User manual | ABB FPBA-01 Hardware manual

ACSM1

Application Guide

Fieldbus Control with FPBA-01 PROFIBUS DP Adapter

Module and ABB AC500 PLC

ACSM1 Drive Manuals

DRIVE HARDWARE MANUAL*

ACSM1-04 Drive Modules (0.75 to 45 kW) Hardware Manual – 3AFE68797543 (English)

ACSM1-04 Drive Modules (55 to 110 kW) Hardware Manual – 3AFE68912130 (English)

ACSM1-04Lx Liquid-cooled Drive Modules (55 to 160 kW) Hardware Manual – 3AUA0000022083 (English)

DRIVE FIRMWARE MANUALS

ACSM1 Speed and Torque Control Program Firmware Manual – 3AFE68848261 (English)

For drives of type ACSM1-04xS…

ACSM1 Motion Control Program Firmware Manual – 3AFE68848270 (English)

For drives of type ACSM1-04xM…

DRIVE PC TOOLS MANUALS

DriveStudio User Manual – 3AFE68749026 (English)

DriveSPC User Manual – 3AFE68836590 (English)

APPLICATION GUIDES

Safe Torque Off Function for ACSM1, ACS850 and ACQ810 Drives Application Guide – 3AFE68929814 (English)

System Engineering Manual – 3AFE68978297 (English)

ACSM1 Fieldbus Control with FPBA-01 PROFIBUS DP Adapter Module and ABB AC500 PLC; Application Guide

– 3AUA0000049359 (English)

OPTION MANUALS

FIO-01 Digital I/O Extension User’s Manual* – 3AFE68784921 (English)

FIO-11 Analog I/O Extension User’s Manual* – 3AFE68784930 (English)

FEN-01 TTL Encoder Interface User’s Manual* – 3AFE68784603 (English)

FEN-11 Absolute Encoder Interface User’s Manual* – 3AFE68784841 (English)

FEN-21 Resolver Interface User’s Manual* – 3AFE68784859 (English)

FEN-31 HTL Encoder Interface User’s Manual* – 3AUA0000031044 (English)

ACSM1 Control Panel User’s Guide – 3AUA0000020131 (English)

*A multilingual quick installation guide is included with the delivery.

AC500 manuals can be found in the CoDeSys online help. Press F1 in the CoDeSys software.

Fieldbus Control with FPBA-01 PROFIBUS DP

Adapter Module and ABB AC500 PLC

Application Guide

© 2010 ABB Oy. All Rights Reserved.

3AUA0000049359 Rev C

EN

EFFECTIVE: 2010-05-03

Table of contents

Table of contents

Introduction to the manual

Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Purpose of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Contents of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Fieldbus control description

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Setting up communication through a fieldbus adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Drive control parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

The fieldbus control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

The Control Word and the Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

FBA communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Fieldbus references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

State diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Starting up the FPBA-01 adapter for different communication profiles

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Mechanical and electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Cyclic data handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Parameter setting examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

PROFIdrive communication profile (Speed Control Mode) with PPO Type 1 . . . . . . . . . . . . 23

ABB DRIVES communication profile (Speed/Torque Control Mode) with PPO Type 4 . . . . . 24

PROFIdrive communication profile (Positioning Mode) with PPO Type 4 . . . . . . . . . . . . . . . 26

Starting up fieldbus communication and programming the ABB PLC (one-drive system)

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Equipment and programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Start-up flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Installing the DriveStudio PC tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Installing the AC500 Control Builder PS501 software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Table of contents

5

6

Installing the PS551-MC Motion Control Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

Installing additional GSD files and libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38

Setting the drive control program parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40

Setting up the communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45

Create a new project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45

Configure communication with the SYCON fieldbus configurator . . . . . . . . . . . . . . . . . . . . . .50

Programming the PLC main program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63

Load additional libraries for programming assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63

Add function block ACSM1_ACCESS_dc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66

Add function block MC_ReadStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72

Add function block MC_ReadActualPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72

Add function block MC_ReadAxisError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72

Add function block MC_Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73

Add function block MC_Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73

The complete main program is shown here . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74

Programming actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77

How to create actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77

Program velocity (MC_MoveVelocity) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80

Program stopping (MC_Stop) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81

Program positiong (MC_MoveAbsolute) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82

Program relative movement (MC_MoveRelative) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83

Program homing (MCA_Home) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

Program toggling between two positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

Call the actions into the main program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87

Programming visualizations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89

Create an empty visualization field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90

Create buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91

How to create and configure a button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91

Create indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95

Create visuaization elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96

Running and testing the program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99

Load the program to the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99

Test the program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102

Starting up fieldbus communication and programming the ABB PLC (multi-axis systems)

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .105

Equipment and programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .105

Setting up the communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .105

Configure communication with the SYCON fieldbus configurator . . . . . . . . . . . . . . . . . . . . .106

Programming the PLC main program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116

Programming actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

Programming visualizations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123

Running and testing the program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .124

Example program for a two-axis loading machine

Description of the machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125

Diagram of the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125

Table of contents

7

Description of the program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Loading sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

Appendix A - How to find out the serial communication parameter values of your PC?

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

How to find out the serial communication parameter values of your PC? . . . . . . . . . . . . . . . . . . . 129

Further information

Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Table of contents

8

Table of contents

Introduction to the manual

What this chapter contains

This chapter describes the target audience, purpose and contents of this manual.

Applicability

The manual is compatible with ACSM1-04 and ACSM1-04LC drive modules of frame sizes from A to E.

Safety instructions

Follow the safety instruction given in ACSM1-04 Drive Modules (0.75 to 45 kW)

Hardware Manual (3AFE68797543 [English]). The main instructions are repeated below.

WARNING! Ignoring the following instructions can cause physical injury or death, or damage to the equipment.

• Only qualified electricians are allowed to install and maintain the drive.

• Never work on the drive, motor cable or motor when main power is applied.

After disconnecting the input power, always wait for 5 min to let the intermediate circuit capacitors discharge before you start working on the drive, motor or motor cable.

Always ensure by measuring with a multimeter (impedance at least 1 Mohm) that:

1. voltage between drive input phases U1, V1 and W1 and the frame is close to

0 V.

2. voltage between terminals UDC+ and UDC- and the frame is close to 0 V.

3. voltage between terminals R+ and R- and the frame is close to 0 V.

• Do not work on the drive when the permanent magnet motor is rotating. Also, when the supply power is switched off and the inverter is stopped, a rotating permanent magnet motor feeds power to the intermediate circuit of the drive and the supply connections become live. See the hardware manual for precautions before installation and maintenance work on the drive.

• Do not work on the control cables when power is applied to the drive or to the external control circuits. Externally supplied control circuits may cause dangerous voltages inside the drive even when the main power on the drive is switched off.

9

Introduction to the manual

10

Target audience

This manual is intended for people who plan the drive application control, commission, use, and service the drive with fieldbus communication. Read the

ACSM1 firmware and hardware manuals before working on the drive.

You are expected to know the fundamentals of electricity, wiring and electrical components as well as drive control methods, fieldbus communication concepts and function block programming.

Purpose of the manual

The purpose of this manual is to show how to configure fieldbus communication with the drive control program parameters and, as an example, to show how the drive can be controlled through fieldbus by using the ABB AC500 programmable logic controller with PS551 Control Builder.

Contents of the manual

The chapters of this manual are briefly described below.

Introduction to the manual introduces this manual.

Fieldbus control description describes how the drive can be controlled by external

devices over a communication network.

Starting up the FPBA-01 adapter for different communication profiles presents the

steps to take during the start-up of the FPBA-01 PROFIBUS DP Adapter Module with the drive.

Starting up fieldbus communication and programming the ABB PLC (one-drive system)

presents the steps to take during the start-up of the drive fieldbus control with

ABB AC500 PLC and PROFIBUS DP adapter module. A system with one drive is set up.

Starting up fieldbus communication and programming the ABB PLC (multi-axis systems)

presents the additional steps compared to the ones in the previous chapter that you must take during the start-up of the drive fieldbus control with ABB AC500

PLC and PROFIBUS DP adapter module in a multi-axis system. A system with two drives is set up.

Example program for a two-axis loading machine presents an example sequence

program which controls a loading machine with two axes.

Appendix A - How to find out the serial communication parameter values of your PC?

instructs how to find out the serial communication parameter values of your PC.

Related manuals

• ACSM1-04 Drive Modules Hardware Manual (3AFE68797543 [English])

• ACSM1-04LC Drive Modules Hardware Manual (3AUA0000022083 [English])

• ACSM1 Motion Control Program Firmware Manual (3AFE68848270 [English])


• ACSM1 Speed and Torque Control Program Firmware Manual (3AFE68848261

[English])

• PROFIBUS DP Adapter Module FPBA-01 User’s Manual (3AFE68573271

[English])

• User Manual for PS551-MC (Motion Control library for ABB PLC AC500) according to Technical Specification PLCopen – Technical Committee 2 – Task

Force; Function Blocks for motion control

• User Manual for PLC Programming with CoDeSys 2.3 by 3S – Smart Software

Solutions GmbH

• ABB AC500 scalable programmable logic controller manuals

Terms and abbreviations

Term/Abbreviation

CM572

CM575

CM578

CPU

FCAN-0x

FDNA-0x

FPBA-0x

Frame (size)

GSD

PLCopen

PLCopen Motion

Control Function

Blocks

PROFIBUS DP

Explanation

Profibus DP Master communication module for AC500

DeviceNet Master communication module for AC500

CANopen Master communication module for AC500

Central Processing Unit

Optional CANopen adapter

Optional DeviceNet adapter

Optional PROFIBUS DP adapter

Size of the drive module.

Generic Station Description. A GSD file contains a description of the

PROFIBUS DP/PA device and is provided by the device manufacturer.

GSD files provide a way for an open configuration tool to automatically get the device characteristics.

Vendor- and product-independent worldwide association for resolving topics related to control programming to support the use of international standards in this field. For more information, see http://www.plcopen.org/

Technical Committee 2 – Task Force Motion Control – of PLCopen defines libraries of Function Blocks, like the Motion Control Specification.

PROFIBUS PA

PROFIBUS version for Decentralized Periphery. PROFIBUS is an open serial communication standard that enables data exchange between all kinds of automation components.

PROFIBUS version for Process Automation.

Standards

IEC 61131-3:2003, Programmable controllers – Part 3: Programming languages.

11


12


Fieldbus control description


The chapter describes how the drive can be controlled by external devices over a communication network.

System overview

The drive can be connected to a fieldbus controller via a fieldbus adapter module.

The adapter module is connected to drive Slot 3.

ACSM1

Fieldbus controller

Fieldbus

Other devices

13

Slot 3

Fieldbus adapter

Fxxx

Data Flow

Control Word (CW)

References

Status Word (SW)

Actual values

Parameter R/W requests/responses

Process I/O (cyclic)

Process I/O (cyclic) or

Service messages (acyclic)

The drive can be set to receive all of its control information through the fieldbus interface, or the control can be distributed between the fieldbus interface and other available sources, for example digital and analogue inputs.

The drive can communicate with a fieldbus controller through a fieldbus adapter using one of the following serial communication protocols:

– PROFIBUS DP (FPBA-01 adapter)

– CANopen (FCAN-01 adapter)

– DeviceNet TM (FDNA-01 adapter).

– Modbus/RTU (FSCA-01 adapter) or Modbus/TCP (FENA-01 adapter)

– Ethernet/IP TM (FENA-01 adapter)

– EtherCAT (FECA-01 adapter)

Fieldbus control description

14

Setting up communication through a fieldbus adapter module

Parameter

Before configuring the drive for fieldbus control, the adapter module must be mechanically and electrically installed according to the instructions given in the

User’s Manual of the appropriate fieldbus adapter module.

The communication between the drive and the fieldbus adapter module is activated by setting parameter 50.01 FBA ENABLE to (1) ENABLE. The adapter-specific parameters must also be set. See the table below.

Setting for fieldbus control

Function/Information

COMMUNICATION INITIALISATION AND SUPERVISION

50.01 FBA ENABLE

50.02 COMM LOSS

FUNC

50.03 COMM LOSS T

OUT

50.04 FBA REF1

MODESEL and 50.05

FBA REF2 MODESEL

(1) ENABLE

(0) NO

(1) FAULT

(2) SPD REF SAFE

(3) LAST SPEED

0.3…6553.5 s

(0) RAW DATA

(1) TORQUE

(2) SPEED

(3) POSITION *

(4) VELOCITY *

(5) AUTO

Initialises communication between drive and fieldbus adapter module.

Selects how the drive reacts in a fieldbus communication break.

Defines the time between communication break detection and the action selected with parameter 50.02 COMM LOSS FUNC.

Defines the fieldbus reference scaling.

When (0) RAW DATA is selected, see also parameters 50.06…50.11.

* in Motion Control Program only

ADAPTER MODULE CONFIGURATION

51.01 FBA TYPE

51.02 FBA PAR2

• • •

51.26 FBA PAR26

– Displays the type of the fieldbus adapter module.

These parameters are adapter module-specific. For more information, see the User’s Manual of the fieldbus adapter module. Note that not all of these parameters are necessarily used.

51.27 FBA PAR

REFRESH

51.28 PAR TABLE

VER

51.29 DRIVE TYPE

CODE

51.30 MAPPING FILE

VER

(0) DONE

(1) REFRESH

–

–

–

Validates any changed adapter module configuration parameter settings.

Displays the parameter table revision of the fieldbus adapter module mapping file stored in the memory of the drive.

Displays the drive type code of the fieldbus adapter module mapping file stored in the memory of the drive.

Displays the fieldbus adapter module mapping file revision stored in the memory of the drive.

Displays the status of the fieldbus adapter module communication.

51.31 D2FBA COMM

STA

51.32 FBA COMM SW

VER

–

– Displays the common program revision of the adapter module.

51.33 FBA APPL SW

VER

– Displays the application program revision of the adapter module.

Note: In the User’s Manual of the fieldbus adapter module, the parameter group number is 1 or A for parameters

51.01…51.26.


15

Parameter



TRANSMITTED DATA SELECTION

52.01 FBA DATA IN1

… 52.12 FBA DATA

IN12

53.01 FBA DATA

OUT1 … 53.12 FBA

DATA OUT12

0

4…6

14…16

101…9999

0

1…3

11…13

1001…9999

Defines the data transmitted from drive to fieldbus controller.

Note: If the selected data is 32 bits long, two parameters are reserved for the transmission.

Defines the data transmitted from fieldbus controller to drive.

Note: If the selected data is 32 bits long, two parameters are reserved for the transmission.

Note: In the User’s Manual of the fieldbus adapter module, the parameter group number is 3 or C for parameters

52.01…52.12 and 2 or B for parameters 53.01…53.12.

After the module configuration parameters have been set, the drive control

parameters (see section Drive control parameters ) must be checked and adjusted

when necessary.

The new settings will take effect when the drive is powered up the next time (before powering off the drive, wait at least 1 minute), or when parameter 51.27 FBA PAR

REFRESH is activated.

Drive control parameters

Parameter

The Setting for fieldbus control column gives the value to use when the fieldbus interface is the desired source or destination for that particular signal. The Function/

Information column gives a description of the parameter.



CONTROL COMMAND SOURCE SELECTION

10.01 EXT1 START

FUNC

10.04 EXT2 START

FUNC

(3) FBA

(3) FBA

24.01 SPEED REF1 SEL (3) FBA REF1

(4) FBA REF2

24.02 SPEED REF2 SEL (3) FBA REF1

(4) FBA REF2

32.01 TORQ REF1 SEL (3) FBA REF1

(4) FBA REF2

32.02 TORQ REF ADD

SEL

(3) FBA REF1

(4) FBA REF2

Selects fieldbus as the source for the start and stop commands when

EXT1 is selected as the active control location.

Selects fieldbus as the source for the start and stop commands when

EXT2 is selected as the active control location.

Fieldbus reference REF1 or REF2 is used as speed reference 1.

Fieldbus reference REF1 or REF2 is used as speed reference 2.

Fieldbus reference REF1 or REF2 is used as torque reference 1.

Fieldbus reference REF1 or REF2 is used for torque reference addition.

SYSTEM CONTROL INPUTS

16.07 PARAM SAVE (0) DONE

(1) SAVE

Saves parameter value changes (including those made through fieldbus control) to permanent memory.


16

The fieldbus control interface

The cyclic communication between a fieldbus system and the drive consists of 16/

32-bit input and output data words. The drive supports at the maximum the use of 12 data words (16-bit) in each direction.

Data transmitted from the drive to the fieldbus controller is defined by parameters

52.01…52.12 (FBA DATA IN) and data transmitted from the fieldbus controller to the drive is defined by parameters 53.01…53.12 (FBA DATA OUT).

Fieldbus network

1)

Fieldbus specific interface

Fieldbus module

DATA

OUT

2)

4)

1

2

3

…

12

Profile select

3)

Profile select

DATA

IN

2)

5)

1

2

3

…

12

3)

4)

DATA OUT select

53.01/…/53.12

5)

DATA IN select

FBA profile

FBA MAIN CW

FBA REF1

FBA REF2

Par. 10.01…99.13

FBA MAIN SW

FBA ACT1

FBA ACT2

Par. 01.01…99.13

EXT1/EXT2

Start Func

10.01

/10.04

Speed/Torque

REF1 Sel

24.01/32.01

/32.02

Speed/Torque

REF2 Sel

52.01/…/52.12

Cyclic communication

Acyclic communication

See the manual of the fieldbus adapter module.

24.02/32.01

/32.02

Parameter table

1) See also other parameters which can be controlled by the fieldbus.

2) The maximum number of used data words is protocol-dependent.

3) Profile/instance selection parameters. Fieldbus module specific parameters. For more information, see the

User’s Manual of the appropriate fieldbus adapter module.

4) With DeviceNet the control part is transmitted directly.

5) With DeviceNet the actual value part is transmitted directly.


17

The Control Word and the Status Word

The Control Word (CW) is the principal means of controlling the drive from a fieldbus system. The Control Word is sent by the fieldbus controller to the drive. The drive switches between its states according to the bit-coded instructions of the Control

Word.

The Status Word (SW) is a word containing status information, sent by the drive to the fieldbus controller.

Actual values

Actual values (ACT) are 16/32-bit words containing information on selected operations of the drive.

FBA communication profile

The FBA communication profile is a state machine model which describes the general states and state transitions of the drive. The

State diagram

on page

19

presents the most important states (including the FBA profile state names). The FBA

Control Word (2.12 FBA MAIN CW) commands the transitions between these states and the FBA Status Word (2.13 FBA MAIN SW) indicates the status of the drive.

Fieldbus adapter module profile (selected by adapter module parameter) defines how the control word and status word are transmitted in a system which consists of fieldbus controller, fieldbus adapter module and drive. With transparent modes, control word and status word are transmitted without any conversion between the fieldbus controller and the drive. With other profiles (e.g. PROFIdrive for FPBA-01,

AC/DC drive for FDNA-01, DS-402 for FCAN-01 and ABB Drives profile for all fieldbus adapter modules) fieldbus adapter module converts the fieldbus-specific control word to the FBA communication profile and status word from FBA communication profile to the fieldbus-specific status word.

For descriptions of other profiles, see the User’s Manual of the appropriate fieldbus adapter module.

Fieldbus references

References (FBA REF) are 16/32-bit signed integers. A negative reference

(indicating reversed direction of rotation) is formed by calculating the two’s complement from the corresponding positive reference value. The contents of each reference word can be used as torque or speed reference.


18

When torque or speed reference scaling is selected (by parameter 50.04 FBA REF1

MODESEL / 50.05 FBA REF2 MODESEL), the fieldbus references are 32-bit integers. The value consists of a 16-bit integer value and a 16-bit fractional value.

The speed/torque reference scaling is as follows:

Reference

Speed reference

Scaling

Torque reference FBA REF / 65536

(value in%)

FBA REF / 65536

(value in rpm)

Notes

Final reference is limited by parameters 20.06 MAXIMUM

TORQUE and 20.07 MINIMUM TORQUE.

Final reference is limited by parameters 20.01 MAXIMUM

SPEED, 20.02 MINIMUM SPEED and 24.12 SPEED

REFMIN ABS.

Position reference

Velocity reference

See parameter group 60 POS FEEDBACK.


State diagram

The following presents the state diagram for the FBA communication profile. For other profiles, see the User’s Manual of the appropriate fieldbus adapter module.

from any state

Fault

FAULT (FBA SW Bit 16 = 1) from any state

(FBA CW Bits 7 = 1)

RUN

DISABLE

(FBA SW Bit 1 = 0)

(FBA CW Bit 8 = 1) (FBA CW Bit 7 = 0)

Par. 10.12 = 1

FBA

Communication

Profile

FBA CW = Fieldbus Control Word

FBA SW = Fieldbus Status Word n = Speed

I = Input Current

RFG = Ramp Function Generator f = Frequency

E

(FBA CW Bit 16 = 1)

MAINS OFF

Power ON

Par. 10.12 = 0

START

INHIBITED

(FBA SW Bit 6 = 1)

(FBA CW Bit 0 = 1) from any state

OFF1 (FBA CW Bit 4 = 1 and FBA CW Bit 0 = 1)

OFF1

ACTIVE n(f)=0 / I=0

B C D

E

(FBA CW Bit 12 = 0)

READY TO

START

(FBA SW Bit 0 = 1)

(FBA CW = xxxx xxxx xxxx xxx0 xxxx 1xxx 1xxx xx10) from any state

Emergency OFF


OFF2

ACTIVE

(FBA SW Bit 4 = 1)

RUNNING

(FBA SW Bit 3 = 1)

C D

A

(FBA CW Bit 13 = 0) (FBA CW = xxxx xxxx xxxx xxx0 xxx0 1xxx 1xxx xx10)

D

B

(FBA CW Bit 14 = 0)

RFG: OUTPUT

ENABLED

(FBA CW = xxxx xxxx xxxx xxx0 xx00 1xxx 1xxx xx10) from any state

Emergency Stop


RFG: ACCELERATOR

ENABLED

OFF3

ACTIVE

(FBA SW Bit 5 = 1)

C

(FBA CW = xxxx xxxx xxxx xxx0 x000 1xxx 1xxx xx10) n(f)=0 / I=0

OPERATING (FBA SW Bit 8 = 1)

D

19


20


21

Starting up the FPBA-01 adapter for different communication profiles

Overview

This chapter presents the steps to take during the start-up of the FPBA-01

PROFIBUS DP Adapter Module with the drive. For more detailed information, see

PROFIBUS DP Adapter Module FPBA-01 User’s Manual (3AFE68573271

[English]).

WARNING! Follow the safety instructions given in this manual and in the hardware manual of the drive.

Mechanical and electrical installation

• Insert the FPBA-01 into its specified slot in the drive.

• Fasten the screw.

• Plug the fieldbus connector to the module.

Drive configuration

• Power up the drive.

• A parameter must be adjusted to activate the communication: set parameter

50.01 FBA ENABLE to ENABLE.

• Parameter group 51 shows the status of the FPBA configuration parameters.

• At minimum, set the required node address at parameter 50.02 NODE ADDRESS and the communication profile at 5105 PROFILE. Finally, validate the settings with 51.27 FBA PAR REFRESH.

Cyclic data handling

With the FPBA-01, both data-consistent and non-consistent communication can be used, data-consistent meaning that the whole cyclic data frame is transmitted during a single program cycle. Some PLCs handle this internally, but others must be programmed to transmit data-consistent telegrams (for more information, see

PROFIBUS DP Adapter Module FPBA-01 User’s Manual (3AFE68573271 [English]) chapter Commmunication).

Starting up the FPBA-01 adapter for different communication profiles

22

Parameter setting examples

This section gives the recommended drive parameter settings for different communication profiles. For more information on the communicaton profiles used in the communication between the PROFIBUS network, the FPBA-01 module and the drive, such as the contents of the Control Word and Status Word and the state machines of the profiles, refer to PROFIBUS DP Adapter Module FPBA-01 User’s

Manual (3AFE68573271 [English]): chapter Communication profiles.


23

PROFIdrive communication profile (Speed Control Mode) with PPO Type 1

The start/stop commands and reference are according to the PROFIdrive profile

Speed Control Mode.

A reference value of ±16384 (4000h) corresponds to parameter 25.02 SPEED

SCALING in forward and reverse directions.

Direction

Out

In

PZD1

Control Word

Status Word

PZD2

Speed reference

Speed actual value

The table below gives the recommended drive parameter settings.

Drive parameter

50.01

Name Value Description

50.04

10.01

24.01

34.03

FBA ENABLE ENABLE

FBA REF1 MODESEL SPEED

EXT1 START FUNC

SPEED REF1 SEL

FBA

FBA REF 1

Communication enable between the drive and fieldbus module

Fieldbus reference 1 mode selection

External 1 control source selection

Fieldbus reference 1 is the source for speed reference 1.

EXT1 CTRL MODE 1 SPEED External 1 control mode 1: Speed

PROFIBUS Displays the type of the fieldbus adapter module.

51.03

51.04

51.05

52.01

52.02

53.01

53.02

51.27

BAUDRATE

TELEGRAM TYPE

PROFILE

12000* module

Displays current baud rate on the Profibus network.

1 (= PPO1)* Displays telegram type selected by PLC configuration tool.

0 (= PROFIdrive) Control word according to the PROFIdrive

Speed mode

4* Virtual address for Status Word (PZD 1) FBA DATA IN1

FBA DATA IN2

FBA DATA OUT2

5

1*

FBA DATA OUT2 2

FBA PAR REFRESH REFRESH

Virtual address for actual value 1 (PZD 2)

Virtual address for Control Word (PZD 1)

Virtual address for reference 1 (PZD 2)

Refreshing parameter settings of the module

*Read-only or automatically detected/set

**Example

The Control Word is used to send commands from a master to a slave unit. The start sequence for the parameter example above is given below.

Control Word:

47Eh (1150 decimal) => READY TO SWITCH

47Fh (1151 decimal) => OPERATING.


24

ABB DRIVES communication profile (Speed/Torque Control Mode) with PPO Type 4

The start/stop commands and reference are according to the ABB DRIVES profile

Speed Control Mode.

When Reference 1 (REF1) is used, a reference value of ±20000 (4E20h) corresponds to the reference set by parameter 25.02 SPEED SCALING in the forward and reverse directions.

When Reference 2 (REF2) is used, a reference value of ±10000 (2710h) corresponds to the reference set by parameter 32.04 TORQUE REF 1 MAX in the forward and reverse directions.

Direction PZD1

Out

In

Control Word

Status Word

PZD2 PZD3

Speed reference Torque reference

Speed actual value Torque actual

PZD4 PZD5 PZD6

Not used

Not used


Drive parameter

50.01

Name

50.04

50.05

10.01

10.04

24.01

32.02

34.01

34.03

34.05

51.01

51.03

51.04

51.05

52.01

52.02

52.03

53.01

Setting Description

FBA ENABLE

FBA DATA IN1

FBA DATA IN2

FBA DATA IN3

FBA DATA OUT2

ENABLE Communication enable between the drive and the fieldbus module

Fieldbus reference 1 mode selection FBA REF1

MODESEL

FBA REF2

MODESEL

SPEED

TORQUE

EXT1 START FUNC FBA

EXT2 START FUNC

SPEED REF1 SEL

TORQ REF1 SEL

EXT1/EXT2 SEL

FBA

FBA REF 1

FBA REF 2

C.False


EXT1 CTRL MODE 1 SPEED

EXT2 CTRL MODE 1 TORQUE

FBA TYPE

External 1 control mode 1: Speed

External 2 control mode 1: Torque

PROFIBUS DP* Displays the type of the fieldbus adapter module.

Profibus node address of the fieldbus module.

BAUDRATE

TELEGRAM TYPE

12000*

4 (= PPO4)*


Displays telegram type selected by the PLC configuration tool.

PROFILE



Fieldbus reference 1 is the source for speed reference 1

Fieldbus reference 2 is the source for

Torque reference 1

External 1 / External 2 selection from fieldbus only (bit 11 in the fieldbus Control

Word)

1(= ABB Drives) Control Word according to the ABB Drives profile.

4*

5

Status Word (PZD 1)

Actual value 1

6

1*

Actual value 2

Control Word


53.02

53.03

51.27

FBA DATA OUT2 2

FBA DATA OUT3 3


Reference 1

Reference 2



**Example

The start sequence for the parameter example above is given below.

Control Word:

47Eh (1150 decimal) => READY TO SWITCH ON

47Fh (1151 decimal) => OPERATING (Speed mode)

C7Fh (3199 decimal)=> OPERATING (Torque mode).

25


26

PROFIdrive communication profile (Positioning Mode) with PPO Type 4

The start/stop commands and reference are according to the PROFIdrive profile

Positioning Mode. The Position setpoint and velocity reference are defined as 32-bit integer values; both are scaled as defined by drive parameter settings.

Direction PZD1

Out Control Word (STW1)

In Status Word (ZSW1)

PZD2 PZD3

Position setpoint

Position actual value

PZD4 PZD5

Velocity reference

Velocity actual value


PZD6

N/A

N/A

Drive parameter

50.01

Name

50.04

50.05

10.01

22.01

34.02

34.03

34.04

62.01

62.03

65.01

65.03

65.04

65.11

65.22

66.05

70.03

51.01

Value Description

FBA ENABLE ENABLE

FBA REF1 MODESEL POSITION

FBA REF2 MODESEL VELOCITY

Communication enable between the drive and the fieldbus module



EXT1 START FUNC FBA

SPEED FB SEL ENC1 SPEED**


Speed feedback selection

EXT1 MODE 1/2SEL P.FBA MAIN

CW.26

External 1 control mode selection.

Selection is done by START_HOMING bit

(bit 11 in Profibus Control Word).

Mode 1: Position, Mode 2: Homing

EXT1 CTRL MODE 1 POSITION

EXT1 CTRL MODE 2 HOMING

HOMING METHOD CAN Methodxx

External 1 control mode 1:Position

External 1 control mode 2: Homing

Selects the homing mode. Select the appropriate CAN Method.

HOMING START

POS REFSOURCE

POS START 1

POS 1 REF SEL

C.False

FIELDBUS

C.False

FBA REF 1

Homing start from fieldbus only

Position reference and speed are read from fieldbus.

Position start 1 from fieldbus only

FBA reference 1 is the position reference source.

POS START 2

PROF VEL REF SEL

POS ENABLE

POS REF ENA

FBA TYPE

C.False

FBA REF2

C.False

C.False

Position start 2 from fieldbus only.

FBA reference 2 is the velocity reference source.

Position reference generator is enabled by fieldbus only.

Position reference enable command from fieldbus only

PROFIBUS DP* Displays the type of the fieldbus adapter module.

51.03

51.04

BAUDRATE

TELEGRAM TYPE

12000*

4 (= PPO4)* module


Displays telegram type selected by PLC configuration tool.


27

51.05

52.01

52.02

52.04

53.01

53.02

53.04

51.27

PROFILE 4 (= PROFIdrive

Positioning)

4* FBA DATA IN1

FBA DATA IN2

FBA DATA IN4

FBA DATA OUT2

FBA DATA OUT2

15

16

1*

12

FBA DATA OUT4 13


Control Word according to the PROFIdrive

Positioning mode

Status Word

Actual value 1

Actual value 2

Control Word

Reference 1

Reference 2



Note: By default, fieldbus is not the only control source. See actual signal 2.12 FBA MAIN CW in

ACSM1 Motion Control Program Firmware Manual for details.

The position setpoint is scaled as follows:

Drive parameter

60.05 POS UNIT (Position unit)

60.08 POS2INT SCALE

Setting m**

100**

**Example

The position setpoint and actual values are scaled with the above example values as follows:

1000

/

100 = 10.00 m

60.05 POS UNIT

Physical value

60.08 POS2INT SCALE

Setpoint value

Example for velocity setpoint scale:

Drive parameter

60.10

60.11

Name Value

POS SPEED UNIT u/s**

POS SPEED2INT 100**

Description

Unit/s (in this case m/s)

Scales position speed values to integer values.

Selections: 1/10/100/1000/10000/100000

**Example


28

The velocity setpoint and actual values are scaled with the above example values as follows:

1000 / 100 = 10.00 m/s

60.10 POS SPEED UNIT

Physical value

60.08 POS SPEED2INT

Setpoint value

Pay attention to the following parameters:

Group

90

91/92/93

Description

Encoder selection

Settings of the encoder

The start sequence for above parameter example is given below:

Control word:

406h (1150 decimal) => READY TO SWITCH ON

40Fh (1039 decimal) => OPERATING

43Fh (1087 decimal)=> OPERATING (Do reject traversing task with no intermediate stop.)

47Fh (1151 decimal)=> OPERATING (Activate traversing task.)

C0Fh (3087 decimal)=> OPERATING (Start homing procedure.)


Starting up fieldbus communication and programming the ABB PLC (one-drive system)

29


This chapter presents the steps to take during the start-up of the drive fieldbus control with ABB AC500 PLC and PROFIBUS DP adapter module. A system with one drive is set up. For a system where two drives are controlled simultaneously, see also chapter

Starting up fieldbus communication and programming the ABB PLC

(multi-axis systems) , page 105.

For more information on the fieldbus adapter module, such as

• mechanical and electrical installation

• PROFIBUS specific parameters

• components

• protocols see PROFIBUS DP Adapter Module FPBA-01 User’s Manual (3AFE68573271

[English]).

For more information on the PLC, see ABB AC500 PLC manuals.

Safety

WARNING! Follow the safety instructions given in this manual and in the drive hardware manual.


30

Equipment and programs

Equipment used in the examples:

• ACSM1-04 demosuitcase (order code 68836808) containing two ACSM1-04AM-

02A5-4 drives with FPBA-01 PROFIBUS DP Adapter Modules

• AC500 demosuitcase TA510-CASE: AC500 PLC * ) equipped with a CPU of type

PM571 and a communications module, CM572-DP, for communication over

PROFIBUS DP field.

Programs used in the examples:

• ACSM1 Motion Control Program version UMFI1480

• ABB DriveStudio PC tool

• AC500 Control Builder PS501 *

R0002 C2 V1.3.0 / 11.2008

)

. Code of the installation CD: 1SAP 190 100

• PS551-MC PLCopen Motion Control Library *

)

for AC500. Single license

1SAP190600R0001. Multiple license 1SAP190600R0101.

* ) Manufacturer ABB STOTZ-KONTAKT GmbH, http://www.abb.de/stotz-kontakt


31

Start-up flowchart

The steps of the start-up procedure are presented below. Perform the steps from first to last.

No.

1

2

3

Task Description / See instruction

ELECTRICAL INSTALLATION In this section, you wire the equipment used in this programming example.

Connect the PC RJ-45 cable to drive terminal X7.

ACSM1-04 Drive Modules Hardware Manual (3AFE68797543

[English])

Page

34

Connect the PLC fieldbus master

(CM572-DP) to the fieldbus adapter module (FPBA-01) of the drive.

Installation of the TA510-CASE

, page

34

Connect the PC serial port (COM) to the PLC programming port.

OR:

Connect the PC Ethernet port to the PLC Ethernet port with an RJ-

45 Ethernet cable.

OR:

Connect the PLC serial port to the

PC USB port with a TK503 programming cable


, page

34

TK503 programming cable order code: 1TN968901R1100

1

2

3

4

SOFTWARE INSTALLATION In this section, you install the programming tools.

Install the DriveStudio PC tool if not yet installed.

Installing the DriveStudio PC tool , page 35

Installing the AC500 Control Builder PS501 software , page 35

Install the AC500 Control Builder

PS501 software.

Install the PS551-MC Motion

Control library.

Installing the PS551-MC Motion Control Library , page 37

If needed, install additional GSD files and libraries.

Installing additional GSD files and libraries , page 38

1

PROGRAMMING In this section, you set up the communication between the drive and the PLC and make the PLC program that controls the drive through fieldbus.

– – – O N E - D R I V E S Y S T E M – – –

Set the drive control program parameters.

In this section you set the drive parameters needed for communication with the FPBA-01 fieldbus adapter module.

Setting the drive control program parameters , page 40


32

No.

2

3

4

5

6

Task

Program the visualization.

Run and test the program.

Description / See instruction

Set up the communication.

In this section, you configure communication between the PLC and the drive.

Setting up the communication , page 45

• Create a new project , page 45

• Configure communication with the SYCON fieldbus configurator , page 50

Program the main program to the

PLC.

In this section, you program function blocks for communication and basic drive control.

Setting up the communication , page 45

•

Create a new project , page 45

•

Configure communication with the SYCON fieldbus configurator , page 50

Programming the PLC main program , page 63

•

Load additional libraries for programming assistance , page 63

•

Add function block ACSM1_ACCESS_dc , page 66

•

Add function block MC_ReadStatus , page 72

•

Add function block MC_ReadActualPosition , page 72

•

Add function block MC_ReadAxisError , page 72

•

Add function block MC_Reset , page 73

•

Add function block MC_Power , page 73

•

The complete main program is shown here , page 74

Program actions to the PLC program.

In this section, you program function blocks for motion control.

Programming actions , page 77

•

How to create actions , page 77

•

Program velocity (MC_MoveVelocity) , page 80

•

Program stopping (MC_Stop) , page 81

•

Program positiong (MC_MoveAbsolute) , page 82

•

Program relative movement (MC_MoveRelative) , page 83

•

Program homing (MCA_Home) , page 84

•

Program toggling between two positions , page 84

•

Call the actions into the main program , page 87

In this section, you program function blocks for visualizing the motion control.

Programming visualizations , page 89

•

Create an empty visualization field , page 90

•

Create buttons , page 91

•

Create indicators , page 95

• Create visuaization elements , page 96

In this section, you run and test the program that you have made.

Running and testing the program , page 99

•

Load the program to the controller , page 99

•

Test the program , page 102


33

No.

Task Description / See instruction

– – – TWO - D R I V E S Y S T E M – – –

Set up the communication.

Program the main program to the

PLC.

Program actions to the PLC program.

Program the visualization.

Run and test the program.

In this section, you program additional function blocks for the second drive for communication and basic drive control, and program additional actions and visualizations, and run and test the program.

Setting up the communication , page 105

•

Configure communication with the SYCON fieldbus configurator , page 106

Programming the PLC main program , page 116

Programming actions , page 120

Programming visualizations , page 123

Running and testing the program , page 124


34

Connections

PC:

- DriveStudio

- AC500 Control Builder PS501

COM

ACSM1-04

FPBA-01

Connections for the setup in section Starting up fieldbus communication and programming the ABB PLC (multi-axis systems) , page 105

Note: Both drives are followers/slaves for the communication module of the PLC.

6 7 8 9

1 2

5

3 4

6

7

4

5

8

9

1

2

3


24 V DC input socket

24 V DC on/off switch

Analog potentiometer

Digital switches

Programming port

CM572-DP communication module

CPU unit PM571

Analog module AX522

Remote digital I/O module DC505-FBP


35

Installing the DriveStudio PC tool

Insert the DriveStudio installation CD into the CD drive of your the PC. Follow the instructions given by the installation program.

For more information, see DriveStudio online Help folder DriveStudio: Installing and uninstalling.

Installing the AC500 Control Builder PS501 software

1. Insert the AC500 Control Builder PS501 installation CD into the CD drive of your

PC. Click the Read me first button and read the instructions.

2. Click the Installation PS501 button.


36

3. Click the Read me for installation button and read the instructions.

4. Click the Step 1: Installation Control Builder PS501 button. Follow the instructions.

5. Click the Step 2: Installation Fieldbus Configuration SYCON.net button.

Follow the instructions.

6. Click the Installation GSD and ESD files button. Follow the instructions.

7. Click the Opt. 1: Installation CodeSys Service Tool.


37

Installing the PS551-MC Motion Control Library

Insert the PS551-MC Motion Control Library for AC500 (code: 1SAP190600R0001) installation CD into the CD drive of your the PC. If the installation does not start automatically, double-click setup.exe.


38

Installing additional GSD files and libraries

The GSD file DP-V0 for the FPBA-01 fieldbus adapter module (ABB0959.gsd) is included in the PS551-MC Motion Control Library CD and was installed in the previous step.

The GSD files DP-V0 and DP-V1 for FPBA-01 can also be found at the manufacturer’s website. Go to www.abb.com

and select Product Guide / Drives /

Drive Options / Fieldbus Options. From the Please select category list, select

“..FPBA - PROFIBUS (3)”.


If needed, copy additional GSD files to the following folder in your PC:

C:\Program Files\Hilscher GmbH\SYCONnet\ABBPBGenericSlaveDTM\GSD.

39


40

Step Setting the drive control program parameters

This section lists the ACSM1 Motion Control Program parameter settings that you need to do for successful communication with the FPBA-01 fieldbus adapter module. If needed, set also other parameters to meet the application needs.

For more information on the parameters, refer to ACSM1 Motion Control Program

Firmware Manual (3AFE68848270 [English]).

For advice on using the DriveStudio, refer to the DriveStudio online Help.

1.

Open the DriveStudio.

2.

Set the parameters as shown below.



41


42




43


44



45

Tool/Step Setting up the communication

For setting up communication between the PLC and the drive, first, create a new project. After that, you can open the SYCON.net configuring tool and configure the communication.

Create a new project

1.

Open the AC500 Control Builder PS501 programming tool by double-clicking the icon:

Installation path:

C:\Program Files\3S Software\CoDeSys V2.3\Codesys.exe

2.

Select from the File menu New. -> Dialog box Target settings opens.

3.

In the Configuration: box, select AC500 PM571. Click OK.


46


4.

In the New POU dialog box, select as shown below.

5.

-> The programming view opens. Open the Resources field by clicking its tab.



6.

In the Resources folder, double-click PLC Configuration.

47

7.

In the PLC Configuration dialog box, click the plus sign to open the AC500 folder.


48


8.

Right-click the Couplers[FIX] folder. Select Append Subelement and CM572 -

External-PROFIBUS DP Master….



9.

In the Couplers[FIX] folder, right-click the Internal - none[SLOT] file and select

Replace element and PM5x1-ETH - Internal-Ethernet.

49

10.

From the File menu, select Save as and name the project. Click Save.


50


Configure communication with the SYCON fieldbus configurator

1.

Open the project that you created.

2.

Click the Resources tab to show the Resources folders.

3.

Under Tools, double-click SYCON.net <R>.



4.

-> The SYCON.net tool opens:

51

5.

From the Network menu, select the Device Catalog… command. Click the

Reload button. -> PROFIBUS options appear in the ABB Oy folder. Click OK.


52


6.

Drag and drop CM572-DPM on the green line. In the netConnect-Driver

Parameter dialog box, select 1 for the Board no: box. This is because the CM572-

DP communications module is installed next to the CPU on the left-hand side in the installation example of this manual.



7.

Drag and drop the FPBA-01 DP-V0 on the purple line.

53


54


8.

In the netDevice field, right-click the CM572-DPM icon. Select Configuration. In the Navigation area field, click 3S Gateway Driver. Click the Gateway

Configuration button.

9.

In the Communication Parameters dialog box, set the communication parameters

according to the serial port of your PC. See Appendix A - How to find out the serial communication parameter values of your PC?

.


55


10.

In the Pages Three-View, click Device Assingnment. Activate the device by ticking it.

11.

In the Pages Tree-view, click Configuration / Bus Parameters. In the Bus

Parameters dialog box, set the Baud Rate. If there is warning sign, click the Adjust button and set the other timing parameters.


56


12.

In the Pages Tree-view, click Station Table under Configuration. Set the station address for the FPBA-01. Click the Apply button and then OK.

Note: The station address here must be the same as the value of Parameter

51.02 FBA PAR2 in the drive control program. Set parameter Parameter 51.02 FBA

PAR2 with DriveStudio.



13.

Right-click the ABB Drives FPBA-01 icon connected to the purple line in the netDevice field. In the Navigation area field, click Modules in the Configuration folder. In the Available modules: box, select PPO-05. Click the Insert button and then Apply and OK.

57


58


14.

In the Configuration folder, click Parameters. Set the values of parameters Fail Safe mode and Control-zero mode as shown below.


59


15.

In the netConnect field, click PPO-5, 4PKW + 10 PZD <Slot 1>. -> A list of inputs and outputs appears.


60


16.

Name the signals. In this example configuration, Input 1 is named field_in1 and

Output 1 field_out1.

Note: You can name all signals here and they will be automatically in use in the

Control Builder.

17.

Check that the PLC is in the Stop state (Stop in the display).

Note: The downloading is not possible if the PLC is in the Run state.

18.

Download the communication configuration to the PLC: first, right-click the CM572-

DPM icon and, then click Download.



19.

When the downloading is completed, right-click the CM572-DPM icon and then click Disconnect.

20.

Save the project with the Save command under the File menu.

21.

Close the SYCON.net tool.

22.

Variables field_in1 and field_out1 are now found in the Resources sheet, under

Global variables.

61


62


63

Tool/Step Programming the PLC main program

In this section, you program the PLC main program which contains function blocks for communication and basic drive control.

For detailed function block descriptions, refer to

• CoDeSys Help (Press F1 in CoDeSys software)


Solutions GmbH

For ACSM1 PLCopen function blocks, refer to

• User Manual for PS551-MC (Motion Control library for ABB PLC AC500) according to Technical Specification PLCopen – Technical Committee 2 – Task

Force; Function Blocks for motion control.

Load additional libraries for programming assistance

It is necessary to load additional libraries to make additional function blocks active.

1.

Click the Resoures tab. Double-click the Library Manager.

2.

From the Insert menu, select Additional libraries….


64


3.

Select the following libraries and click Open.



4.

Double-click the PS551-MC folder and select the following libraries. Click Open.

65

Note: If you cannot see the PS551-MC folder, you have copied the motion control libraries to another folder, or you have not copied them at all. Go to the location where you have pasted the libraries, or copy the libraries from the installation CD to the following folders:

C:\Program Files\Common Files\CAA-Targets\ABB_AC500\Library

C:\Program Files\Common Files\CAA-Targets\ABB_AC500\AC500_V12\Library


66


5.

In this example, the following libraries were inserted.

Add function block ACSM1_ACCESS_dc

ACSM1_ACCESS_dc is an interface block that converts the PLC commands to the control word format of the ACSM1. The control word is in PROFIdrive positioning mode.

1.

Click the POUs tab. In the POUs field, double-click PLC_PRG(PRG). -> The Box tool for adding function blocks appears in the tool bar. Click the Box button.



2.

Replace the default text AND with text acsm1_access_dc. Now, the CoDeSys program recognizes the function block and the block appearance changes automatically.

67

3.

Name the function block access_axis1 and press Enter.


68


4.

-> The Declare Variable assistant appears. In the Class dialog box, select

VAR_GLOBAL which denotes global variables. The content of box Type is configured automatically to ACSM1_ACCESS_dc. Click OK.

Note 1: If you want to call Declare Variable assistant again, click on the demanded variable and press Shift+F2.

Note 2: When defining inputs, you can use help of Input assistant. Click on the demanded input and press F2.

5.

Configure inputs OFF1, OFF2 and OFF3. Name the fields Off1, Off2 and Off3 and press Enter. The program configures the Type of these inputs automatically to

BOOL and the Class to VAR. Click OK. Inputs RESET_POS_SYS and ROLLOVER are left blank.


69


6.

Configure input axis. Name it axis1 and press Enter. Class: VAR_GLOBAL. Type:

AXIS_REF. Note: AXIS_REF is not configured automatically, you must type it. Click

OK.

7.

Select the left-hand side of input field_in. Click the Box button in the tool bar. Name the new function block ADR which denotes address. Press Enter. Repeate the same for input field_out.

Note: Inputs field_in1 and field_out1 were configured with SYCON.net on page

60

.


70


8.

In this section a new program row is made before the access_axis1 block. This is because the state of input switches Off1, Off2 and Off3 must be TRUE before starting block access_axis1 when the program is run.

Right-click somewhere in the blank area to open the following menu and select

Network (before). -> A new programmable area (program row 0001) is made.

The switches have to go to the TRUE state in the following order: Off2, Off3 and

Off1. They cannot turn on immediately, one after another, so add delay function blocks (TON) with a delay time of 200 ms.

In case of errors, output ERR_REMOTE has to be evaluated before start. This is done by block AND with an inverted input. To invert the input, right-click on the input and select Negate.

Off1_3 is a switch which is later used starting the drive when the program is run. It is a global variable (Class: VAR_GLOBAL; Type: BOOL).



The program made so far is shown below.

71

Right-click in the blank area and select Network (after) from the menu. Add the following blocks to the main program: MC_ReadStatus, MC_ReadActualPosition,

MC_ReadAxisError, MC_Reset, MC_Power. Configuring the blocks is described below.


72


Add function block MC_ReadStatus

This function block returns in detail the status of the axis with respect to the motion currently in progress.

Name the block mc_reads. Press Enter. Class: VAR; Type: MC_ReadStatus. The block must be enabled all the time -> name input Enable TRUE. Name input Axis axis1 which is already configured.

Add function block MC_ReadActualPosition

This function block returns the actual position.

Name the block mc_readpos. Press Enter. Class: VAR; Type:

MC_ReadActualPosition. The block must be enabled all the time -> name input

Enable TRUE. Add global variable actual_pos_axis1 for later use in visualization,

Class: VAR_GLOBAL, Type: LREAL.

Add function block MC_ReadAxisError

This function block describes general axis errors not related to the function blocks.

Class: VAR, Type: MC_ReadAxisError.


73


Add function block MC_Reset

This function block makes the transition from state ErrorStop to STANDSTILL by resetting all internal axis-related errors. It does not affect the output of the function block instances.

Class: VAR, Type: MC_Reset. Add global variable reset_axis1 for switching purposes, because the reset block cannot be active constantly,

Class: VAR_GLOBAL, Type: BOOL.

Add function block MC_Power

This function block controls the power stage on or off.

Class: VAR, Type: MC_Power. Add global variables enable_axis1 and power_status_axis1 for start-up and visualization, Class: VAR_GLOBAL, Type:

BOOL.


74


The complete main program is shown here

The complete program is shown below. The local variables are shown in the righthand-side top field.

The global variables are shown below when the Resources field is clicked open.



View of the main program rows:

75


76



77

Tool/Step Programming actions

In this section, you program actions and add them to the PLC main program.

Actions are needed for controlling the motor movement. PLCopen library offers many simple and very useful functions for the ACSM1.

For detailed function block descriptions, refer to

• CoDeSys Help (Press F1 in CoDeSys software)


Solutions GmbH

For ACSM1 PLCopen function blocks, refer to

• User Manual for PS551-MC (Motion Control library for ABB PLC AC500) according to Technical Specification PLCopen – Technical Committee 2 – Task

Force; Function Blocks for motion control.

How to create actions

1.

In the POUs field, right-click PLC_PROG(PRG) and select Add Action.


78


2.

Name the action for example velocity. Select FBD for the programming language.

Click OK.

3.

-> An empty programming space appears.



4.

Create separate actions which are needed in the program for example homing, position_toggle, positioning, relative, stop and velocity.

79

5.

Program the actions in the same way as you programmed the function blocks in the main program. For example, under action velocity there will be function block

MC_MoveVelocity. For programming the blocks, see the next steps.


80


Program velocity (MC_MoveVelocity)

This Function Block commands a never ending controlled motion at a specific velocity.

By clicking the Box tool button, insert a new box. Replace the default text AND with

MC_MoveVelocity. Name the block, for example, movevelo1, Class: VAR, Type:

MC_MoveVelocity. Name the Execute input velo1, Class: VAR_GLOBAL, Type:

BOOL.

Define inputs Velocity, Acceleration and Deceleration with numeric values as shown in the window below, or declare them static values in the main program local variable list by writing, for example, the following lines to the list.

Acceleration: LREAL:=1000;

Deceleration: LREAL:=1000;

Velocity1: LREAL:=200;

(Note: For editing the variable list, double-clicking PLC_PROG(PRG) in the POUs field, see page

74

.)

Name Direction either POSITIVE or NEGATIVE.

Leave Jerk and BufferMode blank.

Input Axis defines the controlled axis. Name it axis1.

See the next page.


81


The block in the previous picture runs axis1 constantly at velocity 200.

The speed and position scaling is defined by setting drive control program

parameters of group 60 POS FEEDBACK, see page 42 . With the settings on page

42,

a speed reference of 1000 corresponds to a speed of 1000 rpm that means

1000 motor axis rotations per minute.

Program stopping (MC_Stop)

This function block commands a controlled motion stop and transfers the axis to the

STOPPING state. The block aborts any ongoing function block execution. While the axis is in the STOPPING state, no other function block can perform any motion on the same axis. After the axis has reached the zero velocity, the Done output is set to TRUE immediately. The axis remains in the STOPPING state as long as the

Execute input remains TRUE or the zero velocity is not yet reached. As soon as output Done is set and input Execute is FALSE, the axis goes to the STANDSTILL state. For the states, refer to the state machine (Axis StateMachine) on page

102

.


MC_Stop. Name the block, for example, stop1, Class: VAR, Type: MC_Stop. Name input Execute stop_axis1, Class: VAR_GLOBAL, Type: BOOL.

Define input Deceleration with a numeric value.




82


Program positiong (MC_MoveAbsolute)

This function block commands a controlled motion to a specified absolute position.


MC_MoveAbsolute. Name the block, for example, absolute1, Class: VAR,

Type: MC_ MoveAbsolute. Name input Execute move_pos1, Class:

VAR_GLOBAL, Type: BOOL.

Define inputs Position, Velocity, Acceleration and Deceleration with numeric values.

Leave Direction, Jerk and BufferMode blank.


The following block drives axis1 to position 1000.


83


Program relative movement (MC_MoveRelative)

This function block commands a controlled motion of a specified distance relative to the actual position at the time of the execution.


MC_MoveRelative. Name the block, for example, relative1, Class: VAR, Type: MC_

MoveRelative.

Name the Excecute input move_rel1, Class: VAR_GLOBAL, Type: BOOL.

Define inputs Position, Velocity, Acceleration and Deceleration with numeric values.



Name input Direction either POSITIVE or NEGATIVE.


84


Program homing (MCA_Home)

This function block commands the axis to perform the Search home sequence. The details of this sequence depend on the drive manufacturer and can be set by the axis parameters. The Position input is used to set the absolute position when a reference signal is detected. The execution of this function block comes to an end at the STANDSTILL state.


MCA_Home. Name the block, for example, home1, Class: VAR, Type: MC_

MoveRelative.

Name the Excecute input move_home1, Class: VAR_GLOBAL, Type: BOOL.


Note 1: This function block is not working with FPBA-01 version 200D or older.

Program toggling between two positions

This section presents an example of a function block program for toggling between two positions. At the page 81, action position_toggle was created. Write the program below into the action position_toggle.

Name the Excecute input move_toggle1, Class: VAR_GLOBAL, Type: BOOL.

Name variable pos_step, Class: VAR, Type: WORD.

See the next page for the descriptions of the program rows.



85


86


Row 0001

This section is the main switch. When the drive needs to be stopped, function block

SEL sets the value of output pos_step to 0. Otherwise the value of output pos_step remains unchanged and the program keeps running.

Row 0002

This section starts up the whole program sequence and repeats it as long as the value of input move_toggle1 is TRUE.

Block trigger2 is needed for the first start-up. The block triggers one time when the value of input move_toggle1 turns to TRUE.

The output of block OR is TRUE, when the trigger block output is TRUE. In this case, block SEL selects value 1 to output pos_step.

Row 0003

This section compares the value of input pos_step with 1. When the values match, block EQ returns the value of its output to TRUE.

TON block pause1 sets its output movement1 to TRUE with a delay of one second.

The program runs through sections 4 and 5, there is nothing to do.

Row 0006

This section executes MC_MoveAbsolute block togglemove1. The block moves axis1 to position 800. After the movement, the value of output togglemove1.Done is

TRUE.

Now the program runs through sections from 7 to 3, there is nothing to do.

Section 4 is executed.

Row 0004

The values of inputs move_toggle1 and togglemove1.Done in the AND block are

TRUE. Block SEL sets the value of its output pos_step to 2.

Row 0005

This section is similar to section 3. Block EQ compares the value of its input pos_step with 2. Now, the values match and the output of block EQ returns to

TRUE.

TON block pause2 sets its output movement2 to TRUE with a delay of one second

The program runs through section 6, there is nothing to do.

Row 0007

This block executes MC_MoveAbsolute block togglemove2. The block moves axis1 to position -1200. After the movement, the value of output togglemove2.Done is

TRUE.

The program starts the whole sequence again from row 0002. The toggling is continuous as long as the value of input move_toggle1 is TRUE.


87


Call the actions into the main program

To activate the actions that you created, call them into the main program:

• In the POUs field, double-click PLC_PRG(PRG).

• Right-click and select Network (after) from the opening menu.

• Click the Box tool button and name the appearing box homing.

• Repeat the procedure for the other actions and give the boxes the same names as in the configuring steps before.

See the next page for the program rows.


88


The action boxes are shown at the end of the main program as follows.


89

Tool/Step Programming visualizations

In this section, you program visualizations. By visualizations, you create the user interface for the PLC program: buttons, switches and indicators for measuring, viewing and controlling the movement. The PS551-MC Motion Control Library for

ABB PLC AC500 also contains ready-made visualization elements for the ACSM1, for example, the ACSM1 MainControlWord and Axis StateMachine.


90


Create an empty visualization field

Click the Visualization tab. Right-click the Visualizations folder. From the menu opening, select Add Object…. Name the New Visualization, for example, visu1 and click OK.



Create buttons

Create buttons for the needed switches, for example, for each global variable:

91

In our example, buttons are made for off1_3, enable_axis1, reset_axis1, velo1, stop_axis1, move_pos1, move_home_axis1, move_rel1 and move_toggle1.

How to create and configure a button

1.

In the upper tool bar, click the OK button and drag with the cursor a rectangle in visualization field.


92


2.

Configure the button as follows. Right-click the button. From the menu opening, select Configure.

3.

In the Category: dialog box, select Text. To the Text Content: dialog box, write the name for the button, for example, Off1_3 which indicates the action the button will perform.



4.

In the Category: dialog box, select Input. Under Input, tick Toggle variable and write the name of the input to the dialog box, in this case global variable off1_3.

Click OK.

Note: When defining inputs, you can use help of Input assistant. Click on Toggle variable field and press F2.

93

Now, you have created a button with which you can switch the value of global variable off1_3 between FALSE and TRUE.


94


5.

After making all buttons, the visualization field looks like this. Table below indicates the buttons and variables to which the buttons must be toggled.

Button

Off1_3

Enable

Velocity 1

Position 1

Relative 1

Toggle move

Stop

Reset

Homing

Toggle variable off1_3 enable_axis1 velo1 move_pos1 move_rel1 move_toggle1 stop_axis1 reset_axis1 move_home1



Create indicators

1.

In the upper tool bar, click the Bar display button and drag with the cursor a bar in visualization field. -> Configure bar display dialog box opens. Click the Varible/

Scale button.

95

2.

Set the scale. Write the name of the indicated variable (actual_pos_axis1 in this case) in the Variable: box. Click OK and OK. -> The indicator has been created.


96


Create visuaization elements

1.

Visualization elements are ready-made visualization components.

In the upper tool bar, click the Visualization button and with the cursor drag a rectangle in the visualization field. In the opening Select Visualization dialog box, select the visualization, MC_VISU_ACSM1_mcw, in this case. Click OK.



2.

Double-click the created element. In the Visualization dialog box that opens, click the Placeholder… button. In the Replace placeholders dialog box, write

.access_axis1 to the Replacement field. This points to the access_axis1 function block. Click OK and OK.

97


98


3.

Add other elements in the same way as described above.

Note: In the Replacement field, write .access_axis1 for the ACSM1 main control word and main status word visualizations. Write .axis1 for the Axis actual values and Axis state machine values visualizations. The replacement points always to the values that the visualization is presenting.

Here is an example of the finished visualization.


99

Tool/Step Running and testing the program

In this section, you download the program to the PLC. Thereafter, you can run the program and test it.

Load the program to the controller

1.

Turn the drive on with the I/O switch of the demosuitcase.

2.

Turn the PLC on with the on/off switch in its demosuitcase. For the location of the on/off switch, refer to the photo on page

34 .


100


3.

From the Online menu, select Communication Parameters…. Check that the

communication parameters correspond to the serial port of your PC (see Appendix

A - How to find out the serial communication parameter values of your PC?

).

4.

Open the AC500 Control Builder PS501 programming tool by double-clicking the

CoDeSys icon in the desktop of your computer.

5.

Click the Visualization tab.



6.

From the Online menu, click Login. The program asks you to download the program to the controller. Click Yes.

101

If you get a communication error message,

Check the cables and connections. From the Online menu, select

Communication Parameters… and remove irrelevant communication parameters. Configure the communication with the SYCON.net again and download the configuration as described above. To find out the communication

parameter values of your PC, see Appendix A - How to find out the serial communication parameter values of your PC?

.

7.

From the Online menu, click Run. -> Now, your program is active and you can run the functions.


102


Test the program

1.

Start the drive by clicking the Off1_3 button and, after that, the Enable button.

-> The drive should start and the values of the first six ACSM1 MainControlWord bits should change to TRUE.


103


2.

Test the other actions that you have made by clicking the action buttons. Velocity 1 is running in the following picture.


104


105

Starting up fieldbus communication and programming the ABB PLC (multi-axis systems)


This chapter presents the additional steps compared to the ones in the previous chapter that you must take during the start-up of the drive fieldbus control with ABB

AC500 PLC and PROFIBUS DP adapter module in a multi-axis system. A system with two drives is set up here.

Equipment and programs

The equipment and programs used in this chapter are the same as in the previous chapter of this manual. They are listed under

Equipment and programs , page 30

.


Proceed in the start-up as described earlier in this manual up to page 50

.

Starting up fieldbus communication and programming the ABB PLC (multi-axis system)

106


Configure communication with the SYCON fieldbus configurator

1.

Open the project that you created.

2.

Click the Resources tab to show the Resources folders.

3.

Under Tools, double-click SYCON.net <R>.



4.

-> The SYCON.net tool opens:

107

5.

From the Network menu, select the Device Catalog… command. Click the

Reload button. -> PROFIBUS options appear in the ABB Oy folder. Click OK.


108


6.

Drag and drop CM572-DPM on the green line. In the netConnect-Driver

Parameter dialog box, select 1 for the Board no: box. This is because the CM572-

DP communications module is installed next to the CPU on the left-hand side in the installation example of this manual.

7.

Drag and drop the FPBA-01 DP-V0 two times on the purple line.


109


8.

In the netDevice field, right-click the CM572-DPM icon. Select Configuration. In the Navigation area field, click 3S Gateway Driver. Click the Gateway

Communication button.

9.

In the Communication Parameters dialog box, set the communication parameters

according to the serial port of your PC. See Appendix A - How to find out the serial communication parameter values of your PC?

.


110


10.

In the Pages Three-View, click Device Assignment. Activate the device by ticking it.

11.

In the Pages Tree-view, click Configuration / Bus Parameters. In the Bus

Parameters dialog box, set the Boud Rate. If there is warning sign, click the Adjust button and set the other timing parameters.


111


12.

In the Pages Tree-view, click Station Table under Configuration. Set the station address for the FPBA-01 fieldbus adapter modules. Click the Apply button and then OK.

Note: The station addresses here must be the same as the value of Parameter

51.02 FBA PAR2 in the drive control program. Set parameter Parameter 51.02 FBA

PAR2 with DriveStudio.


112


13.

Right-click the ABB Drives FPBA-01 icon connected to the purple line in the netDevice field. In the Navigation area field, click Modules in the Configuration folder. In the Available modules: box, select PPO-05. Click the Insert button and then Apply and OK. Do this for the both FPBA-01 units.


113


14.

In the Configuration folder, click Parameters. Set the values of parameters Fail Safe mode and Control-zero mode as shown below.


114


15.

In the netConnect field, click PPO-5, 4PKW + 10 PZD <Slot 1>. -> A list of inputs and outputs appears.

Name the signals. In this example configuration, Input_1 is named field_in1 and

Output_1 field_out1.

Note: You can name all signals here and they will be automatically in use in the

Control Builder.

16.

Name the signals in the same way for the second drive: Input_1 for field_in2 and

Output_1 field_out2.


115


17.

Check that the PLC is in the Stop state (Stop in the display).

Note: The downloading is not possible if the PLC is in the Run state.

18.

Download the communication configuration to the PLC: first, right-click the CM572-

DPM icon and, then click Download.

19.

When the downloading is completed, right-click the CM572-DPM icon and then click Disconnect.

20.

Save the project with the Save command from the File menu.

21.

Close the SYCON.net tool.


116


Programming of the PLC main program is described earlier in this manual beginning from page

63.

For a system with two drives, program similar function blocks for both drives. In this case, main program for both drives is programmed inside actions, this is done to achieve more clear presentation of the program.

Note: Name every function block uniquely, otherwise the program will not work correctly.

A list of the Local variables is shown below.



A list of the Global variables is shown below.

117


118


The finished main program is shown below.



119


120


Programming of the actions is described earlier in this manual beginning from page

77.

For a system with two drives, program similar actions for the both axes: axis1 and axis2.


121


The program shown below controls a two-axis toggle movement. For a description

of the toggle movement, refer to section Program toggling between two positions

,

page 84 .


122


Add the action block toggle_movement to the main program.



Programming of the visualizations is described earlier in this manual beginning from page

89.

An example visualization is shown below.

123


124


Load and test the program as described earlier in this manual beginning from page

99

.

Clicking order:

Click first both Off1_3 buttons and the both Enable buttons. -> The drives should start. Click the Toggle move button. -> The toggle movement should start.


Example program for a two-axis loading machine

125


This chapter presents an example sequence program which controls a loading machine with two axes.

Description of the machine

The machine loads boxes. The first axis loads ten items to each box and the second axis moves the filled boxes forward on a conveyor.

Diagram of the system

Description of the program

Loading sequence

The first axis toggles between positions 50 and 0. Every time when it does a forthward movement, it pushes one item to a box. Thereafter, the axis moves backwards. When the first axis has finished one forward-backward movement, the second axis makes a movement of distance 10, and the next empty slot in the box comes in front of the machine's loading point. This way, the machine fills the 10 slots of the box.

When the loading sequence has repeated 10 times, the box is full. The program, then, moves the box a distance of 1000. This is the distance between the boxes. After this, the sequence starts again and fills the next box.

Example program for a two-axis loading machine

126

Program

The program for the toggle movement control is shown below.


127


128


129

Appendix A - How to find out the serial communication parameter values of your PC?


This chapter instructs how to find out the serial communication parameter values of your PC.

Tool/Step How to find out the serial communication parameter values of your PC?

1.

Go to Windows Control Panel and click the System icon.


130


2.

Click the Hardware tab and then the Device Manager button.

3.

In the Ports (COM & LPT) folder, click Communications Port, which is connected to

AC500, in this case port (COM1).


131


4.

The communication port settings are shown.


132


Further information

Product and service inquiries

Address any inquiries about the product to your local ABB representative, quoting the type designation and serial number of the unit in question. A listing of ABB sales, support and service contacts can be found by navigating to www.abb.com/drives and selecting Sales, Support and Service network.

Product training

For information on ABB product training, navigate to www.abb.com/drives and select

Training courses.

Providing feedback on ABB Drives manuals

Your comments on our manuals are welcome. Go to www.abb.com/drives and select

Document Library – Manuals feedback form (LV AC drives).

Document library on the Internet

You can find manuals and other product documents in PDF format on the Internet.

Go to www.abb.com/drives and select Document Library. You can browse the library or enter selection criteria, for example a document code, in the search field.

ABB Oy

Drives

P.O. Box 184

FI-00381 HELSINKI

FINLAND

Telephone +358 10 22 11

Fax +358 10 22 22681 www.abb.com/drives

ABB Inc.

Automation Technologies

Drives & Motors

16250 West Glendale Drive

New Berlin, WI 53151

USA

1-800-HELP-365 www.abb.com/drives

ABB Beijing Drive Systems Co. Ltd.

No. 1, Block D, A-10 Jiuxianqiao Beilu

Chaoyang District

Beijing, P.R. China, 100015

Telephone +86 10 5821 7788

Fax +86 10 5821 7618 www.abb.com/drives

User manual | ABB FPBA-01 Hardware manual

ACSM1

Application Guide

Fieldbus Control with FPBA-01 PROFIBUS DP Adapter

Module and ABB AC500 PLC

Fieldbus Control with FPBA-01 PROFIBUS DP

Adapter Module and ABB AC500 PLC

Application Guide

Table of contents

Introduction to the manual

Fieldbus control description

Communication

Profile

Starting up the FPBA-01 adapter for different communication profiles

Starting up fieldbus communication and programming the ABB PLC (one-drive system)

Starting up fieldbus communication and programming the ABB PLC (multi-axis systems)

Example program for a two-axis loading machine

Appendix A - How to find out the serial communication parameter values of your PC?

Further information

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Table of contents