introduction What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Intended audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . What this manual contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 11 11 11 Overview What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DeviceNet standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . FDNA-01 FDNA-01 DeviceNet Adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Delivery check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 13 14 15 16 Quick start-up guide What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PLC configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mechanical and electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Example configuration: ODVA Basic Speed Control in ACS350 ACS350 and ACS355 ACS355 . . . . . . . . . . . . . Example configuration: ABB Drives Profile w/ Set Speed and Set Torque plus Drive Parameters in ACS350 ACS350 and ACS355 ACS355 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Example configuration: ODVA Extended Speed and Torque Control in ACSM1 . . . . . . . . . . . . Example configuration: ABB Drives profile with Speed control in ACSM1 . . . . . . . . . . . . . . . . . Example configuration: ODVA Extended Speed and Torque Control in ACS850 ACS850 . . . . . . . . . . . Example configuration: ABB Drives profile with Speed control in ACS850 ACS850 and ACQ810 ACQ810 . . . . . 17 17 22 23 24 25 27 28 29 30 Mechanical installation What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Electrical installation What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Table of contents 8 General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 DeviceNet connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 DeviceNet bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Drive configuration What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DeviceNet connection configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . FDNA-01 FDNA-01 configuration parameters - group A (group 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . FDNA-01 FDNA-01 configuration parameters - group B (group 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . FDNA-01 FDNA-01 configuration parameters - group C (group 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 37 38 46 48 49 Master configuration What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Configuring the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 EDS files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Communication profiles What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The ODVA AC/DC Drive Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ODVA output attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ODVA input attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 53 55 56 59 64 64 64 66 Communication What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Introduction to DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Object modelling and functional profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Assembly objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 BASIC SPEED CONTROL assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 BASIC SPEED CONTROL PLUS DRIVE PARAMETERS assembly . . . . . . . . . . . . . . . . . . . . 76 EXTENDED SPEED CONTROL assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 EXTENDED SPEED CONTROL PLUS DRIVE PARAMETERS assembly . . . . . . . . . . . . . . . . 79 BASIC SPEED AND TORQUE CONTROL assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 BASIC SPEED AND TORQUE CONTROL PLUS DRIVE PARAMETERS assembly . . . . . . . . 82 EXTENDED SPEED AND TORQUE CONTROL assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 EXTENDED SPEED AND TORQUE CONTROL PLUS DRIVE PARAMETERS assembly . . . 85 ABB DRIVES PROFILE SET SPEED assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 ABB DRIVES PROFILE WITH SET SPEED PLUS DRIVE PARAMETERS assembly . . . . . . . 88 ABB DRIVES PROFILE WITH SET SPEED AND SET TORQUE assembly . . . . . . . . . . . . . . 90 ABB DRIVES PROFILE WITH SET SPEED AND SET TORQUE PLUS DRIVE PARAMETERS Table of contents 9 assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 TRANSPARENT16 TRANSPARENT16 WITH ONE assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 TRANSPARENT16 TRANSPARENT16 WITH ONE assembly PLUS DRIVE PARAMETERS . . . . . . . . . . . . . . . . . 95 TRANSPARENT16 TRANSPARENT16 WITH TWO assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 TRANSPARENT16 TRANSPARENT16 WITH TWO assembly PLUS DRIVE PARAMETERS . . . . . . . . . . . . . . . . . 97 TRANSPARENT32 TRANSPARENT32 WITH ONE assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 TRANSPARENT32 TRANSPARENT32 WITH ONE assembly PLUS DRIVE PARAMETERS . . . . . . . . . . . . . . . . 100 TRANSPARENT32 TRANSPARENT32 WITH TWO assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 TRANSPARENT32 TRANSPARENT32 WITH TWO assembly PLUS DRIVE PARAMETERS . . . . . . . . . . . . . . . . 104 Class objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Identity object, class 01h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 DeviceNet object, class 03h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Connection object, class 05h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 Acknowledge handler object, class 2Bh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Motor data object, class 28h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 Control supervisor object, class 29h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 AC/DC-drive object, class 2Ah . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Drive parameter object, class 90h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 Fieldbus configuration object 91h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Diagnostics What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 Definitions and abbreviations What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Technical data What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 FDNA-01 FDNA-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 Fieldbus link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 Appendix - Varying number of drive parameters Further information Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 141 141 141 Table of contents 10 Table of contents 11 Introduction What this chapter contains This chapter includes a description of the contents of the manual. Intended audience The manual is intended for people responsible for installing, commissioning and using an adapter module. The reader is expected to have basic knowledge of electrical fundamentals, electrical wiring practices and how to operate the drive. Before you start It is assumed that the drive is installed and ready to operate before starting the installation of the extension module. In addition to conventional installation tools, have the drive manuals available during the installation as they contain important information not included in this manual. The drive manuals are referred to at various points of this document. What this manual contains This manual contains information on the wiring, configuration and use of the adapter module. Safety instructions are featured in the first few pages of this manual. Overview contains short descriptions of the DeviceNet protocol and the adapter module, and a delivery checklist. Quick start-up guide contains a short description of how to set up the adapter module. Mechanical installation contains placing and mounting instructions for the module. Introduction 12 Electrical installation contains wiring and bus termination instructions. Drive configuration explains how to program the drive before the communication through the adapter module can be started. Master configuration explains how to program the DeviceNet master before communication through the adapter module can be started. Communication profiles describes the communication profiles used in communication between the DeviceNet network, the FDNA-01 FDNA-01 module and the drive. Communication contains a description of the DeviceNet functionality supported by the FDNA-01 FDNA-01. Diagnostics explains how to trace faults with the status LEDs on the FDNA-01 FDNA-01 module. Definitions and abbreviations explains definitions and abbreviations concerning the DeviceNet protocol family. Technical data contains information on physical dimensions, configurable settings and connectors of the module and a specification of the DeviceNet link. Introduction 13 Overview What this chapter contains This chapter contains a short description of the DeviceNet standard and the FDNA-01 FDNA-01 Adapter module, and a delivery checklist. DeviceNet standard The DeviceNet network has a linear bus topology. Terminating resistors are required on each end of the trunk line. Drop lines as long as 6 metres (20 feet) each are permitted, allowing one or more nodes to be attached. DeviceNet allows branching structures only on drop lines. An example of an allowable topology is shown in Figure 1. Trunk line Tap Node Node Node Tap Node Node Node Terminating Resistor Tap Node Node Tap Node Drop line Node Node Figure 1. DeviceNet bus topology The maximum length of the trunk cable depends on the data rate and on the type of the cable used (see chapter Technical data on page 135). Overview 14 Further information on the DeviceNet protocol is available on the world wide web from www.odva.org Terminating resistor The DeviceNet network should be terminated at both ends of the trunk cable with a 121 Ohm, ¼ W, 1% metal film resistor. Connect the resistor between the two signal wires (CAN_H, CAN_L) on the DeviceNet cable. FDNA-01 FDNA-01 DeviceNet Adapter module The FDNA-01 FDNA-01 DeviceNet Adapter module is an optional device for ABB drives. It enables the connection of the drive to a DeviceNet network. The drive is considered as a slave in the DeviceNet network. With the adapter module you can: · give control commands to the drive (for example, Start, Stop, Run enable) · feed a motor Speed or Torque Reference to the drive · give the Actual value or Reference of the process to the PID controller of the drive · read status information and Actual values from the drive · change the drive parameter values · reset a drive fault. The FDNA-01 FDNA-01 acts as a class 2 slave only with predefined masterslave connection set services. These include the explicit messaging, the poll-response service and the change of state/ cyclic service. Chapter Communication describes the DeviceNet commands and services supported by the adapter module. The adapter module is mounted into an option slot on the motor control board of the drive. See the drive documentation for the module placement options. Overview 15 DeviceNet master ABB drive Other slave device Diagnostic LEDs (See chapter Diagnostics) Bus connector X1 (see chapter Electrical installation) Figure 2. The construction of the DeviceNet link and the FDNA-01 FDNA-01 Adapter module. Compatibility The FDNA-01 FDNA-01 is compatible with all master stations that support the DeviceNet protocol. Overview 16 Delivery check The option package of the adapter module contains: · DeviceNet Adapter module, type FDNA-01 FDNA-01 · this manual. Overview 17 Quick start-up guide What this chapter contains This chapter presents the steps to take during the start-up of the adapter module. WARNING! Follow the safety instructions given in this manual and the hardware manual of the drive. PLC configuration This example shows how to set up an Allen-Bradley CompactLogix PLC with a 1769-SDN 1769-SDN DeviceNet Scanner to use a drive equipped with a FDNA-01 FDNA-01 fieldbus adapter, using RSNetWorx and RSLogix 5000 to configure and control the network. Slight vendor specific differences may exist when using other programs or master devices. In this example, ACS350 ACS350 is used as the drive, but the same example can be applied to ACS355 ACS355, too. · Select and import the EDS file for the drive, for example ACS350 ACS350_FDNA01 FDNA01_v1.27_eu.EDS. For more help on choosing the correct file, refer to ABB EDS Selection Guide delivered with the EDS files. Note: Only one EDS file with the same Product ID can be installed in the PLC at a time. Quick start-up guide 18 Quick start-up guide 19 · Add a drive to the network in RSNetWorx for DeviceNet. · Configure the device MAC address. Quick start-up guide 20 · Configure the DeviceNet Scanner. Add the drive to Scanlist and edit I/O parameters. Select Polled or Change of State/Cyclic. Then enter the input and output sizes of the I/O assemblies that are used (eg for Basic Speed Control Assemblies 20 and 70, each size is set to 4 bytes.). Quick start-up guide 21 · For convenience, you can also edit the Input and Output memory mappings. By default, the two 16-bit input words are mapped into a single 32-bit double word. It is more convenient to map them into separate double words. Output words can be mapped similarly. · Download the scanner settings to the device in the online mode. Quick start-up guide 22 · Add your DeviceNet scanner to an RSLogix 5000 project. You should get new Controller Tags Local:I and Local:O. You can use them to access the data as mapped above: Local:O.Data[0] is the Control word Local:O.Data[1] is the Reference Local:I.Data[0] is the Status word Local:I.Data[1] is the Actual value Note: You may need to change the value of Local:O.CommandRegister.Run or Local:I.CommandRegister.Run to 1. Mechanical and electrical installation · Insert the FDNA-01 FDNA-01 into its specified slot in the drive. · Fasten the screw. · Plug the fieldbus connector into the module. Note: It is recommended to make the module communication settings (for example, the baud rate) before connecting it to an active DeviceNet network (see Drive configuration on page 23). Quick start-up guide 23 Drive configuration · Power up the drive. · The detailed procedure of activating the drive for communication with the module is dependent on the drive type. Normally, a parameter must be adjusted to activate the communication. Refer to the following table and drive documentation for information on the communication settings. Drive Parameter Setting ACS350 ACS350 ACS355 ACS355 98.02 COMM PROT SEL 4 = EXT FBA ACSM1 ACS850 ACS850 ACQ810 ACQ810 50.01 FBA ENABLE ENABLE · In ACSM1, ACS850 ACS850 and ACQ810 ACQ810, ensure that 50.04 FBA REF1 MODESEL is SPEED. In ACSM1 and ACS850 ACS850, ensure that 50.05 FBA REF2 MODESEL is TORQUE. · Verify that FBA TYPE is 37 = DEVICENET. In ACS350 ACS350, ACS355 ACS355, ACSM1, ACS850 ACS850 and ACQ810 ACQ810, this is parameter 51.01. · Configure the drive to accept Start/Stop, Direction, Reference, Run Enable and Fault Reset from the module. Examples of appropriate values are shown in the following tables. · Configure the module for desired network characteristics with the fieldbus configuration groups. Examples of suggested values are shown in the following tables. · Initiate a "Fieldbus adapter parameter refresh" by setting parameter 51.27 FBA PAR REFRESH. Note: The new settings take effect only when the module is powered up the next time or when a 'Fieldbus Adapter parameter refresh' is given (see the drive documentation). Quick start-up guide 24 Example configuration: ODVA Basic Speed Control in ACS350 ACS350 and ACS355 ACS355 Drive parameter Example setting for ACS350 ACS350 and ACS355 ACS355 10.01 EXT1 COMMANDS COMM 11.03 REF1 SELECT COMM 16.01 RUN ENABLE NOT SEL* 16.04 FAULT RESET SEL COMM 98.02 COMM PROT SEL EXT FBA 51.01 FBA TYPE 51.02 MAC ID 51.03 BAUD RATE DEVICENET 2 0 (125 kbit/s) 51.05 ODVA STOP FUNC 0 (Ramp Stop) 51.06 OUTPUT INSTANCE 20 (ODVA Basic Speed Control) 51.07 OUTPUT NUM PARS 10 * 51.08 INPUT INSTANCE 70 (ODVA Basic Speed Control) 51.09 INPUT NUM PARS 10 * 51.10 ODVA SPEED SCALE 128 (1 RPM) 51.11 ODVA TORQUE SCALE 128 (1 N·m) 51.27 FBA PAR REFRESH REFRESH * The ODVA AC/DC Drive Profile does not provide a means to supply a RUN ENABLE signal via DeviceNet. The RUN ENABLE signal for the drive must be set to either NOT SEL or another source (for example, a digital input). * OUTPUT NUM PARS and INPUT NUM PARS must always be set to 10, except as provided for in the Appendix - Varying number of drive parameters on page 137. Scanner: The input and output sizes are 4 bytes each. Quick start-up guide 25 Example configuration: ABB Drives Profile w/ Set Speed and Set Torque plus Drive Parameters in ACS350 ACS350 and ACS355 ACS355 In this example: · The output drive parameters control analog output 1 and relay output 1. · The input drive parameters read analog input 1 (01.20), CURRENT (01.04) and POWER (01.06). Drive parameter Example setting for ACS350 ACS350 and ACS355 ACS355 10.01 EXT1 COMMANDS COMM 11.03 REF1 SELECT COMM 11.06 REF2 SELECT COMM 14.01 RELAY OUTPUT 1 COMM 15.01 AO1 CONTENT SEL COMM VALUE 1 16.01 RUN ENABLE COMM* 16.04 FAULT RESET SEL COMM 98.02 COMM PROT SEL EXT FBA 51.01 FBA TYPE 51.02 MAC ID 51.03 BAUD RATE DEVICENET 53 2 (500 kbit/s) 51.05 ODVA STOP FUNC 0 (Ramp Stop) * 51.06 OUTPUT INSTANCE 902 (ABB Drives Profile w/ Speed and Torque plus Drive Parameters) 51.07 OUTPUT NUM PARS 10 * 51.08 INPUT INSTANCE 952 (ABB Drives Profile w/ Speed and Torque plus Drive Parameters) 51.09 INPUT NUM PARS 10 * 51.10 ODVA SPEED SCALE 128 (1 RPM) * 51.11 ODVA TORQUE SCALE 128 (1 N·m) * Quick start-up guide 26 54.01 FBA DATA IN 1 120 (01.20 Analog Input 1) 54.02 FBA DATA IN 2 104 (01.04 Current) 54.03 FBA DATA IN 3 106 (01.06. Power) 54.04.54.10 FBA DATA IN 4.10 0 (Unused) 55.01 FBA DATA OUT 1 135 (01.35 COMM VALUE 1) 55.02 FBA DATA OUT 2 134 (01.34 COMM RO WORD) 55.03.55.10 FBA DATA OUT 3.10 0 (Unused) 51.27 FBA PAR REFRESH REFRESH * The ABB Drives Profile does provide a means to supply a RUN ENABLE signal via DeviceNet. The RUN ENABLE for the drive may be set to COMM or another source (for example, a digital input). * These parameters are ignored when using the ABB Drives profile. * OUTPUT NUM PARS and INPUT NUM PARS must always be set to 10, except as provided for in Appendix - Varying number of drive parameters on page 137. Scanner: The input and output sizes are 26 bytes each. Quick start-up guide 27 Example configuration: ODVA Extended Speed and Torque Control in ACSM1 Drive parameter 10.01 EXT1 START FUNC Example setting for ACSM1 FBA 24.01 SPEED REF1 SEL FBA REF1 32.01 TORQ REF1 SEL FBA REF2 34.03 EXT1 CTRL MODE1 SPEED 34.04 EXT1 CTRL MODE2 TORQUE 50.01 FBA ENABLE ENABLE 50.04 FBA REF1 MODESEL SPEED 50.05 FBA REF2 MODESEL TORQUE 51.01 FBA TYPE 51.02 MAC ID 51.03 BAUD RATE DEVICENET 10 0 (125 kbit/s) 51.05 ODVA STOP FUNC 0 (Ramp Stop) 51.06 OUTPUT INSTANCE 23 (ODVA Extended Speed and Torque Control) 51.07 OUTPUT NUM PARS 10* 51.08 INPUT INSTANCE 73 (ODVA Extended Speed and Torque Control) 51.09 INPUT NUM PARS 10* 51.10 ODVA SPEED SCALE 128 (1 RPM) 51.11 ODVA TORQUE SCALE 128 (1 Nm) 51.27 FBA PAR REFRESH REFRESH * OUTPUT NUM PARS and INPUT NUM PARS must always be set to 10, except as provided for in the Appendix - Varying number of drive parameters on page 137. Scanner: The input and output sizes are 6 bytes each. Quick start-up guide 28 Example configuration: ABB Drives profile with Speed control in ACSM1 Drive parameter 10.01 EXT1 START FUNC 24.01 SPEED REF1 Example setting for ACSM1 FBA FBA REF1 34.03 EXT1 CTRL MODE1 SPEED 50.01 FBA ENABLE ENABLE 50.04 FBA REF1 MODESEL SPEED 50.05 FBA REF2 MODESEL TORQUE 51.01 FBA TYPE 51.02 MAC ID 51.03 BAUD RATE DEVICENET 10 1 (250 kbit/s) 51.05 ODVA STOP FUNC 0 (Ramp Stop) 51.06 OUTPUT INSTANCE 801 (ABB Drives with Set speed) 51.07 OUTPUT NUM PARS 10* 51.08 INPUT INSTANCE 851 (ABB Drives with Set speed) 51.09 INPUT NUM PARS 10* 51.10 ODVA SPEED SCALE 128 (1 RPM) 51.11 ODVA TORQUE SCALE 128 (1 Nm) 51.27 FBA PAR REFRESH REFRESH * OUTPUT NUM PARS and INPUT NUM PARS should always be set to 10, except as provided for in Appendix - Varying number of drive parameters on page 137. Quick start-up guide 29 Example configuration: ODVA Extended Speed and Torque Control in ACS850 ACS850 Drive parameter 16.15 MENU SET SEL Example setting for ACS850 ACS850 LOAD LONG 10.01 EXT1 START FUNC FBA 21.01 SPEED REF 1 SEL FBA REF1 24.01 TORQ REF1 SEL FBA REF2 12.03 EXT1 CTRL MODE SPEED 12.05 EXT2 CTRL MODE TORQUE 50.01 FBA ENABLE ENABLE 50.04 FBA REF1 MODESEL SPEED 50.05 FBA REF2 MODESEL TORQUE 51.01 FBA TYPE 51.02 MAC ID 51.03 BAUD RATE DEVICENET 10 0 (125 kbit/s) 51.05 ODVA STOP FUNC 0 (Ramp Stop) 51.06 OUTPUT INSTANCE 23 (ODVA Extended Speed and Torque Control) 51.07 OUTPUT NUM PARS 10* 51.08 INPUT INSTANCE 73 (ODVA Extended Speed and Torque Control) 51.09 INPUT NUM PARS 10* 51.10 ODVA SPEED SCALE 128 (1 RPM) 51.11 ODVA TORQUE SCALE 128 (1 Nm) 51.27 FBA PAR REFRESH REFRESH * OUTPUT NUM PARS and INPUT NUM PARS must always be set to 10, except as provided for in Appendix - Varying number of drive parameters on page 137. Quick start-up guide 30 Example configuration: ABB Drives profile with Speed control in ACS850 ACS850 and ACQ810 ACQ810 Drive parameter 16.15 MENU SET SEL (ACS850 ACS850) 16.21 MENU SELECTION (ACQ810 ACQ810) 10.01 EXT1 START FUNC 21.01 SPEED REF 1 SEL (ACS850 ACS850) 21.01 SPEED REF SEL (ACQ810 ACQ810) 12.03 EXT1 CTRL MODE Example setting for ACS850 ACS850 and ACQ810 ACQ810 LOAD LONG (ACS850 ACS850) LONG (ACQ810 ACQ810) FBA FBA REF1 SPEED (Only in ACS850 ACS850) 50.01 FBA ENABLE ENABLE 50.04 FBA REF1 MODESEL SPEED 51.01 FBA TYPE 51.02 MAC ID 51.03 BAUD RATE DEVICENET 10 1 (250 kbit/s) 51.05 ODVA STOP FUNC 0 (Ramp Stop) 51.06 OUTPUT INSTANCE 801 (ABB Drives with Set speed) 51.07 OUTPUT NUM PARS 10* 51.08 INPUT INSTANCE 851 (ABB Drives with Set speed) 51.09 INPUT NUM PARS 10* 51.10 ODVA SPEED SCALE 128 (1 RPM) 51.11 ODVA TORQUE SCALE 128 (1 Nm) 51.27 FBA PAR REFRESH REFRESH * OUTPUT NUM PARS and INPUT NUM PARS must always be set to 10, except as provided for in Appendix - Varying number of drive parameters on page 137. Quick start-up guide 31 Mechanical installation What this chapter contains This chapter contains placing and mounting instructions for the module. WARNING! Follow the safety instructions given in this manual and the drive documentation. Mounting The FDNA-01 FDNA-01 is to be inserted into its specific position in the drive. The module is held in place with plastic pins and one screw. The screw also provides the earthing of the fieldbus cable shield connected to the module. On installation of the module, the signal and power connection to the drive is made through a 20-pin connector. (All drives do not use all the available signals so the connector on the drive may have fewer pins.) Mounting procedure: · Insert the module carefully into its position on the drive. · Fasten the screw. Note: Correct installation of the screw is essential for fulfilling the EMC requirements and for proper operation of the module. Mechanical installation 32 Mechanical installation 33 Electrical installation What this chapter contains This chapter contains: · general cabling instructions · instructions for connecting the module to the DeviceNet bus. WARNING! Before installation, switch off the drive power supply. Wait 5 minutes to ensure that the capacitor bank of the drive is discharged. Switch off all dangerous voltages connected from external control circuits to the inputs and outputs of the drive. General cabling instructions Arrange the bus cables as far away from the motor cables as possible. Avoid parallel runs. Use bushings at cable entries. Electrical installation 34 DeviceNet connection The bus cable is connected to terminal block X1 on the FDNA-01 FDNA-01. Terminal block description X1 Description 1 V- Network power supply ground (0V DC) 2 CAN_L CAN_L bus line 3 SHLD Network cable shield 4 CAN_H CAN_H bus line 5 V+ Network power supply source (24V DC) Connection examples 5-pin micro-style connector 0V Network power supply +24 V VCAN_L SHLD CAN_H V+ 1 2 3 4 5 VCAN_L SHLD CAN_H V+ 1 2 3 4 5 Male micro-style 2 connector 1 3 4 5 4 5 3 2 1 FDNA X1 5-pin mini-style connector 0V Network power supply +24 V Male mini-style connector 2 1 3 4 2 5 4 5 1 3 Electrical installation FDNA X1 35 Standard open-style screw connector +24 V Network power supply 0 V 1 2 3 4 5 1 2 3 4 5 VCAN_L SHLD CAN_H V+ FDNA X1 DeviceNet bus termination The FDNA-01 FDNA-01 does not provide bus termination. The DeviceNet bus line must be terminated with 121 ohm resistors connected between the CAN_L and CAN_H wires at each end as shown below. Scanner Node 1 · · · Node n CAN_H 121 1% Metal Film 1/4 W CAN_L 121 1% Metal Film 1/4 W Electrical installation 36 Electrical installation 37 Drive configuration What this chapter contains This chapter gives information on configuring the FDNA-01 FDNA-01 DeviceNet Adapter module. DeviceNet connection configuration After the adapter module has been mechanically and electrically installed according to the instructions in chapters Mechanical installation and Electrical installation, the drive must be prepared for communication with the module. The detailed procedure of activating the module for DeviceNet communication with the drive is dependent on the drive type. Normally, a parameter must be adjusted to activate the communication (see the drive documentation). As communication between the drive and the FDNA-01 FDNA-01 is established, several configuration parameters are copied to the drive. These parameters (Tables 1, 6 and 7) must be checked first and adjusted where necessary. The alternative selections for these parameters are discussed in more detail below the tables. Note: The new settings take effect only when the module is powered up the next time or when a `Fieldbus Adapter parameter refresh' is given (see the drive documentation). Note: If communication between the FDNA-01 FDNA-01 and DeviceNet master is established, changes to the configuration parameters can be done also through Fieldbus configuration object 91h. Drive configuration 38 FDNA-01 FDNA-01 configuration parameters - group A (group 1) Table 1. FDNA-01 FDNA-01 configuration parameters - group A (1) * Par. no. Parameter name Alternative settings Default setting 1 FBA TYPE (Read-only) DEVICENET 2 MAC ID 0 to 63 63 3 BAUD RATE 0 = 125 kbit/s 1 = 250 kbit/s 2 = 500 kbit/s 0 4 DRIVE PROFILE 0 = DCU Profile 0 5 ODVA STOP FUNC 0 = Ramp Stop 1 = Coast Stop 0 6 OUTPUT INSTANCE See Table 2. 20 7 OUTPUT NUM PARS 1 to 10 *,* 10 8 INPUT INSTANCE See Table 2. 70 9 INPUT NUM PARS 1 to 10 *,* 10 10 ODVA SPEED SCALE See Table 4. 128 11 ODVA TORQUE SCALE See Table 5. 128 26 UNRECOVERABLE ERROR 0 = no errors See section 26 UNRECOVERABLE ERROR. 0 * Actual parameter group number depends on the drive type. Eg, group A (group 1) equals to parameter group 51 in ACS350 ACS350, ACS355 ACS355, ACSM1, ACS850 ACS850 and ACQ810 ACQ810. * See Appendix - Varying number of drive parameters on page 137. * This parameter is only used when the output assembly instance is 120, 121, 122, 123, 901, 902, 911, 912, 921, 922. It must always be set to the default, 10, except as described in Appendix - Varying number of drive parameters on page 137. *This parameter is only used when the input assembly instance is 170, 171, 172, 173, 951, 952, 961, 962, 971, 972. It must always be set to the default, 10, except as described in the Appendix - Varying number of drive Drive configuration 39 parameters on page 137. 1 FBA TYPE This parameter shows the fieldbus adapter type as detected by the drive. The value cannot be adjusted by the user. If this parameter is undefined, the communication between the drive and the module has not been established. 2 MAC ID Each device on the DeviceNet network must have a unique MAC ID number. This parameter is used to define the MAC ID number for the drive it is connected to. 3 BAUD RATE Sets the baud rate for the DeviceNet interface. You can freely select the parameter value, but it must be the same on every node of the DeviceNet network. 4 DRIVE PROFILE The "drive profile" defines the communication used between the module and the drive (not fieldbus and module). If a drive supports more than one drive profile, this parameter is used to select the preferred profile. Presently to use the ODVA and ABB Drives profiles the drive must support the DCU/FBA profile. Transparent16 and Transparent32 profiles may be used with any drive profile. 5 ODVA STOP FUNC This parameter only applies when using the ODVA AC/DC Drive Profile. It determines how the motor is stopped when a stop command is received via DeviceNet: 0 = Ramp stop: the motor decelerates along the active deceleration ramp. 1 = Coast stop: the motor comes to a stop by coasting. Drive configuration 40 6 OUTPUT INSTANCE 8 INPUT INSTANCE These parameters configure the output and input assembly instances used by the DeviceNet Adapter Module. The following tables list supported assemblies and allowed combinations. For descriptions of assembly instances, see Assembly objects on page 74. Drive configuration 41 Table 2. Assembly instances Output instance Input instance Default input size (bytes) Profile Basic Speed Control 20 70 4 ODVA AC/DC Drive Enhanced Speed Control 21 71 4 ODVA AC/DC Drive Basic Speed and Torque Control 22 72 6 ODVA AC/DC Drive Enhanced Speed and Torque Control 23 73 6 ODVA AC/DC Drive Basic Speed Control plus Drive Parameters 120 170 24 ODVA AC/DC Drive Enhanced Speed Control plus Drive Parameters 121 171 24 ODVA AC/DC Drive Basic Speed and Torque Control plus Drive Parameters 122 172 26 ODVA AC/DC Drive Enhanced Speed and Torque Control plus Drive Parameters 123 173 26 ODVA AC/DC Drive ABB Drives Profile w/ Set Speed 801 851 4 ABB Drives Profile ABB Drives Profile w/ Set Speed and Set Torque 802 852 6 ABB Drives Profile ABB Drives Profile w/ Set Speed plus Drive Parameters 901 951 24 ABB Drives Profile ABB Drives Profile w/ Set Speed and Set Torque plus Drive Parameters 902 952 26 ABB Drives Profile Transparent16 w/One 811 861 4 Transparent16 Profile Transparent16 w/Two 812 862 6 Transparent16 Profile Transparent16 w/One plus Drive Parameters 911 961 24 Transparent16 Profile Transparent16 w/Two plus Drive Parameters 912 962 26 Transparent16 Profile Transparent32 w/One 821 871 8 Transparent32 Profile Name Drive configuration 42 Output instance Input instance Default input size (bytes) Profile Transparent32 w/Two 822 872 12 Transparent32 Profile Transparent32 w/One plus Drive Parameters 921 971 28 Transparent32 Profile Transparent32 w/Two plus Drive Parameters 922 972 32 Transparent32 Profile Name Note: With ACSM1, ACQ810 ACQ810 and ACS850 ACS850, when using ODVA AC/DC Drive or ABB Drives profile, make sure that the drive parameter 50.4 FBA REF MODESEL is set to SPEED. With ACSM1 and ACS850 ACS850, make sure that 50.5 FBA REF2 MODESEL is set to TORQUE. Table 3. Allowed output/input assembly instance combinations Output/Input ODVA ABB DRIVES TRANSPARENT16 TRANSPARENT16 (70-73; 170-173) (851-852; 951-952) (861-862; 961-962) ODVA (20-23; 120-123) TRANSPARENT32 TRANSPARENT32 (871-872; 971-972) X ABB DRIVES (801-802; 901-902) TRANSPARENT16 TRANSPARENT16 (811-812; 911-912) TRANSPARENT32 TRANSPARENT32 (821-822; 921-922) X X X 7 OUTPUT NUM PARS 9 INPUT NUM PARS Some assembly instances support transferring drive parameter values between the I/O scanner and drive. These parameters specify how many drive parameter values should be included in the respective assembly instance. Changing the numbers of the drive parameters to values other than the defaults also changes the lengths of the associated assembly instances. This requires manual changes to either the EDS file or I/O scanner configuration. Please consult the Appendix - Varying number of drive parameters on page 137 before changing these parameters. Drive configuration 43 10 ODVA SPEED SCALE This parameter only applies when using the ODVA AC/DC Drive Profile. The units of Reference and actual speeds for ODVA AC/ DC Drive profiles are given by the formula below. This parameter does not have effect on the ABB Drives profiles. Note that while a wide range of resolutions may be configured, the actual performance is limited to the performance capabilities of the drive. Speed unit = RPM X 2(-1 X ODVA speed scale value) Table 4. ODVA speed scaling ODVA speed scale value* Speed scale value of Unit drive parameter * -5 123 32 RPM -4 124 16 RPM -3 125 8 RPM -2 126 4 RPM -1 127 2 RPM 0 (default) 128 1 RPM 1 129 0.5 RPM 2 130 0.25 RPM 3 131 0.125 RPM 4 132 0.0625 RPM 5 133 0.03125 RPM * Use the ODVA speed scale value when reading/writing parameter ODVA SPEED SCALE via AC/DC-drive object, class 2Ah. When written via the AC/ DC drive object, the new value takes effect immediately. * Use the speed scale value of the drive parameter when reading/writing parameter ODVA SPEED SCALE via the drive control panel, Drive parameter object, class 90h and Fieldbus configuration object 91h. When written via these methods, the new value takes effect after the drive is repowered or a "Fieldbus Adapter Parameter refresh" is given. 11 ODVA TORQUE SCALE This parameter only applies when using the ODVA AC/DC Drive Profile. The units of Reference and actual torques for ODVA AC/ Drive configuration 44 DC Drive profiles are given by the formula below. This parameter does not have effect on the ABB Drives profiles. Note that while a wide range of resolutions may be configured, the actual performance is limited to the performance capabilities of the drive. (N·m = Newton x Meter) Torque unit = N·m x 2(-1 X ODVA torque scale) Table 5. ODVA torque scaling ODVA torque scale value* Torque scale value of drive parameter* Unit -5 123 32 N·m -4 124 16 N·m -3 125 8 N·m -2 126 4 N·m -1 127 2 N·m 0 (default) 128 1 N·m 1 129 0.5 N·m 2 130 0.25 N·m 3 131 0.125 N·m 4 132 0.0625 N·m 5 133 0.03125 N·m * Use the ODVA torque scale value when reading/writing parameter ODVA TORQUE SCALE via AC/DC-drive object, class 2Ah. When written via the AC/DC drive object, the new value takes effect immediately. * Use the torque scale value of the drive parameter when reading/writing parameter ODVA TORQUE SCALE via the drive control panel, Drive parameter object, class 90h and Fieldbus configuration object 91h. When written via these methods, the new value takes effect after the drive is repowered or a "Fieldbus Adapter Parameter refresh" is given. Drive configuration 45 26 UNRECOVERABLE ERROR This parameter is a bit field parameter, that is, several status bits can be selected at a time. Value 0 indicates that there are no errors. Bit Name Value Description 1 DUP_MAC_ERROR 0x0001 Duplicate MAC ID error 2 RX_QUEUE_OVERRUN 0x0002 The message receive queue is full. 3 TX_QUEUE_OVERRUN 0x0004 The message transmit queue is full. 4 IO_SEND_ERROR 0x0008 Transmitting I/O data has failed. 5 CAN_BUS_OFF 0x0010 Bus-off is detected. 6 CAN_OVERRUN 0x0020 A CAN message was lost. 7 DNS_RESET 0x0040 DeviceNet driver of the module is reset. 8 DNS_BUS_SENSE_ERROR 0x0080 No voltage detected in the network. 9 DNS_SWITCH_ERROR 0x0100 DeviceNet driver reset failed due to an invalid MAC ID or baud rate. 0x1000 Initialization with the drive failed. 13 SYS_FILE_ERR Drive configuration 46 FDNA-01 FDNA-01 configuration parameters - group B (group 2) Table 6. FDNA-01 FDNA-01 configuration parameters - group B (group 2)* Par. no. Parameter name Alternative settings Default setting 1 DATA OUT 1 (master to drive) 0 to 9999 Format: xxyy, where xx = parameter group and yy = parameter index. 0 2 DATA OUT 2 See DATA OUT 1 above. 0 3 DATA OUT 3 See DATA OUT 1 above. 0 4 DATA OUT 4 See DATA OUT 1 above. 0 5 DATA OUT 5 See DATA OUT 1 above. 0 6 DATA OUT 6 See DATA OUT 1 above. 0 7 DATA OUT 7 See DATA OUT 1 above. 0 8 DATA OUT 8 See DATA OUT 1 above. 0 9 DATA OUT 9 See DATA OUT 1 above. 0 10 DATA OUT 10 See DATA OUT 1 above. 0 *Actual parameter group number depends on the drive type. Eg group B (group 2) equals to parameter group 55 in ACS350 ACS350, ACS355 ACS355 and group 53 in ACSM1, ACS850 ACS850 and ACQ810 ACQ810. 1 DATA OUT 1 In the output assembly instances that include drive parameters, this parameter specifies which parameter's value is placed in location DATA OUT 1 value received by the drive from the DeviceNet network. The content is specified by a decimal number as follows: 0 Unused 1.99 Virtual address area of drive 101.9999 Parameter area of drive Drive configuration 47 The parameter numbers are formatted as xxyy, where xx is the parameter group number (1.99) and yy is the parameter index within that group (01.99). Note: The FDNA-01 FDNA-01 configuration parameters are 16-bit parameters. If the mapped parameter is a 32-bit parameter, it automatically reserves two consecutive parameters. For example, mapping a 32-bit parameter to parameter no. 1 reserves also parameter no. 2. 2-10 DATA OUT 2 to DATA OUT 10 See DATA OUT 1 above. Drive configuration 48 FDNA-01 FDNA-01 configuration parameters - group C (group 3) Table 7. FDNA-01 FDNA-01 configuration parameters - group C (group 3)* Par. no. Parameter name Alternative settings Default setting 1 DATA IN 1 (drive to master) 0 to 9999 Format: xxyy, where xx = parameter group and yy = parameter index. 0 2 DATA IN 2 See DATA IN 1 above. 0 3 DATA IN 3 See DATA IN 1 above. 0 4 DATA IN 4 See DATA IN 1 above. 0 5 DATA IN 5 See DATA IN 1 above. 0 6 DATA IN 6 See DATA IN 1 above. 0 7 DATA IN 7 See DATA IN 1 above. 0 8 DATA IN 8 See DATA IN 1 above. 0 9 DATA IN 9 See DATA IN 1 above. 0 10 DATA IN 10 See DATA IN 1 above. 0 *Actual parameter group number depends on the drive type. Eg group C (group 3) equals to parameter group 54 in ACS350 ACS350 and ACS355 ACS355, or group 52 in ACSM1, ACS850 ACS850 and ACQ810 ACQ810. 1 DATA IN 1 In input assembly instances that include drive parameters, this parameter specifies which parameter's value is placed in location DATA IN 1 value sent by the drive to the DeviceNet network. The content is specified by a decimal number as follows. 0 Unused 1.99 Virtual address area of drive 101.9999 Parameter area of drive The parameter numbers are formatted as xxyy, where xx is the parameter group number (1.99) and yy is the parameter index within that group (01.99). Drive configuration 49 Note: The FDNA-01 FDNA-01 configuration parameters are 16-bit parameters. If the mapped parameter is a 32-bit parameter, it automatically reserves two consecutive parameters. For example, mapping a 32-bit parameter to parameter no. 1 reserves also parameter no. 2. 2-10 DATA IN 2 to DATA IN 10 See DATA IN 1 above. Control locations ABB drives can receive control information from multiple sources including digital inputs, analogue inputs, the drive control panel and a communication module (for example, FDNA-01 FDNA-01). ABB drives allow the user to separately determine the source for each type of control information (Start, Stop, Direction, Reference, Fault Reset, and so on). In order to give the fieldbus master station the most complete control over the drive, the communication module must be selected as source for this information. See the user documentation of the drive for information on the selection parameters. Drive configuration 50 Drive configuration 51 Master configuration What this chapter contains This chapter gives information on configuring the DeviceNet master station for communication through the FDNA-01 FDNA-01 DeviceNet Adapter module. Configuring the system After the adapter module has been mechanically and electrically installed according to the instructions in the previous chapters, and has been initialized by the drive, the master station must be prepared for communication with the module. Refer to the scanner documentation for information on configuring the system for communication with the FDNA-01 FDNA-01. EDS files The Electronic Data Sheet (EDS) files specify the properties of the device for the DeviceNet scanner. The DeviceNet scanner identifies the device by means of the product code, device type, and major revision attributes. For more information, see Identity object, class 01h on page 108. To enable the use of different ABB drive types on the same DeviceNet network, a unique product code has been given to each drive type and application combination. EDS files are available from your ABB representative. Note: Only one EDS file with the same DeviceNet product code can be installed in the PLC at a time. Master configuration 52 Master configuration 53 Communication profiles What this chapter contains This chapter describes the communication profiles used in communication between the DeviceNet network, the FDNA-01 FDNA-01 module and the drive. Communication profiles Communication profiles are ways of conveying control commands (Control word, Status word, References and Actual values) between the master station and the drive. With the FDNA-01 FDNA-01 module, the DeviceNet network may employ either the ODVA AC/DC Drive profile or the ABB Drives profile. Both are converted to the DCU/FBA profile (detailed in drive documentation) by the FDNA-01 FDNA-01 module. In addition, two Transparent modes for 16- and 32-bit words respectively are available. With the Transparent modes, no data conversion takes place. Communication profiles 54 FDNA-01 FDNA-01 DeviceNet network Drive FDNA-01 FDNA-01 profile selection: ODVA AC/DC ODVA AC/DC profile Data conversion DCU/FBA profile ABB Drives ABB Drives profile Data conversion *Drive-specific profile (with 16-bit words) Transparent16 *Drive-specific profile (with 32-bit words) DCU/FBA profile Transparent32 The following sections describe the Control word, the Status word, References and Actual values for the ODVA AC/DC Drive and ABB Drives communication profiles. Refer to the drive manuals for details on the DCU/FBA communication profile. Communication profiles 55 The ODVA AC/DC Drive Profiles This section briefly describes the ODVA AC/DC Drive Profiles. Additional information can be obtained from www.odva.org. A DeviceNet node is modelled as a collection of abstract objects. Each object represents the interface to and behaviour of a component within the product. The ODVA AC/DC Drive Profiles define a collection of objects suitable for the control of the AC and DC drives. The objects supported by the FDNA-01 FDNA-01 DeviceNet Adapter are listed in Class objects on page 107. The objects are defined by: · Service · Class · Instance · Attribute · Behavior For example, to set the drive Speed Reference, the Set_Attribute_Single service can be requested for the SpeedRef attribute of the AC/DC drive object class. The resulting behavior is that the reference speed of the drive is set to the requested value. This is an example of explicit messaging where each attribute of a class is set individually. While this is allowed, it is inefficient. Instead implicit messaging using input and output assembly instances is recommended. Implicit messaging allows the DeviceNet Master to set or get predefined groups of attributes in a single message exchange. The assembly instances supported by the FDNA-01 FDNA-01 are listed and defined in Assembly objects on page 74. Communication profiles 56 ODVA output attributes This section briefly describes the instances found in the output assemblies of the ODVA AC/DC Drive profiles. Note that all output assembly instances do not support all attributes listed here. Run Forward & Run Reverse (Control supervisor object) These attributes are used to assert run and stop commands to the Control supervisor object state machine according to the following table. See State (Control supervisor object) on page 60. Table 8. Run/Stop event matrix RunFwd RunRev Trigger event Run type 0 0 Stop N/A 01 0 Run RunFwd 0 01 Run RunRev 01 01 No Action N/A 1 1 No Action N/A 01 1 Run RunRev 1 10 Run RunFwd Fault Reset (Control supervisor object) This attribute resets a drive fault on a transition from zero to one if the condition that caused the fault has been cleared. Net Ctrl (Control supervisor object) This attribute requests that the drive Run/Stop command is supplied locally (Net Ctrl = 0) or by the network (Net Ctrl = 1). Net Ref (AC/DC drive object) This attribute requests that the drive Speed and Torque References are supplied locally (Net Ref = 0) or by the network (Net Ref = 1). Speed Reference (AC/DC drive object) This attribute is the Speed Reference for the drive. The units are scaled by the Speed Scale attribute of the AC/DC drive object. See Table 4. for details. Communication profiles 57 Scalar mode When the drive is operating in the scalar mode, the FDNA-01 FDNA-01 provides the drive with a Frequency Reference. The ODVA AC/DC Drive profiles use rpm units for the Speed Reference. The drive Frequency Reference is calculated according to Dfr Drive Frequency Reference in Hz Osr ODVA Speed Reference Us ODVA speed unit (from Table 4.) Mf Motor nominal frequency in Hz Mss Motor synchronous speed in rpm (not motor nominal speed). Dfr = Osr × Us × Mf Mss For a 4-pole 60 Hz motor (Mss = 1800 rpm) with a unit of 1 rpm and an ODVA Speed Reference of 900: Dfr = Osr × Us × Mf 900 ×1 rpm× 60 Hz = = 30 Hz Mss 1800 rpm Vector mode When the drive is operating in the vector mode, the FDNA-01 FDNA-01 provides the drive with a Speed Reference. The ODVA AC/DC Drive profiles use rpm units for the Speed Reference. The drive Speed Reference is calculated according to Dsr Drive Speed Reference in rpm Osr ODVA Speed Reference Us ODVA speed unit (from Table 4.) Dsr = Osr × Us Communication profiles 58 For an ODVA Speed Reference of 900 rpm with a unit of 0.5 rpm: Dsr = Osr × Us = 900 × 0.5rpm = 450rpm Torque Reference (AC/DC drive object) This attribute is the Torque Reference for the drive. The units are scaled by the Torque Scale attribute of the AC/DC drive object. See Table 5. for details. The FDNA-01 FDNA-01 provides the drive with a Torque Reference in percent of the motor nominal torque. The ODVA AC/DC Drive profiles use Newton-meter (N·m) units for the Torque Reference. The drive Torque Reference is calculated according to Dtr Drive Torque Reference in percent of motor nominal torque Otr ODVA Torque Reference Ut ODVA torque unit (from Table 5.) Mt Motor nominal torque in N·m Dtr = 100 × Otr × Ut Mt For a 1000 N·m motor nominal torque with a unit of 1 N·m and an ODVA Torque Reference of 500: Dtr = Communication profiles 100 × Otr × Ut 100 × 500 ×1 N·m = = 50 Mt 1000 N·m 59 ODVA input attributes This section briefly describes the instances found in the input assemblies of the ODVA AC/DC Drive profiles. Note that all input assembly instances do not support all attributes listed here. Faulted (Control supervisor object) This attribute indicates that the drive has experienced a fault. The fault code may be read from the FaultCode attribute of the Control supervisor object. Warning (Control supervisor object) This attribute indicates that the drive is experiencing a warning condition. The warning code may be read from the WarnCode attribute of the Control supervisor object. Running Forward (Control supervisor object) This attribute indicates that the drive is running in the forward direction. Running Reverse (Control supervisor object) This attribute indicates that the drive is running in the reverse direction. Ready (Control supervisor object) This attribute indicates that the Control supervisor object state machine is in the Ready, Running or Stopping state. See State (Control supervisor object) on page 60. Ctrl From Net (Control supervisor object) This attribute indicates if the Run/Stop command is being supplied locally (Ctrl From Net = 0) or by the network (Ctrl From Net = 1). Ref From Net (AC/DC drive object) This attribute indicates if the Speed and Torque References are being supplied locally (Ref From Net = 0) or by the network (Ref From Net = 1). Communication profiles 60 At Reference (AC/DC drive object) This attribute indicates that the drive is operating at the specified Speed or Torque Reference. State (Control supervisor object) This attribute indicates the current state of the Control supervisor object. Table 9. Control supervisor states. State Description State Description 0 Vendor-specific 4 Enabled 1 Startup 5 Stopping 2 Not ready 6 Fault stop 3 Ready 7 Faulted Communication profiles 61 Non Existent ALM = Alarm DEC = Deceleration FWD = Forward REV = Reverse RDY = Ready Power off Power on ALM=1 Startup Faulted Power on FaultRst Not Ready DEC=0 ALM=1 Power-on AND RDY Ready FWD OR REV Fault Stop Power-on AND not RDY DEC=0 FWD OR REV Enabled Stopping ALM=1 DEC=1 ALM=1 Figure 3. ODVA state transition diagram Speed Actual (AC/DC drive object) This attribute indicates the actual speed at which the drive is operating. The units are scaled by the SpeedScale attribute of the AC/DC drive object. See Table 4. for details. Scalar mode When the drive is operating in the scalar mode, the drive provides the FDNA-01 FDNA-01 with a frequency actual. The ODVA AC/DC Drive profiles use rpm units for the speed actual. The ODVA Speed Actual is calculated according to Communication profiles 62 Osa ODVA speed actual Dfa Drive frequency actual in Hz Us ODVA speed unit (from Table 4.) Mf Motor nominal frequency in Hz Mss Motor synchronous speed in rpm (not motor nominal speed). Osa = Dfa × Mss Mf × Us For a 4-pole 60 Hz motor (Mss = 1800 rpm) with a unit of 1 rpm and a drive frequency actual of 30 Hz: Osa = Dfa × Mss 30Hz ×1800rpm = = 900 Mf × Us 60Hz × 1rpm Vector mode When the drive is operating in the vector mode, the drive provides the FDNA-01 FDNA-01 with a speed actual. The ODVA AC/DC Drive profiles use rpm units for the speed actual. The ODVA speed actual is calculated according to Dsa Drive speed actual in rpm Osa ODVA speed actual Us ODVA speed unit (from Table 4.) Osa = Dsa Us For a drive speed actual of 900 rpm with a unit of 0.5 rpm: Osa = Communication profiles Dsa 450 rpm = = 900 Us 0.5 rpm 63 Torque Actual (AC/DC drive object) This attribute indicates the actual torque at which the drive is operating. The units are scaled by the Torque Scale attribute of the AC/DC drive object. See Table 5. for details. The drive provides the FDNA-01 FDNA-01 with a torque actual in percent of the motor nominal torque. The ODVA AC/DC Drive profiles use Newton-meter (N·m) units for the torque actual. The ODVA torque actual is calculated according to Dta Drive torque actual in percent of motor nominal torque Ota ODVA torque actual Ut ODVA torque unit (from Table 5.) Mt Motor nominal torque in N·m Ota = Dta× Mt 100 × Ut For a 1000 N·m motor nominal torque with a unit of 1 N·m and a drive torque actual of 50%: Ota = Dta× Mt 50 ×1000 N·m = 500 = 100 × Ut 100 ×1 N·m Communication profiles 64 The ABB Drives communication profile Control word and Status word The Control word is the principal means for controlling the drive from a fieldbus system. It is sent by the fieldbus master station to the drive through the adapter module. The drive switches between its states according to the bit-coded instructions on the Control word, and returns status information to the master in the Status word. The contents of the Control word and the Status word are detailed in Tables 10 and 11 respectively. The drive states are presented in the ABB Drives profile state machine (Figure 4). References References are 16-bit words containing a sign bit and a 15-bit integer. A negative Reference (indicating reversed direction of rotation) is formed by calculating the two's complement from the corresponding positive Reference. ABB drives can receive control information from multiple sources including analogue and digital inputs, the drive control panel and a communication module (for example, FDNA-01 FDNA-01). In order to have the drive controlled through the fieldbus, the module must be defined as the source for control information, for example, Reference. Communication profiles 65 Scaling References are scaled as shown below. Note: The values of REF1 MAX and REF2 MAX are set with drive parameters. See the drive documentation for further information. Fieldbus Drive REF2: 10000 REF1: 20000 0 REF2: -10000 REF1: -20000 REFx MAX REFx MIN -(REFx MIN) -(REFx MAX) Communication profiles 66 Actual values Actual values are 16-bit words containing information on the operation of the drive. The functions to be monitored are selected with a drive parameter. Scaling The Actual values are scaled as shown below. Note: The values of REF1 MAX and REF2 MAX are set with drive parameters. See the drive documentation for further information. Fieldbus Drive ACT2: 10000 ACT1: 20000 0 ACT2: -10000 ACT1: -20000 Communication profiles REFx MAX 0 -(REFx MAX) 67 Table 10. The Control word for the ABB Drives communication profile. The upper case text in boldface refers to the states shown in Figure 4. Bit 0 Name Value STATE/Description 2 3 4 1 Proceed to READY TO OPERATE. 0 Stop along currently active deceleration ramp. Proceed to OFF1 ACTIVE; proceed to READY TO SWITCH ON unless other interlocks (OFF2, OFF3) are active. OFF2_ CONTROL 1 Continue operation (OFF2 inactive). 0 Emergency OFF, coast to stop. Proceed to OFF2 ACTIVE, proceed to SWITCH-ON INHIBITED. OFF3_ CONTROL 1 Continue operation (OFF3 inactive). 0 Emergency stop, stop within time defined with drive parameter. Proceed to OFF3 ACTIVE; proceed to SWITCH-ON INHIBITED. Warning: Ensure that motor and driven machine can be stopped using this stop mode. INHIBIT_ OPERATION 1 Proceed to OPERATION ENABLED. Note: Run enable signal must be active; see drive documentation. If the drive is set to receive the Run enable signal from the fieldbus, this bit activates the signal. 0 1 OFF1_ CONTROL Inhibit operation. Proceed to OPERATION INHIBITED. 1 Normal operation. Proceed to RAMP FUNCTION GENERATOR: OUTPUT ENABLED. 0 Force Ramp Function Generator output to zero. Drive ramps to stop (current and DC voltage limits in force). RAMP_OUT_ ZERO Communication profiles 68 Bit 5 Name STATE/Description 7 RESET Enable ramp function. Proceed to RAMP FUNCTION GENERATOR: ACCELERATOR ENABLED. Halt ramping (Ramp Function Generator output held). 1 Normal operation. Proceed to OPERATING. Note: Effective only if the fieldbus interface is set as the source for this signal with drive parameters. 0 RAMP_IN_ ZERO 1 0 6 RAMP_HOLD Value Force Ramp Function Generator input to zero. 0=>1 Fault reset if an active fault exists. Proceed to SWITCH-ON INHIBITED. Note: Effective only if the fieldbus interface is set as the source for this signal with drive parameters. 0 Continue normal operation. REMOTE_ CMD 1 Fieldbus control enabled. 0 Control word 0 or Reference 0: Retain last Control word and Reference. Control word = 0 and Reference = 0: Fieldbus control enabled. Reference and deceleration/acceleration ramp are locked. EXT_CTRL_ LOC 1 Select external control location EXT2. Effective if control location parameterised to be selected from fieldbus. 0 Select external control location EXT1. Effective if control location parameterised to be selected from fieldbus. 8 to 9 Reserved. 10 11 12 to 15 Reserved. Communication profiles 69 Table 11. The Status word for the ABB Drives communication profile. The upper case text in boldface refers to the states shown in Figure 4. Bit 0 Name STATE/Description 9 OPERATION ENABLED. OPERATION INHIBITED. 1 FAULT. No fault. 1 OFF2 inactive. OFF2 ACTIVE. 1 OFF3 inactive. OFF3 ACTIVE. SWC_ON_ INHIB 1 SWITCH-ON INHIBITED. 0 ­ ALARM 1 Warning/Alarm. No warning/alarm. 1 OPERATING. Actual value equals Reference = is within tolerance limits, i.e. in speed control, speed error is 10% max of nominal motor speed. 0 8 1 0 7 OFF1 ACTIVE. 0 6 READY TO OPERATE. 0 5 1 0 4 NOT READY TO SWITCH ON. 0 3 READY TO SWITCH ON. 0 2 1 0 1 RDY_ON Value Actual value differs from Reference = is outside tolerance limits. 1 Drive control location: REMOTE (EXT1 or EXT2). 0 Drive control location: LOCAL. RDY_RUN RDY_REF TRIPPED OFF_2_STA OFF_3_STA AT_ SETPOINT REMOTE Communication profiles 70 Bit Name 10 ABOVE_ LIMIT Value STATE/Description Actual frequency or speed within supervision limit. EXT_CTRL_ LOC 1 External Control Location EXT2 selected. 0 External Control Location EXT1 selected. EXT_RUN_E NABLE 1 External Run Enable signal received 0 No External Run Enable signal received 1 Communication error detected by fieldbus adapter module. 0 12 Actual frequency or speed equals or exceeds supervision limit (set with drive parameter). Valid in both directions of rotation. 0 11 1 Fieldbus adapter communication OK. 13 to Reserved. 14 15 Communication profiles 71 SWITCH-ON INHIBITED MAINS OFF Power ON (SW Bit6=1) (CW Bit0=0) NOT READY TO SWITCH ON A B C D (SW Bit0=0) (CW=xxxx x1xx xxxx x110) (CW Bit3=0) READY TO SWITCH ON OPERATION INHIBITED (SW Bit0=1) (SW Bit2=0) operation inhibited (CW=xxxx x1xx xxxx x111) READY TO OPERATE from any state OFF1 (CW Bit0=0) OFF1 ACTIVE (CW=xxxx x1xx xxxx 1111 and SW Bit12=1) (SW Bit1=0) n(f)=0 / I=0 B C D (SW Bit1=1) ABB Drives Communication Profile CW = Control word SW = Status word n = Speed I = Input Current RFG = Ramp Function Generator f = Frequency from any state Fault FAULT (SW Bit3=1) (CW Bit7=1) from any state from any state Emergency Stop Emergency OFF OFF2 (CW Bit1=0) OFF3 (CW Bit2=0) (CW Bit3=1 and SW Bit12=1) OFF3 ACTIVE OFF2 (SW Bit5=0) ACTIVE (SW Bit4=0) n(f)=0 / I=0 (CW Bit4=0) OPERATION ENABLED C D (SW Bit2=1) A (CW Bit5=0) (CW=xxxx x1xx xxx1 1111) RFG: OUTPUT ENABLED D B (CW Bit6=0) (CW=xxxx x1xx xx11 1111) RFG: ACCELERATOR ENABLED state C (CW=xxxx x1xx x111 1111) OPERATION (SW Bit8=1) condition rising edge of the bit D Figure 4. ABB State Transition Diagram Communication profiles 72 Communication profiles 73 Communication What this chapter contains This chapter describes the DeviceNet communication protocol for the FDNA-01 FDNA-01 and the configuration of the scanner. For detailed information on DeviceNet communication, refer to ODVA DeviceNet Specifications Release 2.0. Introduction to DeviceNet DeviceNet is a protocol based on the CAN technology. CAN specifies the physical layer interface. DeviceNet specifies the wiring, and the data transfer through CAN. The FDNA-01 FDNA-01 is a device acting as a Group 2 only Server realizing the Predefined Master Slave Connection Set functionality. The Off-line Connection Set functionality and Unconnected Message Manager (UCMM) are not supported. Object modelling and functional profiles One of the main features of DeviceNet is object modelling. A group of objects can be described with a Functional Profile. The FDNA-01 FDNA-01 realizes the ODVA AC/DC Drive Functional Profile with additional features. Communication 74 Assembly objects I/O assembly instances may also be referred to as Block Transfer of data. Intelligent devices realizing a Functional Profile, such as the FDNA-01 FDNA-01, have several objects. Since it is not possible to transmit more than one object data through a single connection, it is practical and more efficient to group attributes from different objects into a single I/O connection (for example a polled connection) using the assembly object. The assembly object acts as a tool for grouping these attributes. The assembly selections described above are, in fact, instances of the assembly object class. The FDNA-01 FDNA-01 uses static assemblies (in other words, fixed groupings of different object data only). The following tables describe the assembly instances supported by the FDNA-01 FDNA-01. Communication 75 BASIC SPEED CONTROL assembly The BASIC SPEED CONTROL assembly is defined by ODVA AC/ DC Drive Profile. The format of the output assembly is: Instance 20 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 Fault Reset Bit 1 Bit 0 Run Forward 1 2 Speed Reference (Low Byte) 3 Speed Reference (High Byte) The format of the input assembly is: Instance 70 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 Running Forward Bit 1 Bit 0 Faulted 1 2 Speed Actual (Low Byte) 3 Speed Actual (High Byte) Communication 76 BASIC SPEED CONTROL PLUS DRIVE PARAMETERS assembly The BASIC SPEED CONTROL PLUS DRIVE PARAMETERS assembly, defined by ABB, adds configurable drive parameters to the BASIC SPEED CONTROL assembly of the ODVA AC/DC Drive Profile. The format of the output assembly is: Instance 120 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 Fault Reset 1 2 3 Speed Reference (High Byte) 4 DATA OUT 1 Value (Low Byte) 5 DATA OUT 1 Value (High Byte) 6 DATA OUT 2 Value (Low Byte) 7 DATA OUT 2 Value (High Byte) 8 DATA OUT 3 Value (Low Byte) 9 DATA OUT 3 Value (High Byte) 10 DATA OUT 4 Value (Low Byte) 11 DATA OUT 4 Value (High Byte) 12 DATA OUT 5 Value (Low Byte) 13 DATA OUT 5 Value (High Byte) 14 DATA OUT 6 Value (Low Byte) 15 DATA OUT 6 Value (High Byte) 16 DATA OUT 7 Value (Low Byte) 17 DATA OUT 7 Value (High Byte) 18 DATA OUT 8 Value (Low Byte) 19 DATA OUT 8 Value (High Byte) 20 DATA OUT 9 Value (Low Byte) 21 DATA OUT 9 Value (High Byte) 22 DATA OUT 10 Value (Low Byte) 23 Communication Speed Reference (Low Byte) DATA OUT 10 Value (High Byte) Bit 1 Bit 0 Run Forward 77 The format of the input assembly is: Instance 170 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 Running Forward Bit 1 Bit 0 Faulted 1 2 Speed Actual (Low Byte) 3 Speed Actual (High Byte) 4 DATA IN 1 Value (Low Byte) 5 DATA IN 1 Value (High Byte) 6 DATA IN 2 Value (Low Byte) 7 DATA IN 2 Value (High Byte) 8 DATA IN 3 Value (Low Byte) 9 DATA IN 3 Value (High Byte) 10 DATA IN 4 Value (Low Byte) 11 DATA IN 4 Value (High Byte) 12 DATA IN 5 Value (Low Byte) 13 DATA IN 5 Value (High Byte) 14 DATA IN 6 Value (Low Byte) 15 DATA IN 6 Value (High Byte) 16 DATA IN 7 Value (Low Byte) 17 DATA IN 7 Value (High Byte) 18 DATA IN 8 Value (Low Byte) 19 DATA IN 8 Value (High Byte) 20 DATA IN 9 Value (Low Byte) 21 DATA IN 9 Value (High Byte) 22 DATA IN 10 Value (Low Byte) 23 DATA IN 10 Value (High Byte) Communication 78 EXTENDED SPEED CONTROL assembly The EXTENDED SPEED CONTROL assembly is defined by ODVA AC/DC Drive Profile. The format of the output assembly is: Instance 21 Byte Bit 7 Bit 6 0 Bit 5 Bit 4 Bit 3 Bit 2 Net Ref Net Ctrl Fault Reset Bit 1 Bit 0 Run Run ForReverse ward 1 2 Speed Reference (Low Byte) 3 Speed Reference (High Byte) The format of the input assembly is: Instance 71 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 At Ref Ctrl Ready RunRunWarning Faulted Refer- From From ning ning ence Net Net Reverse Forward 1 Drive State (See Table 9.) 2 Speed Actual (Low Byte) 3 Speed Actual (High Byte) Communication 79 EXTENDED SPEED CONTROL PLUS DRIVE PARAMETERS assembly The EXTENDED SPEED CONTROL PLUS DRIVE PARAMETERS assembly, defined by ABB, adds configurable drive parameters to the EXTENDED SPEED CONTROL assembly of the ODVA AC/DC Drive Profile. The format of the output assembly is: Instance 121 Byte Bit 7 0 Bit 6 Bit 5 Bit 4 Net Ref Net Ctl Bit 3 Bit 2 Bit 1 Bit 0 Fault Run Run Reset Reverse Forward 1 2 Speed Reference (Low Byte) 3 Speed Reference (High Byte) 4 DATA OUT 1 Value (Low Byte) 5 DATA OUT 1 Value (High Byte) 6 DATA OUT 2 Value (Low Byte) 7 DATA OUT 2 Value (High Byte) 8 DATA OUT 3 Value (Low Byte) 9 DATA OUT 3 Value (High Byte) 10 DATA OUT 4 Value (Low Byte) 11 DATA OUT 4 Value (High Byte) 12 DATA OUT 5 Value (Low Byte) 13 DATA OUT 5 Value (High Byte) 14 DATA OUT 6 Value (Low Byte) 15 DATA OUT 6 Value (High Byte) 16 DATA OUT 7 Value (Low Byte) 17 DATA OUT 7 Value (High Byte) 18 DATA OUT 8 Value (Low Byte) 19 DATA OUT 8 Value (High Byte) 20 DATA OUT 9 Value (Low Byte) 21 DATA OUT 9 Value (High Byte) 22 DATA OUT 10 Value (Low Byte) Communication 80 Instance 121 Byte Bit 7 23 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Bit 2 Bit 1 Bit 0 Running Forward Warning Faulted DATA OUT 10 Value (High Byte) The format of the input assembly is: Instance 171 Byte Bit 7 Bit 6 Bit 5 Bit 4 Ref Ctrl Ready Running From From Reverse Net Net 0 At Reference 1 Drive State (See Table 9.) 2 Speed Actual (Low Byte) 3 Speed Actual (High Byte) 4 DATA IN 1 Value (Low Byte) 5 DATA IN 1 Value (High Byte) 6 DATA IN 2 Value (Low Byte) 7 DATA IN 2 Value (High Byte) 8 DATA IN 3 Value (Low Byte) 9 DATA IN 3 Value (High Byte) 10 DATA IN 4 Value (Low Byte) 11 DATA IN 4 Value (High Byte) 12 DATA IN 5 Value (Low Byte) 13 DATA IN 5 Value (High Byte) 14 DATA IN 6 Value (Low Byte) 15 DATA IN 6 Value (High Byte) 16 DATA IN 7 Value (Low Byte) 17 DATA IN 7 Value (High Byte) 18 DATA IN 8 Value (Low Byte) 19 DATA IN 8 Value (High Byte) 20 DATA IN 9 Value (Low Byte) 21 DATA IN 9 Value (High Byte) 22 DATA IN 10 Value (Low Byte) 23 DATA IN 10 Value (High Byte) Communication Bit 3 81 BASIC SPEED AND TORQUE CONTROL assembly The BASIC SPEED AND TORQUE CONTROL assembly is defined by the ODVA AC/DC Drive Profile. The format of the output assembly is: Instance 22 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 Fault Reset Bit 1 Bit 0 Run Forward 1 2 Speed Reference (Low Byte) 3 Speed Reference (High Byte) 4 Torque Reference (Low Byte) 5 Torque Reference (High Byte) The format of the input assembly is: Instance 72 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 Running Forward Bit 1 Bit 0 Faulted 1 2 Speed Actual (Low Byte) 3 Speed Actual (High Byte) 4 Torque Actual (Low Byte) 5 Torque Actual (High Byte) Communication 82 BASIC SPEED AND TORQUE CONTROL PLUS DRIVE PARAMETERS assembly The BASIC SPEED AND TORQUE CONTROL PLUS DRIVE PARAMETERS assembly, defined by ABB, adds configurable drive parameters to the BASIC SPEED AND TORQUE CONTROL assembly of the ODVA AC/DC Drive Profile.The format of the output assembly is: Instance 122 Byte Bit 7 Bit 6 Bit 5 Bit 4 0 Bit 2 Fault Reset 1 2 Speed Reference (Low Byte) 3 Speed Reference (High Byte) 4 Torque Reference (Low Byte) 5 Torque Reference (High Byte) 6 DATA OUT 1 Value (Low Byte) 7 DATA OUT 1 Value (High Byte) 8 DATA OUT 2 Value (Low Byte) 9 DATA OUT 2 Value (High Byte) 10 DATA OUT 3 Value (Low Byte) 11 DATA OUT 3 Value (High Byte) 12 DATA OUT 4 Value (Low Byte) 13 DATA OUT 4 Value (High Byte) 14 DATA OUT 5 Value (Low Byte) 15 DATA OUT 5 Value (High Byte) 16 DATA OUT 6 Value (Low Byte) 17 DATA OUT 6 Value (High Byte) 18 DATA OUT 7 Value (Low Byte) 19 DATA OUT 7 Value (High Byte) 20 DATA OUT 8 Value (Low Byte) 21 DATA OUT 8 Value (High Byte) 22 DATA OUT 9 Value (Low Byte) Communication Bit 3 Bit 1 Bit 0 Run Forward 83 Instance 122 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 23 Bit 0 DATA OUT 10 Value (Low Byte) 25 Bit 1 DATA OUT 9 Value (High Byte) 24 Bit 2 DATA OUT 10 Value (High Byte) The format of the input assembly is: Instance 172 Byte Bit 7 Bit 6 Bit 5 Bit 4 0 Bit 3 Bit 2 Running Forward Bit 1 Bit 0 Faulted 1 2 Speed Actual (Low Byte) 3 Speed Actual (High Byte) 4 Torque Actual (Low Byte) 5 Torque Actual (High Byte) 6 DATA IN 1 Value (Low Byte) 7 DATA IN 1 Value (High Byte) 8 DATA IN 2 Value (Low Byte) 9 DATA IN 2 Value (High Byte) 10 DATA IN 3 Value (Low Byte) 11 DATA IN 3 Value (High Byte) 12 DATA IN 4 Value (Low Byte) 13 DATA IN 4 Value (High Byte) 14 DATA IN 5 Value (Low Byte) 15 DATA IN 5 Value (High Byte) 16 DATA IN 6 Value (Low Byte) 17 DATA IN 6 Value (High Byte) 18 DATA IN 7 Value (Low Byte) 19 DATA IN 7 Value (High Byte) 20 DATA IN 8 Value (Low Byte) 21 DATA IN 8 Value (High Byte) Communication 84 Instance 172 Byte Bit 7 Bit 6 Bit 5 Bit 4 22 Bit 0 DATA IN 10 Value (Low Byte) 25 Bit 1 DATA IN 9 Value (High Byte) 24 Bit 2 DATA IN 9 Value (Low Byte) 23 Bit 3 DATA IN 10 Value (High Byte) EXTENDED SPEED AND TORQUE CONTROL assembly The EXTENDED SPEED AND TORQUE CONTROL assembly is defined by the ODVA AC/DC Drive Profile. The format of the output assembly is: Instance 23 Byte Bit 7 0 Bit 6 Bit 5 Bit 4 Net Ref Bit 3 Bit 1 Fault Reset Net Ctl Bit 2 Bit 0 Run Run ForReverse ward Bit 2 Bit 1 1 2 Speed Reference (Low Byte) 3 Speed Reference (High Byte) 4 Torque Reference (Low Byte) 5 Torque Reference (High Byte) The format of the input assembly is: Instance 73 Byte Bit 7 Bit 6 Bit 5 Bit 4 0 At Reference 1 Drive State (See Table 9.) 2 Speed Actual (Low Byte) 3 Speed Actual (High Byte) 4 Torque Actual (Low Byte) 5 Torque Actual (High Byte) Communication Bit 3 Ref Ctrl Ready Running Running From From Reverse Forward Net Net Bit 0 Warning Faulted 85 EXTENDED SPEED AND TORQUE CONTROL PLUS DRIVE PARAMETERS assembly The EXTENDED SPEED AND TORQUE CONTROL PLUS DRIVE PARAMETERS assembly, defined by ABB, adds configurable drive parameters to the EXTENDED SPEED AND TORQUE CONTROL assembly of the ODVA AC/DC Drive Profile. The format of the output assembly is: Instance 123 Byte Bit 7 0 Bit 6 Bit 5 Bit 4 NetRef NetCtl Bit 3 Bit 2 Bit 1 Bit 0 Fault Run Run Reset Reverse Forward 1 2 Speed Reference (Low Byte) 3 Speed Reference (High Byte) 4 Torque Reference (Low Byte) 5 Torque Reference (High Byte) 6 DATA OUT 1 Value (Low Byte) 7 DATA OUT 1 Value (High Byte) 8 DATA OUT 2 Value (Low Byte) 9 DATA OUT 2 Value (High Byte) 10 DATA OUT 3 Value (Low Byte) 11 DATA OUT 3 Value (High Byte) 12 DATA OUT 4 Value (Low Byte) 13 DATA OUT 4 Value (High Byte) 14 DATA OUT 5 Value (Low Byte) 15 DATA OUT 5 Value (High Byte) 16 DATA OUT 6 Value (Low Byte) 17 DATA OUT 6 Value (High Byte) 18 DATA OUT 7 Value (Low Byte) 19 DATA OUT 7 Value (High Byte) 20 DATA OUT 8 Value (Low Byte) 21 DATA OUT 8 Value (High Byte) 22 DATA OUT 9 Value (Low Byte) Communication 86 Instance 123 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 23 Bit 0 DATA OUT 10 Value (Low Byte) 25 Bit 1 DATA OUT 9 Value (High Byte) 24 Bit 2 DATA OUT 10 Value (High Byte) The format of the input assembly is: Instance 173 Byte Bit 7 Bit 6 Bit 5 Bit 4 Ref From Net Ctrl From Net Ready Running Reverse 0 At Reference 1 Drive State (See Table 9.) 2 Speed Actual (Low Byte) 3 Speed Actual (High Byte) 4 Torque Actual (Low Byte) 5 Torque Actual (High Byte) 6 DATA IN 1 Value (Low Byte) 7 DATA IN 1 Value (High Byte) 8 DATA IN 2 Value (Low Byte) 9 DATA IN 2 Value (High Byte) 10 DATA IN 3 Value (Low Byte) 11 DATA IN 3 Value (High Byte) 12 DATA IN 4 Value (Low Byte) 13 DATA IN 4 Value (High Byte) 14 DATA IN 5 Value (Low Byte) 15 DATA IN 5 Value (High Byte) 16 DATA IN 6 Value (Low Byte) 17 DATA IN 6 Value (High Byte) 18 DATA IN 7 Value (Low Byte) 19 DATA IN 7 Value (High Byte) 20 DATA IN 8 Value (Low Byte) 21 DATA IN 8 Value (High Byte) Communication Bit 3 Bit 2 Bit 1 Bit 0 Running Forward Warn- Faulted ing 87 Instance 173 Byte Bit 7 Bit 6 Bit 5 Bit 4 22 Bit 0 DATA IN 10 Value (Low Byte) 25 Bit 1 DATA IN 9 Value (High Byte) 24 Bit 2 DATA IN 9 Value (Low Byte) 23 Bit 3 DATA IN 10 Value (High Byte) ABB DRIVES PROFILE SET SPEED assembly The ABB DRIVES PROFILE WITH SET SPEED assembly is defined by ABB. The format of the output assembly is: Instance 801 Byte Bit 7 0 Bit 6 Bit 5 Bit 4 Reset Ramp Ramp Ramp in Hold Out Zero Zero 1 Bit 3 Bit 2 Inhibit Off 3 Opera- Control tion Bit 1 Bit 0 Off 2 Off 1 Control Control Ext Ctrl Remote Loc Cmd 2 Set Speed (Low Byte) 3 Set Speed (High Byte) The format of the input assembly is: Instance 851 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 Alarm Swc On Inhib Off 3 Sta Off 2 Sta Tripped Rdy Ref Rdy Run 1 Fieldbus Error 2 Actual Speed (Low Byte) 3 Actual Speed (High Byte) Ext Ext Ctrl Above Run Loc Limit Enable Bit 1 Bit 0 Rdy On Remote At Setpoint Communication 88 ABB DRIVES PROFILE WITH SET SPEED PLUS DRIVE PARAMETERS assembly The ABB DRIVES PROFILE WITH SET SPEED PLUS DRIVE PARAMETERS assembly, defined by ABB, adds configurable drive parameters to the ABB DRIVES PROFILE WITH SET SPEED of the ABB Drives Profile. The format of the output assembly is: Instance 901 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 Reset Ramp Ramp Ramp Inhibit Off 3 in Hold Out Opera- Control Zero Zero tion 1 Ext Ctrl Remote Loc Cmd 2 Set Speed (Low Byte) 3 Set Speed (High Byte) 4 DATA OUT 1 Value (Low Byte) 5 DATA OUT 1 Value (High Byte) 6 DATA OUT 2 Value (Low Byte) 7 DATA OUT 2 Value (High Byte) 8 DATA OUT 3 Value (Low Byte) 9 DATA OUT 3 Value (High Byte) 10 DATA OUT 4 Value (Low Byte) 11 DATA OUT 4 Value (High Byte) 12 DATA OUT 5 Value (Low Byte) 13 DATA OUT 5 Value (High Byte) 14 DATA OUT 6 Value (Low Byte) 15 DATA OUT 6 Value (High Byte) 16 DATA OUT 7 Value (Low Byte) 17 DATA OUT 7 Value (High Byte) 18 DATA OUT 8 Value (Low Byte) 19 DATA OUT 8 Value (High Byte) 20 DATA OUT 9 Value (Low Byte) Communication Bit 1 Bit 0 Off 2 Control Off 1 Control 89 Instance 901 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 21 Bit 0 DATA OUT 10 Value (Low Byte) 23 Bit 1 DATA OUT 9 Value (High Byte) 22 Bit 2 DATA OUT 10 Value (High Byte) The format of the input assembly is: Instance 951 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 Alarm Swc On Inhib Off 3 Sta Off 2 Sta Tripped Rdy Ref 1 Fieldbus Error 2 Actual Speed (Low Byte) 3 Actual Speed (High Byte) 4 DATA IN 1 Value (Low Byte) 5 DATA IN 1 Value (High Byte) 6 DATA IN 2 Value (Low Byte) 7 DATA IN 2 Value (High Byte) 8 DATA IN 3 Value (Low Byte) 9 DATA IN 3 Value (High Byte) 10 DATA IN 4 Value (Low Byte) 11 DATA IN 4 Value (High Byte) 12 DATA IN 5 Value (Low Byte) 13 DATA IN 5 Value (High Byte) 14 DATA IN 6 Value (Low Byte) 15 DATA IN 6 Value (High Byte) 16 DATA IN 7 Value (Low Byte) 17 DATA IN 7 Value (High Byte) 18 DATA IN 8 Value (Low Byte) 19 Bit 1 Bit 0 Rdy Run Rdy On DATA IN 8 Value (High Byte) Ext Run Ext Ctrl Above Remote At Enable Loc Limit Setpoint Communication 90 Instance 951 Byte Bit 7 Bit 6 Bit 5 Bit 4 20 Bit 0 DATA IN 10 Value (Low Byte) 23 Bit 1 DATA IN 9 Value (High Byte) 22 Bit 2 DATA IN 9 Value (Low Byte) 21 Bit 3 DATA IN 10 Value (High Byte) ABB DRIVES PROFILE WITH SET SPEED AND SET TORQUE assembly The ABB DRIVES PROFILE WITH SET SPEED AND SET TORQUE assembly is defined by ABB. The format of the output assembly is: Instance 802 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 Reset Ramp Ramp Ramp Inhibit Off 3 in Hold Out Opera- Control Zero Zero tion 1 Bit 1 Bit 0 Off 2 Control Off 1 Control Bit 1 Bit 0 Ext Ctrl Remote Loc Cmd 2 Set Speed (Low Byte) 3 Set Speed (High Byte) 4 Set Torque (Low Byte) 5 Set Torque (High Byte) The format of the input assembly is: Instance 852 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 0 Alarm Swc On Inhib Off 3 Sta Off 2 Sta Tripped Rdy Ref Rdy Run 1 Fieldbus Error 2 Actual Speed (Low Byte) Communication Bit 2 Ext Ext Ctrl Above Run Loc Limit Enable Rdy On Remote At Setpoint 91 Instance 852 Byte Bit 7 Bit 6 Bit 5 Bit 4 3 Bit 1 Bit 0 Actual Torque (Low Byte) 5 Bit 2 Actual Speed (High Byte) 4 Bit 3 Actual Torque (High Byte) ABB DRIVES PROFILE WITH SET SPEED AND SET TORQUE PLUS DRIVE PARAMETERS assembly The ABB DRIVES PROFILE WITH SET SPEED AND SET TORQUE PLUS DRIVE PARAMETERS assembly, defined by ABB, adds configurable drive parameters to the ABB DRIVES PROFILE WITH SET SPEED AND SET TORQUE of the ABB Drives Profile. The format of the output assembly is: Instance 902 Byte Bit 7 0 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reset Ramp Ramp Ramp Inhibit Off 3 Off 2 Off 1 in Hold Out Opera- Control Control Control Zero Zero tion 1 Ext Ctrl Remote Loc Cmd 2 Set Speed (Low Byte) 3 Set Speed (High Byte) 4 Set Torque (Low Byte) 5 Set Torque (High Byte) 6 DATA OUT 1 Value (Low Byte) 7 DATA OUT 1 Value (High Byte) 8 DATA OUT 2 Value (Low Byte) 9 DATA OUT 2 Value (High Byte) 10 DATA OUT 3 Value (Low Byte) 11 DATA OUT 3 Value (High Byte) 12 DATA OUT 4 Value (Low Byte) Communication 92 Instance 902 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 13 DATA OUT 5 Value (High Byte) 16 DATA OUT 6 Value (Low Byte) 17 DATA OUT 6 Value (High Byte) 18 DATA OUT 7 Value (Low Byte) 19 DATA OUT 7 Value (High Byte) 20 DATA OUT 8 Value (Low Byte) 21 DATA OUT 8 Value (High Byte) 22 DATA OUT 9 Value (Low Byte) 23 DATA OUT 9 Value (High Byte) 24 DATA OUT 10 Value (Low Byte) 25 Bit 0 DATA OUT 5 Value (Low Byte) 15 Bit 1 DATA OUT 4 Value (High Byte) 14 Bit 2 DATA OUT 10 Value (High Byte) The format of the input assembly is: Instance 952 Byte Bit 7 Bit 6 Bit 5 Bit 4 0 1 Fieldbus Error 2 Actual Speed (Low Byte) 3 Actual Speed (High Byte) 4 Actual Torque (Low Byte) 5 Actual Torque (High Byte) 6 DATA IN 1 Value (Low Byte) 7 DATA IN 1 Value (High Byte) 8 DATA IN 2 Value (Low Byte) 9 Communication Alarm Swc Off 3 Off 2 On Sta Sta Inhib DATA IN 2 Value (High Byte) Bit 3 Bit 2 Tripped Rdy Ref Bit 1 Bit 0 Rdy Run Rdy On Ext Ext Ctrl Above Remote At Run Loc Limit SetEnable point 93 Instance 952 Byte Bit 7 Bit 6 Bit 5 Bit 4 10 DATA IN 4 Value (High Byte) 14 DATA IN 5 Value (Low Byte) 15 DATA IN 5 Value (High Byte) 16 DATA IN 6 Value (Low Byte) 17 DATA IN 6 Value (High Byte) 18 DATA IN 7 Value (Low Byte) 19 DATA IN 7 Value (High Byte) 20 DATA IN 8 Value (Low Byte) 21 DATA IN 8 Value (High Byte) 22 DATA IN 9 Value (Low Byte) 23 DATA IN 9 Value (High Byte) 24 DATA IN 10 Value (Low Byte) 25 Bit 0 DATA IN 4 Value (Low Byte) 13 Bit 1 DATA IN 3 Value (High Byte) 12 Bit 2 DATA IN 3 Value (Low Byte) 11 Bit 3 DATA IN 10 Value (High Byte) Communication 94 TRANSPARENT16 TRANSPARENT16 WITH ONE assembly The TRANSPARENT16 TRANSPARENT16 WITH ONE assembly, defined by ABB, provides unaltered 16-bit access to the configured drive profile. The format of the output assembly is: Instance 811 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 16-bit Control word (Low Byte) 1 Drive Profile 16-bit Control word (High Byte) 2 Drive Profile 16-bit Reference 1 word (Low Byte) 3 Drive Profile 16-bit Reference 1 word (High Byte) The format of the input assembly is: Instance 861 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 Drive Profile 16-bit Status word (High Byte) 2 Drive Profile 16-bit Actual 1 word (Low Byte) 3 Communication Drive Profile 16-bit Status word (Low Byte) Drive Profile 16-bit Actual 1 word (High Byte) 95 TRANSPARENT16 TRANSPARENT16 WITH ONE assembly PLUS DRIVE PARAMETERS The TRANSPARENT16 TRANSPARENT16 WITH ONE assembly PLUS DRIVE PARAMETERS, defined by ABB, adds configurable drive parameters to the TRANSPARENT16 TRANSPARENT16 WITH ONE assembly. The format of the output assembly is: Instance 911 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 16-bit Control word (Low Byte) 1 Drive Profile 16-bit Control word (High Byte) 2 Drive Profile 16-bit Reference 1 word (Low Byte) 3 Drive Profile 16-bit Reference 1 word (High Byte) 4 DATA OUT 1 Value (Low Byte) 5 DATA OUT 1 Value (High Byte) 6 DATA OUT 2 Value (Low Byte) 7 DATA OUT 2 Value (High Byte) 8 DATA OUT 3 Value (Low Byte) 9 DATA OUT 3 Value (High Byte) 10 DATA OUT 4 Value (Low Byte) 11 DATA OUT 4 Value (High Byte) 12 DATA OUT 5 Value (Low Byte) 13 DATA OUT 5 Value (High Byte) 14 DATA OUT 6 Value (Low Byte) 15 DATA OUT 6 Value (High Byte) 16 DATA OUT 7 Value (Low Byte) 17 DATA OUT 7 Value (High Byte) 18 DATA OUT 8 Value (Low Byte) 19 DATA OUT 8 Value (High Byte) 20 DATA OUT 9 Value (Low Byte) 21 DATA OUT 9 Value (High Byte) 22 DATA OUT 10 Value (Low Byte) 23 DATA OUT 10 Value (High Byte) Communication 96 The format of the input assembly is: Instance 961 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 Drive Profile 16-bit Status word (High Byte) 2 Drive Profile 16-bit Actual 1 word (Low Byte) 3 Drive Profile 16-bit Actual 1 word (High Byte) 4 DATA IN 1 Value (Low Byte) 5 DATA IN 1 Value (High Byte) 6 DATA IN 2 Value (Low Byte) 7 DATA IN 2 Value (High Byte) 8 DATA IN 3 Value (Low Byte) 9 DATA IN 3 Value (High Byte) 10 DATA IN 4 Value (Low Byte) 11 DATA IN 4 Value (High Byte) 12 DATA IN 5 Value (Low Byte) 13 DATA IN 5 Value (High Byte) 14 DATA IN 6 Value (Low Byte) 15 DATA IN 6 Value (High Byte) 16 DATA IN 7 Value (Low Byte) 17 DATA IN 7 Value (High Byte) 18 DATA IN 8 Value (Low Byte) 19 DATA IN 8 Value (High Byte) 20 DATA IN 9 Value (Low Byte) 21 DATA IN 9 Value (High Byte) 22 DATA IN 10 Value (Low Byte) 23 Communication Drive Profile 16-bit Status word (Low Byte) DATA IN 10 Value (High Byte) 97 TRANSPARENT16 TRANSPARENT16 WITH TWO assembly The TRANSPARENT16 TRANSPARENT16 WITH TWO assembly, defined by ABB, provides unaltered 16-bit access to the configured drive profile. The format of the output assembly is: Instance 812 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 16-bit Control word (Low Byte) 1 Drive Profile 16-bit Control word (High Byte) 2 Drive Profile 16-bit Reference 1 word (Low Byte) 3 Drive Profile 16-bit Reference 1 word (High Byte) 4 Drive Profile16-bit Reference 2 word (Low Byte) 5 Drive Profile 16-bit Reference 2 word (High Byte) The format of the input assembly is: Instance 862 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 16-bit Status word (Low Byte) 1 Drive Profile 16-bit Status word (High Byte) 2 Drive Profile 16-bit Actual 1 word (Low Byte) 3 Drive Profile 16-bit Actual 1 word (High Byte) 4 Drive Profile16-bit Actual 2 word (Low Byte) 5 Drive Profile 16-bit Actual 2 word (High Byte) TRANSPARENT16 TRANSPARENT16 WITH TWO assembly PLUS DRIVE PARAMETERS The TRANSPARENT16 TRANSPARENT16 WITH TWO assembly PLUS DRIVE PARAMETERS, defined by ABB, adds configurable drive parameters to the TRANSPARENT16 TRANSPARENT16 WITH TWO assembly. Communication 98 The format of the output assembly is: Instance 912 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 Drive Profile 16-bit Control word (High Byte) 2 Drive Profile 16-bit Reference 1 word (Low Byte) 3 Drive Profile 16-bit Reference 1 word (High Byte) 4 Drive Profile 16-bit Reference 2 word (Low Byte) 5 Drive Profile 16-bit Reference 2 word (High Byte) 6 DATA OUT 1 Value (Low Byte) 7 DATA OUT 1 Value (High Byte) 8 DATA OUT 2 Value (Low Byte) 9 DATA OUT 2 Value (High Byte) 10 DATA OUT 3 Value (Low Byte) 11 DATA OUT 3 Value (High Byte) 12 DATA OUT 4 Value (Low Byte) 13 DATA OUT 4 Value (High Byte) 14 DATA OUT 5 Value (Low Byte) 15 DATA OUT 5 Value (High Byte) 16 DATA OUT 6 Value (Low Byte) 17 DATA OUT 6 Value (High Byte) 18 DATA OUT 7 Value (Low Byte) 19 DATA OUT 7 Value (High Byte) 20 DATA OUT 8 Value (Low Byte) 21 DATA OUT 8 Value (High Byte) 22 DATA OUT 9 Value (Low Byte) 23 DATA OUT 9 Value (High Byte) 24 DATA OUT 10 Value (Low Byte) 25 Communication Drive Profile 16-bit Control word (Low Byte) DATA OUT 10 Value (High Byte) 99 The format of the input assembly is: Instance 962 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 16-bit Status word (Low Byte) 1 Drive Profile 16-bit Status word (High Byte) 2 Drive Profile 16-bit Actual 1 word (Low Byte) 3 Drive Profile 16-bit Actual 1 word (High Byte) 4 Drive Profile 16-bit Actual 2 word (Low Byte) 5 Drive Profile 16-bit Actual 2 word (High Byte) 6 DATA IN 1 Value (Low Byte) 7 DATA IN 1 Value (High Byte) 8 DATA IN 2 Value (Low Byte) 9 DATA IN 2 Value (High Byte) 10 DATA IN 3 Value (Low Byte) 11 DATA IN 3 Value (High Byte) 12 DATA IN 4 Value (Low Byte) 13 DATA IN 4 Value (High Byte) 14 DATA IN 5 Value (Low Byte) 15 DATA IN 5 Value (High Byte) 16 DATA IN 6 Value (Low Byte) 17 DATA IN 6 Value (High Byte) 18 DATA IN 7 Value (Low Byte) 19 DATA IN 7 Value (High Byte) 20 DATA IN 8 Value (Low Byte) 21 DATA IN 8 Value (High Byte) 22 DATA IN 9 Value (Low Byte) 23 DATA IN 9 Value (High Byte) 24 DATA IN 10 Value (Low Byte) 25 DATA IN 10 Value (High Byte) Communication 100 TRANSPARENT32 TRANSPARENT32 WITH ONE assembly The TRANSPARENT32 TRANSPARENT32 WITH ONE assembly, defined by ABB, provides unaltered 32-bit access to the configured drive profile. The format of the output assembly is: Instance 821 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 32-bit Control word (Low Byte) 1 Drive Profile 32-bit Control word 2 Drive Profile 32-bit Control word 3 Drive Profile 32-bit Control word (High Byte) 4 Drive Profile 32-bit Reference 1 word (Low Byte) 5 Drive Profile 32-bit Reference 1 word 6 Drive Profile 32-bit Reference 1 word 7 Drive Profile 32-bit Reference 1 word (High Byte) The format of the input assembly is: Instance 871 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 32-bit Status word (Low Byte) 1 Drive Profile 32-bit Status word 2 Drive Profile 32-bit Status word 3 Drive Profile 32-bit Status word (High Byte) 4 Drive Profile 32-bit Actual 1 word (Low Byte) 5 Drive Profile 32-bit Actual 1 word 6 Drive Profile 32-bit Actual 1 word 7 Drive Profile 32-bit Actual 1 word (High Byte) TRANSPARENT32 TRANSPARENT32 WITH ONE assembly PLUS DRIVE PARAMETERS The TRANSPARENT32 TRANSPARENT32 WITH ONE assembly PLUS DRIVE PARAMETERS, defined by ABB, adds configurable drive parameters to the TRANSPARENT32 TRANSPARENT32 WITH ONE assembly. Communication 101 The format of the output assembly is: Instance 921 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 32-bit Control word (Low Byte) 1 Drive Profile 32-bit Control word 2 Drive Profile 32-bit Control word 3 Drive Profile 32-bit Control word (High Byte) 4 Drive Profile 32-bit Reference 1 word (Low Byte) 5 Drive Profile 32-bit Reference 1 word 6 Drive Profile 32-bit Reference 1 word 7 Drive Profile 32-bit Reference 1 word (High Byte) 8 DATA OUT 1 Value (Low Byte) 9 DATA OUT 1 Value (High Byte) 10 DATA OUT 2 Value (Low Byte) 11 DATA OUT 2 Value (