ABB FPBA-01 PROFIBUS DP adapter module user manual

ABB FPBA-01 PROFIBUS DP adapter module user manual
ABB fieldbus options
User’s manual
FPBA-01 PROFIBUS DP adapter module
Power and productivity
for a better world™
List of related manuals
See section Related manuals on page 16.
User’s manual
FPBA-01 PROFIBUS DP adapter
module
Table of contents
1. Safety
4. Mechanical installation
5. Electrical installation
6. Start-up
3AFE68573271 Rev E
EN
EFFECTIVE: 2011-09-07
© 2011 ABB Oy
All Rights Reserved.
Table of contents 5
Table of contents
1. Safety
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Use of warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Safety in installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2. About the manual
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Purpose of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terms and abbreviations used in this manual . . . . . . . . . . . . . .
General terms and abbreviations . . . . . . . . . . . . . . . . . . . .
PROFIBUS terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . .
15
15
15
16
16
16
18
18
19
19
20
21
3. Overview of the PROFIBUS network and the FPBA-01
module
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Example topology of the PROFIBUS link . . . . . . . . . . . . . .
FPBA-01 PROFIBUS DP adapter module . . . . . . . . . . . . . . . . .
Layout of the adapter module . . . . . . . . . . . . . . . . . . . . . . .
23
23
25
26
27
4. Mechanical installation
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Delivery check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Mounting the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6 Table of contents
5. Electrical installation
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Connecting the module to the PROFIBUS network . . . . . . . . . . 32
Switching on the bus termination . . . . . . . . . . . . . . . . . . . . . . . . 34
6. Start-up
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
PROFIBUS connection configuration . . . . . . . . . . . . . . . . . . 36
Data transfer rates supported. . . . . . . . . . . . . . . . . . . . . 36
FPBA-01 configuration parameters – group A (group 1) 37
FPBA-01 configuration parameters – group B (group 2) 43
FPBA-01 configuration parameters – group C (group 3) 45
Virtual address allocation with ACSM1. . . . . . . . . . . . . . 46
Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Starting up ACS355 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Parameter setting examples – ACS355 . . . . . . . . . . . . . . . . 49
Speed control using the PROFIdrive communication
profile with PPO Type 2 . . . . . . . . . . . . . . . . . . . . . . . . . 49
Speed and torque control using the ABB Drives
communication profile with PPO Type 4. . . . . . . . . . . . . 51
Starting up ACSM1 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Parameter setting examples – ACSM1 . . . . . . . . . . . . . . . . 55
Speed control using the PROFIdrive communication
profile with PPO Type 2 . . . . . . . . . . . . . . . . . . . . . . . . . 55
Position control using the PROFIdrive communication
profile with PPO Type 4 . . . . . . . . . . . . . . . . . . . . . . . . . 57
Speed and torque control using the ABB Drives
communication profile with PPO Type 4. . . . . . . . . . . . . 61
Starting up ACS850 and ACQ810 drives . . . . . . . . . . . . . . . . . . 64
Parameter setting examples – ACS850 and ACQ810 . . . . . 65
Speed control using the PROFIdrive communication
profile with PPO Type 2 . . . . . . . . . . . . . . . . . . . . . . . . . 65
Table of contents 7
Starting up ACS880 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter setting examples – ACS880 . . . . . . . . . . . . . . .
Speed control using the PROFIdrive communication
profile with PPO Type 2 . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring the master station . . . . . . . . . . . . . . . . . . . . . . . . . .
Downloading the GSD file . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring an ABB AC500 PLC . . . . . . . . . . . . . . . . . . . . .
Configuring a Siemens SIMATIC S7 PLC . . . . . . . . . . . . . .
Cyclic data handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
67
68
68
70
70
70
76
79
7. Communication profiles
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIdrive communication profile . . . . . . . . . . . . . . . . . . . . . .
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . .
Control word contents . . . . . . . . . . . . . . . . . . . . . . . . . .
Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . .
State machine for all operating modes. . . . . . . . . . . . . .
State machine for positioning mode. . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References in speed control mode . . . . . . . . . . . . . . . .
References in positioning mode (ACSM1 only) . . . . . . .
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Actual values in speed control mode . . . . . . . . . . . . . . .
Actual values in positioning mode (ACSM1 only) . . . . .
ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . .
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . .
Control word contents . . . . . . . . . . . . . . . . . . . . . . . . . .
Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . .
State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
81
81
83
83
83
86
88
89
90
90
90
91
91
91
92
92
92
94
96
97
97
98
98
8 Table of contents
8. Communication protocol
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
PROFIBUS DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Service access points (SAPs) . . . . . . . . . . . . . . . . . . . . . . 100
Communication start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
PROFIBUS SD2 telegram for Default SAP (0) and
SAP 58-62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Default SAP (SAP 0) (Data_Exchange) . . . . . . . . . . . . 101
SAP 58 (Global_Control) . . . . . . . . . . . . . . . . . . . . . . . 102
SAP 61 (Set_Prm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
SAP 62 (Chk_Cfg) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
SAP 60 (Slave_Diag) . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Other SAPs for DP-V1 communication . . . . . . . . . . . . . . . 113
Cyclical message types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
PPO types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Standard telegram (ST) types (DP-V1) . . . . . . . . . . . . . . . 115
Parameter handling in cyclic communication (DP) . . . . . . . . . . 116
Parameter data transfer examples (DP-V0) . . . . . . . . . . . . 121
Example 1: Reading a drive parameter (or data set) . . 121
Example 2: Writing a drive parameter (or data set) . . . 123
Example 3: Reading a PROFIdrive parameter (word) . 125
Example 4: Writing a PROFIdrive parameter (word) . . 126
Example 5: Reading a PROFIdrive parameter (array) . 127
Example 6: Configuring the process data written to
the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Example 7: Configuring the process data read from
the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
DP-V1 read/write request sequence . . . . . . . . . . . . . . . . . 130
PROFIBUS SD2 telegram for SAP 51 . . . . . . . . . . . . . 131
Parameter data transfer examples (DP-V1) . . . . . . . . . . . . 140
Example 1a: Reading a drive parameter (array
element) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Example 1b: Reading 3 drive parameters
(multi-parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Example 2a: Writing a drive parameter (one array
element) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Table of contents 9
Example 2b: Writing 2 drive parameters
(multi-parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Example 3: Reading a PROFIdrive parameter. . . . . . . 148
Example 4: Configuring the process data written to the
drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Example 5: Determining the source of process data
read from the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
9. Diagnostics
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
10. Technical data
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
FPBA-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
PROFIBUS link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
11. Appendix A – PROFIdrive parameters
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
PROFIdrive parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
12. Appendix B – I&M records
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I&M records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Call-REQ-PDU telegram for read/write access to
I&M records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Response structure for I&M0 (Read-only) . . . . . . . . . . . . .
Response structure for I&M1 (Read/Write) . . . . . . . . . . . .
Response structure for I&M2 (Read/Write) . . . . . . . . . . . .
169
169
170
171
172
172
Further information
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . .
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Providing feedback on ABB Drives manuals . . . . . . . . . . . . . .
Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . .
173
173
173
173
10 Table of contents
Safety 11
Safety
What this chapter contains
The chapter presents the warning symbols used in this manual and
the safety instructions which you must follow when installing an
optional module into a drive, converter or inverter. If ignored,
physical injury or death may follow, or damage may occur to the
equipment. Read this chapter before you start the installation.
12 Safety
Use of warnings
Warnings caution you about conditions which can result in serious
injury or death and/or damage to the equipment and advise on how
to avoid the danger. The following warning symbols are used in
this manual:
Electricity warning warns of hazards from electricity
which can cause physical injury and/or damage to the
equipment.
General warning warns about conditions, other than
those caused by electricity, which can result in physical
injury and/or damage to the equipment.
Safety 13
Safety in installation
These warnings are intended for all who install an optional module
into a drive, converter or inverter.
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, converter or inverter!
•
Disconnect the drive, converter or inverter into which the
module will be installed from all possible power sources. After
disconnecting, always wait for 5 minutes to let the intermediate
circuit capacitors discharge before you proceed.
•
Always ensure by measuring with a multimeter (impedance at
least 1 Mohm) that:
•
•
there is no voltage between the input power terminals of
the drive, converter or inverter and the ground
•
there is no voltage between the output power terminals of
the drive, converter or inverter and the ground.
Do not work on the control cables when power is applied to the
external control circuits of the drive, converter or inverter.
Externally supplied control circuits may carry dangerous
voltage.
14 Safety
About the manual 15
About the manual
What this chapter contains
This chapter introduces this manual.
Applicability
This manual applies to the FPBA-01 PROFIBUS DP adapter
module (+K454), SW version 2.143 or later.
Compatibility
The FPBA-01 PROFIBUS DP adapter module is compatible with
the following drives:
• ACS355
•
•
•
•
ACSM1
ACS850
ACQ810
ACS880.
The FPBA-01 PROFIBUS DP adapter module is compatible with
all master stations that support the PROFIBUS DP-V0 and DP-V1
protocols.
16 About the manual
Target audience
The reader is expected to have a basic knowledge of the fieldbus
interface, electrical fundamentals, electrical wiring practices and
how to operate the drive.
Purpose of the manual
The manual provides information on installing, commissioning and
using an FPBA-01 PROFIBUS DP adapter module.
Related manuals
The related manuals are listed below.
Code (English)
Drive user’s manuals
ACS355 drives (0.37…22 kW,
0.5…30 hp) user’s manual
Drive hardware manuals and
guides
ACSM1-204 regen supply modules
(5.3 to 61 kW) hardware manual
ACSM1-04 drive modules (0.75 to
45 kW) hardware manual
ACSM1-04 drive modules (55 to 110
kW) hardware manual
ACSM1-04Lx liquid-cooled drive
modules (55 to 160 kW) hardware
manual
ACS850-04 (0.37…45 kW)
hardware manual
ACS850-04 (55…160 kW, 75…200
hp) hardware manual
ACS850-04 (200…500 kW,
250…600 hp) hardware manual
ACQ810-04 drive modules
(0.37…45 kW, 0.5…60 hp) hardware
manual
ACQ810-04 drive modules (55 to
160 kW, 75 to 200 hp) hardware
manual
3AUA0000066143
3AUA0000053713
3AFE68797543
3AFE68912130
3AUA0000022083
3AUA0000045496
3AUA0000045487
3AUA0000026234
3AUA0000055160
3AUA0000055161
About the manual 17
Code (English)
3AUA0000055155
ACQ810-04 drive modules
(200…400 kW, 250…600 hp)
hardware manual
ACS880-01 (0.55 to 250 kW, 0.75 to 3AUA0000078093
350 hp) hardware manual
Drive firmware manuals and
guides
ACSM1 motion control program
firmware manual
ACSM1 speed and torque control
program firmware manual
ACSM1 regen supply control
program firmware manual
ACS850 standard control program
firmware manual
ACQ810 standard pump control
program firmware manual
ACS880 primary control program
firmware manual
Option manuals and guides
FPBA-01 PROFIBUS DP adapter
module user’s manual
3AFE68848270
3AFE68848261
3AUA0000052174
3AUA0000045497
3AUA0000055144
3AUA0000085967
3AFE68573271
You can find manuals and other product documents in PDF format
on the Internet. See section Document library on the Internet on
the inside of the back cover. For manuals not available in the
Document library, contact your local ABB representative.
18 About the manual
Before you start
It is assumed that the drive is installed and ready to operate before
you start the installation of the adapter 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 manual.
Contents
The manual consists of the following chapters:
• Safety presents the safety instructions which you must follow
when installing a fieldbus adapter module.
•
•
About the manual introduces this manual.
Overview of the PROFIBUS network and the FPBA-01 module
contains a short description of the PROFIBUS network and the
adapter module.
•
Mechanical installation contains a delivery checklist and
instructions on mounting the adapter module.
•
Electrical installation contains instructions on cabling,
connecting the module to the PROFIBUS network and bus
termination.
•
Start-up presents the steps to take during the start-up of the
drive with the adapter module and gives examples of
configuring the master system.
•
Communication profiles describes the communication profiles
used in the communication between the PROFIBUS network,
the adapter module and the drive.
•
Communication protocol describes the PROFIBUS messaging
used in the communication with the drive and in PROFIBUS
slave device configuration messages.
•
Diagnostics explains how to trace faults with the status LEDs
on the adapter module.
About the manual 19
•
Technical data contains the technical data of the adapter
module and the PROFIBUS link.
•
Appendix A – PROFIdrive parameters contains a list of the
PROFIdrive parameters.
•
Appendix B – I&M records contains the telegram and response
structures for Identification & Maintenance records.
Terms and abbreviations used in this manual
„ General terms and abbreviations
Term/abbreviation
Explanation
Communication module
Communication module is a name for a device
(eg, a fieldbus adapter) through which the drive
is connected to an external communication
network (eg, a fieldbus). The communication
with the module is activated with a drive
parameter.
Command word
See Control word.
Control word
16-bit word from master to slave with bit-coded
control signals (sometimes called the
Command word).
FPBA-01 PROFIBUS
DP adapter module
One of the optional fieldbus adapter modules
available for ABB drives. FPBA-01 is a device
through which an ABB drive is connected to a
PROFIBUS network.
Parameter
Operating instruction for the drive. Parameters
can be read and programmed with the drive
control panel, drive PC tools or through the
adapter module.
PLC
Programmable logic controller
Profile
Adaptation of the protocol for certain application
field, for example, drives.
In this manual, drive-internal profiles (eg, DCU
or FBA) are called native profiles.
Status word
16-bit word from slave to master with bit-coded
status messages
20 About the manual
„ PROFIBUS terms
Term
Explanation
Acyclic communication
Communication in which messages are sent
only once on request
Array
Parameter consisting of data fields of equal
data type
Broadcast
Non-acknowledged message from master to all
bus participants (compare Multicast)
Cyclic communication
Communication in which parameter/process
data objects are sent cyclically at predefined
intervals
Drivecast
Broadcast and Multicast, a special message
frame for drives
Fault
Event that leads to tripping of the device
GSD file
ASCII-format device description file in a
specified form. Each different slave type on the
PROFIBUS network needs to have its own GSD
file.
Index
Access reference for objects in PROFIBUS
Master
Control system with bus initiative. In the
PROFIBUS terminology, master stations are
also called active stations.
Multicast
Non-acknowledged message from master to
one group of bus participants (compare
Broadcast)
Name
Symbolic name of a parameter
Parameter
Value that can be accessed as an object, eg,
variable, constant, signal
Parameter number
Parameter address
Parameter/Process
Special object that contains parameter and
process
Data object
Special object that contains parameter and
process data
About the manual 21
Term
Explanation
Process data
Data that contains Control word and reference
value or Status word and actual value. May also
contain other (user-definable) control
information.
Request label
Coded information specifying the required
service for the parameter part sent from master
to slave
Response label
Coded information specifying the required
service for the parameter part sent from slave to
master
Slave
Passive bus participant. In the PROFIBUS
terminology, slave stations (or slaves) are also
called passive stations. Also referred to as
node.
Warning
Signal caused by an existing alarm which does
not lead to tripping of the device
„ PROFIBUS abbreviations
The text in italics is the original German term.
Abbreviation
Explanation
ACT
Actual value
Istwert
AK
Request label/Response label
Auftragskennung/Antwortkennung
DP
Decentralised Periphery
Dezentrale Peripherie
DP-V0
PROFIBUS DP extension to the EN 50170
standard, providing the basic functionality of DP,
including cyclic data exchange
DP-V1
PROFIBUS DP extension to the EN 50170
standard, including, eg, acyclic data exchange
FMS
Fieldbus Message Specification
ISW
See ACT.
22 About the manual
Abbreviation
Explanation
PA
Process Automation
Prozessautomatisierung
PD
Process data
Prozessdaten
PKE
Parameter identification
Parameter-Kennung
PKW
Parameter identification value
Parameter-Kennung-Wert
PNU
Parameter number
Parameternummer
PPO
Parameter/Process data object
Parameter-/Prozessdaten-Objekt
PWE
Parameter value
Parameter-Wert
PZD
See PD.
PZDO
Process data object
Prozessdatenobjekt
SAP
Service access point
SOW
Reference
Sollwert
SPM
Request signal
Spontanmeldung
STW
Control word
Steuerwort
ZSW
Status word
Zustandswort
Overview of the PROFIBUS network and the FPBA-01 module 23
Overview of the PROFIBUS
network and the FPBA-01
module
What this chapter contains
This chapter contains a short description of the PROFIBUS
network and the FPBA-01 PROFIBUS DP adapter module.
PROFIBUS network
PROFIBUS is an open serial communication standard that enables
data exchange between all kinds of automation components.
There are three main variations of PROFIBUS:
• PROFIBUS FMS (Fieldbus Message Specification)
•
•
PROFIBUS DP (Decentralised Periphery)
PROFIBUS PA (Process Automation).
The physical transmission medium of the bus is a twisted pair
cable (according to the RS-485 standard). The maximum length of
the bus cable is 100 to 1200 meters, depending on the selected
transmission rate (see chapter Technical data). Up to 32 nodes can
be connected to the same PROFIBUS network segment without
the use of repeaters. With repeaters, it is possible to connect 126
nodes (including repeaters and a master station) to the network.
24 Overview of the PROFIBUS network and the FPBA-01 module
In PROFIBUS communication, the master station – usually a
programmable logic controller (PLC) – polls the nodes which
respond and take the actions requested by the master. It is also
possible to send a command to several nodes at the same
broadcast; in this case the nodes do not send a response message
to the master.
The PROFIBUS protocol family is specified in the IEC 61158
standard. The communication with a drive is defined in
PROFIdrive-PROFILE – The PROFIBUS Profile for Adjustable
Speed Drives. For further information on PROFIBUS, refer to the
above-mentioned standard.
Overview of the PROFIBUS network and the FPBA-01 module 25
„ Example topology of the PROFIBUS link
An example of an allowable topology is shown below.
Segment 1
ABB drive
PROFIBUS
master
Other slave
device
T
T
R
T
Segment 2
Other slave
device
ABB drive
T
R
Segment 3
Other slave
device
ABB drive
T
T
R = Repeater
T = Termination
26 Overview of the PROFIBUS network and the FPBA-01 module
FPBA-01 PROFIBUS DP adapter module
The FPBA-01 PROFIBUS DP adapter module is an optional
device for ABB drives which enables the connection of the drive to
a PROFIBUS network. The drive is considered a slave on the
PROFIBUS network.
Through 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
•
•
•
read status information and actual values from the drive
give a process actual value or a process reference to the PID
controller of the drive
change drive parameter values
reset a drive fault.
The PROFIBUS commands and services supported by the adapter
module are described in chapter Communication protocol. Refer to
the user documentation of the drive as to which commands are
supported by the drive.
The adapter module is mounted into an option slot on the motor
control board of the drive. See the drive manuals for module
placement options.
Overview of the PROFIBUS network and the FPBA-01 module 27
„ Layout of the adapter module
Diagnostic LEDs
(see chapter Diagnostics)
Mounting screw
Bus connector X1
(see chapter Electrical
installation)
28 Overview of the PROFIBUS network and the FPBA-01 module
Mechanical installation 29
Mechanical installation
What this chapter contains
This chapter contains a delivery checklist and instructions on
mounting the adapter module.
WARNING! Follow the safety instructions given in this
manual and the drive documentation.
Delivery check
The option package for the adapter module contains:
• PROFIBUS DP adapter module, type FPBA-01
•
this manual.
30 Mechanical installation
Mounting the adapter module
The adapter module 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 electrical connection between the
module and drive frame for cable shield termination.
When the module is installed, 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:
1. Insert the module carefully into its position on the drive.
2. Fasten the screw.
Note: It is essential to install the screw properly to fulfill the EMC
requirements and to ensure the proper operation of the module.
For more information on mounting, see the drive manuals.
Electrical installation 31
Electrical installation
What this chapter contains
This chapter contains:
• general cabling instructions
•
instructions on connecting the module to the PROFIBUS DP
network
•
instructions on switching on the bus termination.
WARNING! Before installation, switch off the drive power
supply. Wait five 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.
32 Electrical installation
Connecting the module to the PROFIBUS network
Connect the bus cable to connector X1 on the adapter module.
The connector pin allocation described below follows the
PROFIBUS standard.
5
1
X1
9
X1
1
Description
SHLD
2
Alternate cable shield connection. Connected to
connector housing.
Not used
3
B
4
RTS
Data positive (Conductor 1 in twisted pair)
Request to send
5
GND_B Isolated ground
6
+5V_B
7
8
Isolated 5 V DC voltage supply (30 mA max.)
Not used
A
9
Housing
6
Data negative (Conductor 2 in twisted pair)
Not used
SHLD
PROFIBUS cable shield. Internally connected to
GND_B via an RC filter and directly to CH_GND
(chassis).
+5V_B and GND_B are used for bus termination.
RTS is used in some equipment to determine the direction of transmission.
In typical applications, only the line A, line B and shield are used.
Electrical installation 33
It is recommended to use a PROFIBUS-approved D-SUB 9
connector. These connectors have a built-in termination network
and inductors for station capacitance compensation.
Red
Green
Red
Green
Connect the cable to the D-SUB connector as follows:
1A 1B 2A 2B
OUT
IN
Grounding (earthing) clamp/
Strain relief
34 Electrical installation
Switching on the bus termination
Bus termination is required to prevent signal reflections from the
bus cable ends. The adapter module is not equipped with internal
bus termination. Therefore, the D-SUB connectors at the first and
last modules of the bus must have built-on termination switched on
as shown in the diagram below.
The adapter module is able to supply power for an active-type
termination circuitry (30 mA max.).
PROFIBUS
device
PROFIBUS
device
PROFIBUS
device
PROFIBUS
device
Term.
Term.
Term.
Term.
OFF
OFF
ON
ON
Note: Further information on PROFIBUS wiring is available from
the publication PROFIBUS RS 485-IS User and Installation
Guideline (www.profibus.com, order no. 2.262).
Start-up 35
Start-up
What this chapter contains
This chapter contains:
• information on configuring the drive for operation with the
adapter module
•
drive-specific instructions on starting up the drive with the
adapter module
•
examples of configuring the master station for communication
with the adapter module.
WARNING! Follow the safety instructions given in this
manual and the drive documentation.
36 Start-up
Drive configuration
The following information applies to all drive types compatible with
the adapter module, unless otherwise stated.
„ PROFIBUS 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 PROFIBUS DP
communication with the drive depends on the drive type. Normally,
a parameter must be adjusted to activate the communication. See
the drive-specific start-up procedures starting on page 48.
Once communication between the drive and the adapter module
has been established, several configuration parameters are copied
to the drive. These parameters are shown in the tables below and
must be checked first and adjusted where necessary.
Note that not all drives display descriptive names for the
configuration parameters. To help you identify the parameters in
different drives, the names displayed by each drive are given in
grey boxes in the tables.
Note: The new settings take effect only when the adapter module
is powered up the next time or when the fieldbus adapter refresh
parameter is activated.
Note: To ensure proper operation of the adapter module with the
drive, also set the extended Parameter Data (see SAP 61
(Set_Prm) on page 103).
Data transfer rates supported
The FPBA-01 module supports the following PROFIBUS
communication speeds: 9.6 kbit/s, 19.2 kbit/s, 45.45 kbit/s,
93.75 kbit/s, 187.5 kbit/s, 500 kbit/s, 1.5 Mbit/s, 3 Mbit/s, 6 Mbit/s,
12 Mbit/s.
The module automatically detects the communication speed and
telegram type used.
Start-up 37
FPBA-01 configuration parameters – group A (group 1)
Note: The actual parameter group number depends on the drive
type. Group A (group 1) corresponds to:
• parameter group 51 in ACS355, ACSM1, ACS850 and
ACQ810
•
parameter group 51 in ACS880 if the adapter is installed as
fieldbus adapter A or group 54 if the adapter is installed as
fieldbus adapter B.
No.
Name/Value
Description
Default
01
FBA TYPE
Read-only. Shows the fieldbus adapter type
as detected by the drive. The value cannot
be adjusted by the user.
If the value is 0 = None, the communication
between the drive and the module has not
been established.
1=
Profibus_DP
02
NODE ADDRESS
Each device on the PROFIBUS network
must have a unique node number. This
parameter defines a node number for the
drive the module is connected to.
Recommended node numbers are 3 to 125
inclusive.
3
ACS355:
FB PAR 2
ACSM1:
FBA PAR2
ACS850/ACQ810:
FBA par2
ACS880:
Node address
03
0…126
Node number
BAUD RATE
Read-only. Indicates the detected
communication speed in kbit/s.
ACS355:
FB PAR 3
ACSM1:
FBA PAR3
ACS850/ACQ810:
FBA par3
ACS880:
Baud rate
1)
Default value is 0 if there is no connection.
12000
12 Mbit/s
6000
6 Mbit/s
3000
3 Mbit/s
1500
1.5 Mbit/s
15001)
38 Start-up
No.
04
Name/Value
Description
500
500 kbit/s
187
187.5 kbit/s
93
93.75 kbit/s
45
45.45 kbit/s
19
19.2 kbit/s
9
9.6 kbit/s
TELEGRAM
TYPE
Read-only. Indicates the telegram type
selected for PROFIBUS communication.
The adapter module automatically detects
the telegram type used.
For more information on the supported PPO
message types, see section PPO types on
page 114.
If standard telegrams (ST) are used,
parameter 05 PROFILE is automatically set.
ACS355:
FB PAR 4
ACSM1:
FBA PAR4
ACS850/ACQ810:
FBA par4
ACS880:
MSG type
1 = PPO1
PPO1 selected
2 = PPO2
PPO2 selected
3 = PPO3
PPO3 selected
4 = PPO4
PPO4 selected
5 = PPO5
PPO5 selected
6 = PPO6
PPO6 selected
7 = ST1
ST1 selected
8 = ST2
ST2 selected. Only supported with ACSM1.
9 = PPO7
PPO7 selected
10 = PPO8
PPO8 selected
Default
1 = PPO1
Start-up 39
No.
Name/Value
Description
Default
05
PROFILE
Selects the communication profile used.
For more information on the communication
profiles, see chapter Communication
profiles.
1 = ABB
DRIVES
ACS355:
FB PAR 5
ACSM1:
FBA PAR5
ACS850/ACQ810:
FBA par5
ACS880:
Profile
06
0 = PROFIdrive
PROFIdrive profile selected. See also
Virtual address allocation with ACSM1 on
page 46.
1 = ABB DRIVES
ABB Drives profile selected
2 = Trans16
Transparent 16 profile selected
3 = Trans32
Transparent 32 profile selected.
Not supported with ACS355.
4 = PROFIdrive P
PROFIdrive positioning mode selected. Only
supported with ACSM1. See also Virtual
address allocation with ACSM1 on page 46.
T16 SCALE
Defines the reference multiplier/actual value
divisor for the adapter module. The
parameter is effective only when the
Transparent 16 profile is selected AND the
drive is using the native communication
profile (for example, DCU or FBA) and a 16bit transparent Reference 1/Actual value 1.
With an ACS355 drive, the speed reference
from the PLC is multiplied by the value of
this parameter plus one. For example, if the
parameter has a value of 99 and a reference
of 1000 given by the master, the reference
will be multiplied by 99 +1 = 100 and
forwarded to the drive as 100000. According
to the DCU profile, this value is interpreted
as a reference of 100 rpm in the drive.
With ACSM1, ACS850, ACQ810 and
ACS880, setting this parameter to 65535
provides the approximation of 1 ≈ 1 rpm.
ACS355:
FB PAR 6
ACSM1:
FBA PAR6
ACS850/ACQ810:
FBA par6
ACS880:
T16 scale
0…65535
Reference multiplier/actual value divisor
99
40 Start-up
No.
Name/Value
Description
Default
07
RPBA MODE
Enables the RPBA emulation mode for the
drive. When this mode is enabled, it is
possible to replace a drive using an RPBA01 module in the PROFIBUS network with a
drive using an FPBA-01 module without
modifying the PLC hardware configuration.
0 = Disabled
ACS355:
FB PAR 7
ACSM1:
FBA PAR7
ACS850/ACQ810:
FBA par7
ACS880:
RPBA mode
0 = Disabled
RPBA emulation mode is disabled.
1 = Enabled
RPBA emulation mode is enabled.
08
…
26
Reserved
These parameters are not used by the
adapter module.
N/A
27
FBA PAR
REFRESH
Validates any changed adapter module
configuration parameter settings. After
refreshing, the value reverts automatically to
0 = Done.
Note: This parameter cannot be changed
while the drive is running.
0 = Done
ACS355/ACSM1:
FBA PAR
REFRESH
ACS850/ACQ810/
ACS880:
FBA par refresh
28
0 = Done
Refreshing done
1 = Refresh /
Configure
Refreshing
PAR TABLE VER
Read-only. Displays the parameter table
revision of the fieldbus adapter module
mapping file stored in the memory of the
drive.
In format xyz, where
x = major revision number
y = minor revision number
z = correction number
OR
in format axyz, where
a = major revision number
xy = minor revision number
z = correction number or letter.
ACS355:
FILE CPI FW REV
ACSM1:
PAR TABLE VER
ACS850/ACQ810/
ACS880:
Par table ver
Parameter table revision
N/A
Start-up 41
No.
Name/Value
Description
Default
29
DRIVE TYPE
CODE
Read-only. Displays the drive type code of
the fieldbus adapter module mapping file
stored in the memory of the drive.
N/A
ACS355:
FILE CONFIG ID
ACSM1:
DRIVE TYPE
CODE
ACS850/ACQ810/
ACS880:
Drive type code
Drive type code of the fieldbus adapter
module mapping file
30
MAPPING FILE
VER
ACS355:
FILE CONFIG
REV
ACSM1:
MAPPING FILE
VER
ACS850/ACQ810/
ACS880:
Mapping file ver
Read-only. Displays the fieldbus adapter
module mapping file revision stored in the
memory of the drive in decimal format.
N/A
Mapping file revision
31
D2FBA COMM
STA
ACS355:
FBA STATUS
ACSM1:
D2FBA COMM
STA
ACS850/ACQ810/
ACS880:
D2FBA comm sta
Read-only. Displays the status of the
fieldbus adapter module communication.
Note: The value names may vary by drive.
0 = Idle
Adapter is not configured.
1 = Exec.init
Adapter is initializing.
2 = Time out
A timeout has occurred in the
communication between the adapter and
the drive.
0 = Idle
OR
4 = Off-line
42 Start-up
No.
32
Name/Value
Description
3 = Conf.err
Adapter configuration error: The major or
minor revision code of the common program
revision in the fieldbus adapter module is
not the revision required by the module or
mapping file upload has failed more than
three times.
4 = Off-line
Adapter is off-line.
5 = On-line
Adapter is on-line.
6 = Reset
Adapter is performing a hardware reset.
FBA COMM SW
VER
Read-only. Displays the common program
revision of the adapter module in format
axyz, where:
a = major revision number
xy = minor revision number
z = correction number or letter.
ACS355:
FBA CPI FW REV
ACSM1:
FBA COMM SW
VER
ACS850/ACQ810:
FBA comm sw ver
ACS880:
FBA comm SW
ver
Default
N/A
Common program version of the adapter
module
33
FBA APPL SW
VER
ACS355:
FBA APPL FW
REV
ACSM1:
FBA APPL SW
VER
ACS850/ACQ810:
FBA appl sw ver
ACS880:
FBA appl SW ver
Read-only. Displays the application
program revision of the adapter module in
format axyz, where:
a = major revision number
xy = minor revision number
z = correction number or letter.
Application program revision of the adapter
module
N/A
Start-up 43
FPBA-01 configuration parameters – group B (group 2)
Note: The actual parameter group number depends on the drive
type. Group B (group 2) corresponds to:
• parameter group 55 in ACS355
•
•
parameter group 53 in ACSM1, ACS850 and ACQ810
parameter group 53 in ACS880 if the adapter is installed as
fieldbus adapter A or group 56 if the adapter is installed as
fieldbus adapter B.
No.1)
Name/Value
Description
Default
01
DATA OUT 1
(master to drive)
Selects data word 1 received by the drive over
the PROFIBUS network. The content is defined
by a decimal number in the range of 0 to 9999
as follows:
1 or 112)
ACS355:
FBA DATA OUT 1
ACSM1:
FBA DATA OUT1
ACS850/ACQ810/
ACS880:
FBA data out1
0
Not used
1…99
Virtual address area of drive control
101…
9999
Parameter area of the drive
See also Virtual address allocation with
ACSM1 on page 46.
0 = None
Not used
1 = CW 16bit
Control word (16 bits)3)
2 = Ref1 16bit
Reference REF1 (16 bits)3)
3 = Ref2 16bit
Reference REF2 (16 bits)3)
11 = CW 32bit
Control word (32 bits)
12 = Ref1 32bit
Reference REF1 (32 bits)
13 = Ref2 32bit
Reference REF2 (32 bits)
21 = CW2 16bit
Control word 2 (16 bits)
101…9999
Parameter index with format xxyy, where
• xx is the parameter group number (1…99)
• yy is the parameter number index within
that group (01…99).
Other
(ACS880 only)
Path to parameter area selection (ACS880
only)
44 Start-up
No.1)
Name/Value
Description
Default
02
DATA OUT 2
See parameter 01 DATA OUT 1.
0 or 24)
03…
12
DATA OUT 3…
DATA OUT 12
See parameter 01 DATA OUT 1.
0
1)
2)
3)
The number of parameters in this group may vary by drive type and drive firmware.
11 (CW 32bit) is the default setting if the Transparent 32 profile is used.
With an ACS355 drive, Control word and REF 1 are always fixed to virtual addresses
1 and 2 respectively. If REF2 is used, its virtual address is always 3.
4) 2 (Ref1 16bit) is a fixed setting with an ACS355 drive.
Start-up 45
FPBA-01 configuration parameters – group C (group 3)
Note: The actual parameter group number depends on the drive
type. Group C (group 3) corresponds to:
• parameter group 54 in ACS355
•
•
parameter group 52 in ACSM1, ACS850 and ACQ810
parameter group 52 in ACS880 if the adapter is installed as
fieldbus adapter A or group 55 if the adapter is installed as
fieldbus adapter B.
No.1)
Name/Value
Description
Default
01
DATA IN 1
(drive to master)
Selects data word 1 sent by the drive over the
PROFIBUS network. The content is defined by
a decimal number in the range of 0 to 9999 as
follows:
4 or 142)
ACS355:
FBA DATA IN 1
ACSM1:
FBA DATA IN1
ACS850/ACQ810/
ACS880:
FBA data in1
0
Not used
1…99
Virtual address area of drive control
101…
9999
Parameter area of the drive
See also Virtual address allocation with
ACSM1 on page 46.
0 = None
Not used
4 = SW 16bit
Status word (16 bits)
5 = Act1 16bit
Actual value ACT1 (16 bits)
6 = Act2 16bit
Actual value ACT2 (16 bits)
14 = SW 32bit
Status word (32 bits)
15 = Act1 32bit
Actual value ACT1 (32 bits)
16 = Act2 32bit
Actual value ACT2 (32 bits)
24 = SW2 16bit
Status word 2 (16 bits)
101…9999
Parameter index with format xxyy, where
• xx is the parameter group number (1…99)
• yy is the parameter number index within
that group (01…99).
Other
(ACS880 only)
Path to parameter area selection (ACS880
only)
46 Start-up
No.1)
Name/Value
Description
Default
02
DATA IN 2
See parameter 01 DATA IN 1.
0 or 53)
03…
12
DATA IN 3…
DATA IN 12
See parameter 01 DATA IN 1.
0
1)
2)
3)
The number of parameters in this group may vary by drive type and drive firmware.
14 (SW 32bit) is the default setting if the Transparent 32 profile is used.
5 (Act1 16bit) is a fixed setting with an ACS355 drive.
Virtual address allocation with ACSM1
When the PROFIdrive profile or PROFIdrive positioning mode is
used with an ACSM1 drive, the virtual addresses shown below are
recommended. (FBA REFx mode is selected with drive parameter
50.04/50.05.)
The information in the table is applicable only if PPO messaging is
used (see parameter 04 TELEGRAM TYPE). If standard telegrams
(STx) are used, virtual addresses for standard telegrams (ST1 and
ST2) are updated automatically.
Abbreviation
Description
Data
length
Recommended virtual
address with ACSM1
FBA REFx modes
Speed
mode
Position
mode
1
STW1
Control word 1
16-bit
1
NSOLL_A
Speed set point A
16-bit
2 or 3
NSOLL_B
Speed set point B
32-bit
12 or 13
STW2
Control word 2
16-bit
21
XSOLL_A
Position set point A
32-bit
12 or 13
VELOCITY_A
Velocity
32-bit
13
ZSW2
Status word 2
16-bit
24
NIST_A
Speed actual value A
16-bit
5 or 6
NIST_B
Speed actual value B
32-bit
15 or 16
ZSW1
Status word 1
16-bit
4
XIST_A
Position actual value A
32-bit
21
24
4
15 or 16
Start-up 47
„ Control locations
ABB drives can receive control information from multiple sources
including digital inputs, analog inputs, the drive control panel and a
communication module (for example, the adapter module). ABB
drives allow the user to separately determine the source for each
type of control information (Start, Stop, Direction, Reference, Fault
reset, etc.).
In order to give the fieldbus master station the most complete
control over the drive, the communication module must be
selected as the source for this information. The drive-specific
parameter setting examples below contain the drive control
parameters needed in the examples. For a complete parameter
list, see the drive documentation.
48 Start-up
Starting up ACS355 drives
1. Power up the drive.
2. Enable the communication between the adapter module and
the drive by setting parameter 9802 COMM PROT SEL to EXT
FBA.
3. Set the FPBA-01 configuration parameters in group 51. At the
minimum, set the required node address in parameter 5102
and the communication profile in 5105.
4. With parameter 3018 COMM FAULT FUNC, select how the
drive reacts to a fieldbus communication break.
5. With parameter 3019 COMM FAULT TIME, define the time
between communication break detection and the selected
action.
6. Define the process data transferred to and from the drive in the
FPBA-01 configuration parameter groups 54 and 55.
Note: The adapter module sets the Status word and actual
value automatically in parameters 5401 and 5402, and Control
word and reference in parameters 5501 and 5502.
7. Validate the settings made in parameter groups 51, 54 and 55
by setting parameter 5127 FBA PAR REFRESH to REFRESH.
8. Set the relevant drive control parameters to control the drive
according to the application.Examples of appropriate values
are shown in the tables below.
Start-up 49
„ Parameter setting examples – ACS355
Speed control using the PROFIdrive communication profile
with PPO Type 2
This example shows how to configure a basic speed control
application that uses the PROFIdrive profile. In addition, some
application-specific data is added to the communication.
The start/stop commands and reference are according to the
PROFIdrive profile. For more information, see the PROFIdrive
state machine on page 88.
The reference value ±16384 (4000h) corresponds to parameter
1105 REF1 MAX in the forward and reverse directions.
Direction
PZD1
PZD2
PZD3
PZD4
Out
Control
word
Speed
reference
Acceleration time1)
In
Status
word
Speed
actual value
Power1)
1)
PZD5
PZD6
Deceleration time
N/A
N/A
DC bus
voltage
N/A
N/A
Example
The table below gives the recommended drive parameter settings
Drive parameter
Setting for
ACS355 drives
Description
9802 COMM PROT SEL
4 = EXT FBA
Enables communication between
the drive and the fieldbus adapter
module.
5101 FBA TYPE
PROFIBUS-DP1)
Displays the type of the fieldbus
adapter module.
5102 FB PAR 2
(NODE ADDRESS)
32)
Defines the PROFIBUS node
address of the fieldbus adapter
module.
5103 FB PAR 3
(BAUD RATE)
120001)
Displays the current baud rate on
the PROFIBUS network in kbit/s.
5104 FB PAR 4
(TELEGRAM TYPE)
2 (= PPO2)1)
Displays the telegram type
selected by the PLC configuration
tool.
5105 FB PAR 5
(PROFILE)
0 (= PROFIdrive)
Selects the Control word
according to the PROFIdrive
profile (speed control mode).
50 Start-up
Drive parameter
Setting for
ACS355 drives
Description
3018 COMM FAULT FUNC
3 = LAST SPEED
Enables fieldbus communication
fault monitoring.
3019 COMM FAULT TIME
3.0 s
Defines the fieldbus
communication break supervision
time.
5401 FBA DATA IN 1
4 (= SW 16bit)1)
Status word
5402 FBA DATA IN 2
5 (= Act1 16bit)1)
Actual value 1 (speed)
5403 FBA DATA IN 3
1062)
Power
5404 FBA DATA IN 4
1072)
DC bus voltage
5501 FBA DATA OUT 1
1 (= CW 16bit)1)
Control word
5502 FBA DATA OUT 2
2 (= Ref1 16bit)1)
Reference 1 (speed)
5503 FBA DATA OUT 3
22022)
Acceleration time
5504 FBA DATA OUT 4
22032)
Deceleration time
5127 FBA PAR REFRESH
1 = REFRESH
Validates the FPBA-01
configuration parameter settings.
1001 EXT1 COMMANDS
10 = COMM
Selects the fieldbus interface as
the source of the start and stop
commands for external control
location 1.
1103 REF1 SELECT
8 = COMM
Selects the fieldbus reference 1 as
the source for speed reference 1.
1601 RUN ENABLE
7 = COMM
Selects the fieldbus interface as
the source for the inverted Run
enable signal (Run disable).
1604 FAULT RESET SEL
8 = COMM
Selects the fieldbus interface as
the source for the fault reset
signal.
1)
Read-only
2) Example
or automatically detected/set
Start-up 51
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)
Speed and torque control using the ABB Drives
communication profile with PPO Type 4
This example shows how to configure a speed and torque control
application that uses the ABB Drives profile. From the PLC
programming point, the ABB Drives profile is similar to the
PROFIdrive profile shown in the first example.
The start/stop commands and reference are according to the ABB
Drives profile. For more information, see section ABB Drives
communication profile on page 92.
When Reference 1 (REF1) is used, a reference value of ±20000
(decimal) corresponds to the reference set by parameter 1105
REF1 MAX in the forward and reverse directions.
When Reference 2 (REF2) is used, a reference value of ±10000
(decimal) corresponds to the reference set by parameter 1108
REF2 MAX in the forward and reverse directions.
The minimum and maximum 16-bit integer values that can be
given through the fieldbus are -32768 and 32767 respectively.
Direction
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
Out
Control
word
Speed
reference
Torque
reference
N/A
N/A
N/A
In
Status word
Speed actual
value
Torque
actual
N/A
N/A
N/A
52 Start-up
The table below gives the recommended drive parameter settings.
Drive parameter
Setting for
ACS355 drives
Description
9802 COMM PROT SEL
4 = EXT FBA
Enables communication between
the drive and the fieldbus adapter
module.
5101 FBA TYPE
PROFIBUS-DP1)
Displays the type of the fieldbus
adapter module.
5102 FB PAR 2
(NODE ADDRESS)
42)
Defines the PROFIBUS node
address of the fieldbus adapter
module.
5103 FB PAR 3
(BAUD RATE)
15001)
Displays the current baud rate on
the PROFIBUS network in kbit/s.
5104 FB PAR 4
(TELEGRAM TYPE)
4 (= PPO4)1)
Displays the telegram type
selected by the PLC configuration
tool.
5105 FB PAR 5
(PROFILE)
1 (= ABB DRIVES)
Selects the Control word
according to the ABB Drives
profile.
3018 COMM FAULT FUNC
3 = LAST SPEED
Enables fieldbus communication
fault monitoring.
3019 COMM FAULT TIME
3.0 s
Defines the fieldbus
communication break supervision
time.
5401 FBA DATA IN 1
4 (= SW 16bit)1)
Status word
5402 FBA DATA IN 2
5 (= Act1 16bit)1)
Actual value 1 (speed)
5403 FBA DATA IN 3
6 (= Act2 16bit)2)
Actual value 2 (torque)
5501 FBA DATA OUT 1
1 (= CW 16bit)1)
Control word
5502 FBA DATA OUT 2
2 (= Ref1 16bit)1)
Reference 1 (speed)
5503 FBA DATA OUT 3
3 (= Ref2 16bit)2)
Reference 2 (torque)
5127 FBA PAR REFRESH
1 = REFRESH
Validates the FPBA-01
configuration parameter settings.
9904 MOTOR CTRL
MODE
2 = VECTOR:
TORQ
Selects the vector control mode as
the motor control mode.
Start-up 53
Drive parameter
Setting for
ACS355 drives
Description
1001 EXT1 COMMANDS
10 = COMM
Selects the fieldbus interface as
the source of the start and stop
commands for external control
location 1.
1002 EXT2 COMMANDS
10 = COMM
Selects the fieldbus interface as
the source of the start and stop
commands for external control
location 2.
1102 EXT1/EXT2 SEL
8 = COMM
Enables external control location
1/2 selection through the fieldbus.
1103 REF1 SELECT
8 = COMM
Selects the fieldbus reference 1 as
the source for speed reference 1.
1106 REF2 SELECT
8 = COMM
Selects the fieldbus reference 2 as
the source for speed reference 1.
1601 RUN ENABLE
7 = COMM
Selects the fieldbus interface as
the source for the inverted Run
enable signal (Run disable).
1604 FAULT RESET SEL
8 = COMM
Selects the fieldbus interface as
the source for the fault reset
signal.
1) Read-only
2) Example
or automatically detected/set
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)
54 Start-up
Starting up ACSM1 drives
1. Power up the drive.
2. Enable the communication between the adapter module and
the drive by setting parameter 50.01 FBA ENABLE to Enable.
3. With parameter 50.02 COMM LOSS FUNC, select how the
drive reacts to a fieldbus communication break.
Note that this function monitors both communication between
the fieldbus master and the adapter module and
communication between the adapter module and the drive.
4. With parameter 50.03 COMM LOSS T OUT, define the time
between communication break detection and the selected
action.
5. Select application-specific values for parameters
50.04…50.11. Examples of appropriate values are shown in
the tables below.
6. Set the FPBA-01 configuration parameters in group 51. At the
minimum, set the required node address in parameter 51.02
and the communication profile in 51.05.
7. Define the process data transferred to and from the drive in the
FPBA-01 configuration parameter groups 52 and 53.
Note: The adapter module sets the Status word and Control
word automatically in parameters 52.01 and 53.01.
8. Validate the settings made in parameter groups 51, 52 and 53
by setting parameter 51.27 FBA PAR REFRESH to REFRESH.
9. Set the relevant drive control parameters to control the drive
according to the application.Examples of appropriate values
are shown in the tables below.
Start-up 55
„ Parameter setting examples – ACSM1
Speed control using the PROFIdrive communication profile
with PPO Type 2
This example shows how to configure a basic speed control
application that uses the PROFIdrive profile. In addition, some
application-specific data is added to the communication.
The start/stop commands and reference are according to the
PROFIdrive profile, speed control mode. For more information, see
the PROFIdrive state machine on page 88.
The reference value ±16384 (4000h) corresponds to parameter
25.02 SPEED SCALING in the forward and reverse directions.
Direction
PZD1
PZD2
Out
Control
word
Speed
reference
In
Status
word
Speed actual
value
1)
PZD3
PZD4
PZD5
PZD6
Acceleration time1)
Deceleration time1)
Power1)
DC bus voltage1)
Example
The table below gives the recommended drive parameter settings.
Drive parameter
Setting for
ACSM1 drives
Description
50.01 FBA ENABLE
Enable
Enables communication between
the drive and the fieldbus adapter
module.
50.02 COMM LOSS FUNC
Last speed
Enables fieldbus communication
fault monitoring.
50.03 COMM LOSS T OUT
3.0 s
Defines the fieldbus
communication break supervision
time.
50.04 FBA REF1
MODESEL
Speed
Selects the fieldbus reference 1
scaling.
51.01 FBA TYPE
PROFIBUS-DP1)
Displays the type of the fieldbus
adapter module.
51.02 FBA PAR2
(NODE ADDRESS)
32)
Defines the PROFIBUS node
address of the fieldbus adapter
module.
56 Start-up
Drive parameter
Setting for
ACSM1 drives
Description
51.03 FBA PAR3
(BAUD RATE)
120001)
Displays the current baud rate on
the PROFIBUS network in kbit/s.
51.04 FBA PAR4
(TELEGRAM TYPE)
2 (= PPO2)1)
Displays the telegram type
selected by the PLC configuration
tool.
51.05 FBA PAR5
(PROFILE)
0 (= PROFIdrive)
Selects the Control word according
to the PROFIdrive profile (speed
control mode).
52.01 FBA DATA IN1
4 (= SW 16bit)1)
Status word
52.02 FBA DATA IN2
5 (= Act1 16bit)
Actual value 1 (speed)
52.03 FBA DATA IN3
1222)
Power
52.05 FBA DATA IN5
1072)
DC bus voltage
53.01 FBA DATA OUT1
1 (= CW 16bit)1)
Control word
53.02 FBA DATA OUT2
2 (= Ref1 16bit)
Reference 1 (speed)
53.03 FBA DATA OUT3
25032)
Acceleration time
53.05 FBA DATA OUT5
25042)
Deceleration time
51.27 FBA PAR REFRESH
REFRESH
Validates the FPBA-01
configuration parameter settings.
10.01 EXT1 START FUNC
FBA
Selects the fieldbus interface as
the source of the start and stop
commands for external control
location 1.
24.01 SPEED REF1 SEL
FBA REF1
Selects the fieldbus reference 1 as
the source for speed reference 1.
34.03 EXT1 CTRL MODE1
Speed
Selects speed control as the
control mode 1 for external control
location 1.
1) Read-only
2)
Example
or automatically detected/set
Start-up 57
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)
Position control using the PROFIdrive communication profile
with PPO Type 4
This example shows how to configure a basic positioning
application. The start/stop commands and reference are according
to the PROFIdrive profile, positioning mode. For more information,
see the PROFIdrive state machine on page 89.
Note: By default, fieldbus is not the only control source. See actual
signal 02.12 FBA MAIN CW in ACSM1 motion control program
firmware manual for details.
The position set point and velocity reference are defined as 32-bit
integer values; both are scaled as defined by drive parameter
settings.
Direction
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
Out
Control word
(STW1)
Position set point
Velocity reference
N/A
In
Status word
(ZSW1)
Position actual
value
Velocity actual value
N/A
The table below gives the recommended drive parameter settings.
Drive parameter
Setting for ACSM1
drives
Description
50.01 FBA ENABLE
Enable
Enables communication between the
drive and the fieldbus adapter
module.
50.02 COMM LOSS
FUNC
Fault
Enables fieldbus communication
fault monitoring.
50.03 COMM LOSS T
OUT
3.0 s
Defines the fieldbus communication
break supervision time.
50.04 FBA REF1
MODESEL
Position
Selects the fieldbus reference 1
scaling.
58 Start-up
Drive parameter
Setting for ACSM1
drives
Description
50.05 FBA REF2
MODESEL
Velocity
Selects the fieldbus reference 2
scaling.
51.01 FBA TYPE
PROFIBUS-DP1)
Displays the type of the fieldbus
adapter module.
51.02 FBA PAR2
(NODE ADDRESS)
32)
Defines the PROFIBUS node
address of the fieldbus adapter
module.
51.03 FBA PAR3
(BAUD RATE)
120001)
Displays the current baud rate on the
PROFIBUS network in kbit/s.
51.04 FBA PAR4
(TELEGRAM TYPE)
4 (= PPO4)1)
Displays the telegram type selected
by the PLC configuration tool.
51.05 FBA PAR5
(PROFILE)
4 (= PROFIdrive P)
Selects the Control word according
to the PROFIdrive positioning mode.
52.01 FBA DATA IN1
4 (= SW 16bit)1)
Status word
52.02 FBA DATA IN2
15 (= Act1 32bit)
Actual value 1
52.04 FBA DATA IN4
16 (= Act2 32bit)
Actual value 2
53.01 FBA DATA OUT1
1 (= CW 16bit)1)
Control word
53.02 FBA DATA OUT2
12 (= Ref1 32bit)
Reference 1
53.04 FBA DATA OUT4
13 (= Ref2 32bit)
Reference 2
51.27 FBA PAR
REFRESH
REFRESH
Validates the FPBA-01 configuration
parameter settings.
10.01 EXT1 START
FUNC
FBA
Selects the fieldbus interface as the
source of the start and stop
commands for external control
location 1.
22.01 SPEED FB SEL
Enc1 speed2)
Selects the actual speed measured
by encoder 1 as the speed feedback.
34.02 EXT1 MODE
1/2SEL
P.FBA MAIN CW.26
Selects the source for external 1
control mode 1/2 selection. Selection
is done by START_HOMING bit (bit
26 in the fieldbus Control word).
Mode 1: Position, Mode 2: Homing
34.03 EXT1 CTRL
MODE1
Position
Selects position control as the
control mode 1 for external control
location 1.
Start-up 59
Drive parameter
Setting for ACSM1
drives
Description
34.04 EXT1 CTRL
MODE2
Homing
Selects homing control as the control
mode 2 for external control location
1.
62.01 HOMING
METHOD
CAN Methodxx
Selects the homing mode. Select the
appropriate CAN Method.
62.03 HOMING START
C.False
Selects the fieldbus as the homing
start source.
65.01 POS
REFSOURCE
Fieldbus
Position reference and speed are
read from the fieldbus.
65.03 POS START 1
C.False
Selects the fieldbus as the position
start1 source.
65.04 POS REF 1 SEL
FBA REF 1
Selects the FBA reference 1 as the
position reference source.
65.11 POS START 2
C.False
Selects the fieldbus as the position
start2 source.
65.22 PROF VEL REF
SEL
FBA REF2
Selects the FBA reference 2 as the
velocity reference source.
66.05 POS ENABLE
C.False
Selects the fieldbus as the source for
enabling the position reference
generator.
70.03 POS REF ENA
C.False
Selects the fieldbus as the source for
the position reference enable
command.
1)
Read-only
2)
or automatically detected/set
Example
The position set point is scaled as follows:
Drive parameter
Setting
60.05 POS UNIT (Position unit)
m1)
60.08 POS2INT SCALE
1001)
1)
Example
60 Start-up
The position set point and actual values are scaled with the above
example values as follows:
1000 / 100 = 10.00
m
60.05 POS UNIT
Physical value
60.06 POS2INT SCALE
Set point value
Example for velocity set point scale:
Drive
parameter
Name
Value
Description
60.10
POS SPEED UNIT
u/s1)
Unit/s (in this case m/s)
60.11
POS SPEED2INT
1001)
Scales position speed values to
integer values.
Selections:
1/10/100/1000/10000/100000
1)
Example
The velocity set point and actual values are scaled with the above
example values as follows:
1000 / 100 = 10.00
m
60.10 POS SPEED UNIT
Physical value
60.11 POS SPEED2INT
Set point value
Pay attention to the following parameter groups:
Group
Description
90
Encoder selection
91/92/93
Settings of the encoder
Start-up 61
The start sequence for the above parameter example is given
below:
Control word:
• 406h (1030 decimal) –> READY TO SWITCH ON
•
•
40Fh (1039 decimal) –> OPERATING
•
47Fh (1151 decimal) –> OPERATING (Activate traversing
task)
•
C0Fh (3087 decimal) –> OPERATING (Start Homing
procedure)
43Fh (1087 decimal) –> OPERATING (Do reject traversing
task with no intermediate stop)
Speed and torque control using the ABB Drives
communication profile with PPO Type 4
This example shows how to configure a speed and torque control
application that uses the ABB Drives profile. From the PLC
programming point, the ABB Drives profile is similar to the
PROFIdrive profile shown in the first example.
The start/stop commands and reference are according to the ABB
Drives profile. For more information, see section ABB Drives
communication profile on page 92.
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
PZD2
PZD3
PZD4
PZD5
PZD6
Out
Control
word
Speed
reference
Torque
reference
N/A
N/A
N/A
In
Status
word
Speed actual
value
Torque actual
N/A
N/A
N/A
62 Start-up
The table below gives the recommended drive parameter settings.
Drive parameter
Setting for ACSM1
drives
Description
50.01 FBA ENABLE
Enable
Enables communication between the
drive and the fieldbus adapter
module.
50.02 COMM LOSS
FUNC
Fault
Enables fieldbus communication fault
monitoring.
50.03 COMM LOSS T
OUT
3.0 s
Defines the fieldbus communication
break supervision time.
50.04 FBA REF1
MODESEL
Speed
Selects the fieldbus reference 1
scaling.
50.05 FBA REF2
MODESEL
Torque
Selects the fieldbus reference 2
scaling.
51.01 FBA TYPE
PROFIBUS-DP1)
Displays the type of the fieldbus
adapter module.
51.02 FBA PAR2
(NODE ADDRESS)
32)
Defines the PROFIBUS node
address of the fieldbus adapter
module.
51.03 FBA PAR3
(BAUD RATE)
120001)
Displays the current baud rate on the
PROFIBUS network in kbit/s.
51.04 FBA PAR4
(TELEGRAM TYPE)
4 (= PPO4)1)
Displays the telegram type selected
by the PLC configuration tool.
51.05 FBA PAR5
(PROFILE)
1 (= ABB DRIVES)
Selects the Control word according to
the ABB Drives profile.
52.01 FBA DATA IN1
4 (= SW 16bit)1)
Status word (PZD 1)
52.02 FBA DATA IN2
5 (= Act1 16bit)2)
Actual value 1
52.03 FBA DATA IN3
6 (= Act2 16bit)2)
Actual value 2
53.01 FBA DATA OUT1
1 (= CW 16bit1)
Control word
53.02 FBA DATA OUT2
2 (= Ref1 16bit2)
Reference 1
53.03 FBA DATA OUT3
3 (= Ref2 16bit2)
Reference 2
51.27 FBA PAR
REFRESH
REFRESH
Validates the FPBA-01 configuration
parameter settings.
10.01 EXT1 START
FUNC
FBA
Selects the fieldbus interface as the
source of the start and stop
commands for external control
location 1.
Start-up 63
Drive parameter
Setting for ACSM1
drives
Description
10.04 EXT2 START
FUNC
FBA
Selects the fieldbus interface as the
source of the start and stop
commands for external control
location 2.
24.01 SPEED REF1
SEL
FBA REF1
Selects the fieldbus reference 1 as
the source for speed reference 1.
32.02 TORQ REF ADD
SEL
FBA REF2
Selects the fieldbus reference 2 as
the source for torque reference 1.
34.01 EXT1/EXT2 SEL
P.FBA MAIN CW.15
Enables external control location 1/2
selection through the fieldbus only
(bit 15 in the fieldbus Control word).
34.03 EXT1 CTRL
MODE1
Speed
Selects speed control as the control
mode 1 for external control location 1.
34.05 EXT2 CTRL
MODE1
Torque
Selects torque control as the control
mode 1 for external control location 2.
1) Read-only
2) Example
or automatically detected/set
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)
64 Start-up
Starting up ACS850 and ACQ810 drives
1. Power up the drive.
2. Enable the communication between the adapter module and
the drive by setting parameter 50.01 FBA enable to Enable.
3. With parameter 50.02 Comm loss func, select how the drive
reacts to a fieldbus communication break.
Note that this function monitors both communication between
the fieldbus master and the adapter module and
communication between the adapter module and the drive.
4. With parameter 50.03 Comm loss t out, define the time
between communication break detection and the selected
action.
5. Select application-specific values for parameters
50.04…50.11. Examples of appropriate values are shown in
the tables below.
6. Set the FPBA-01 configuration parameters in group 51. At the
minimum, set the required node address in parameter 51.02
and the communication profile in 51.05.
7. Define the process data transferred to and from the drive in the
FPBA-01 configuration parameter groups 52 and 53.
Note: The adapter module sets the Status word and Control
word automatically in parameters 52.01 and 53.01.
8. Validate the settings made in parameter groups 51, 52 and 53
by setting parameter 51.27 FBA par refresh to Refresh.
9. Set the relevant drive control parameters to control the drive
according to the application.Examples of appropriate values
are shown in the tables below.
Start-up 65
„ Parameter setting examples – ACS850 and ACQ810
Speed control using the PROFIdrive communication profile
with PPO Type 2
This example shows how to configure a basic speed control
application that uses the PROFIdrive profile. In addition, some
application-specific data is added to the communication.
The start/stop commands and reference are according to the
PROFIdrive profile, speed control mode. For more information, see
the PROFIdrive state machine on page 88.
The reference value ±16384 (4000h) corresponds to parameter
19.01 Speed scaling in the forward and reverse directions.
Direction
PZD1
PZD2
Out
Control
word
Speed
reference
Acceleration
time1)
Deceleration time1)
In
Status
word
Speed actual
value
Power1)
DC bus voltage1)
1)
PZD3
PZD4
PZD5
PZD6
Example
The table below gives the recommended drive parameter settings.
Drive parameter
Setting for
ACS850/ACQ810
drives
Description
50.01 Fba enable
Enable
Enables communication between
the drive and the fieldbus adapter
module.
50.02 Comm loss func
Fault
Enables fieldbus communication
fault monitoring.
50.03 Comm loss t out
3.0 s
Defines the fieldbus
communication break supervision
time.
50.04 Fb ref1 modesel
Speed
Selects the fieldbus reference 1
scaling.
51.01 FBA type
Profibus-DP1)
Displays the type of the fieldbus
adapter module.
51.02 FBA par2
(NODE ADDRESS)
32)
Defines the PROFIBUS node
address of the fieldbus adapter
module.
66 Start-up
Drive parameter
Setting for
ACS850/ACQ810
drives
Description
51.03 FBA par3
(BAUD RATE)
120001)
Displays the current baud rate on
the PROFIBUS network in kbit/s.
51.04 FBA par4
(TELEGRAM TYPE)
2 (= PPO2)1)
Displays the telegram type selected
by the PLC configuration tool.
51.05 FBA par5
(PROFILE)
0 (= PROFIdrive)
Selects the Control word according
to the PROFIdrive profile (speed
control mode).
52.01 FBA data in1
4 (= SW 16bit)1)
Status word
52.02 FBA data in2
5 (= Act1 16bit)
Actual value 1 (speed)
52.03 FBA data in3
1222)
Power (32-bit)
52.05 FBA data in5
1072)
DC bus voltage (32-bit)
53.01 FBA data out1
1 (= CW 16bit)1)
Control word
53.02 FBA data out2
2 (= Ref1 16bit)
Reference 1 (speed)
53.03 FBA data out3
22022)
Acceleration time (32-bit)
53.05 FBA data out5
22032)
Deceleration time (32-bit)
51.27 FBA par refresh
Refresh
Validates the FPBA-01
configuration parameter settings.
10.01 Ext1 start func
FB
Selects the fieldbus interface as the
source of the start and stop
commands for external control
location 1.
21.01 Speed ref1 sel
(ACS850)
21.01 Speed ref sel
(ACQ810)
FBA ref1
Selects the fieldbus reference 1 as
the source for speed reference 1.
1)
Read-only
2)
FBA ref1
or automatically detected/set
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)
Start-up 67
Starting up ACS880 drives
1. Power up the drive.
2. Enable the communication between the adapter module and
the drive by setting parameter 50.01 FBA A Enable to Enable.
3. With parameter 50.02 FBA A comm loss func, select how the
drive reacts to a fieldbus communication break.
Note that this function monitors both communication between
the fieldbus master and the adapter module and
communication between the adapter module and the drive.
4. With parameter 50.03 FBA A comm loss t out, define the time
between communication break detection and the selected
action.
5. Select application-specific values for the rest of the parameters
in group 50, starting from 50.04. Examples of appropriate
values are shown in the tables below.
6. Set the FPBA-01 configuration parameters in group 51. At the
minimum, set the required node address in parameter 51.02
Node address and the communication profile in 51.05 Profile.
7. Define the process data transferred to and from the drive in
FPBA-01 configuration parameter groups 52 and 53.
Note: The adapter module sets the Status word and Control
word automatically in parameters 52.01 and 53.01.
8. Save the valid parameter values to permanent memory by
setting parameter 96.07 Param save to Save.
9. Validate the settings made in parameter groups 51, 52 and 53
by setting parameter 51.27 FBA par refresh to Configure.
10. Set the relevant drive control parameters to control the drive
according to the application. Examples of appropriate values
are shown in the tables below.
68 Start-up
„ Parameter setting examples – ACS880
Speed control using the PROFIdrive communication profile
with PPO Type 2
This example shows how to configure a basic speed control
application that uses the PROFIdrive profile.
The start/stop commands and reference are according to the
PROFIdrive profile, speed control mode. For more information, see
the PROFIdrive state machine on page 88.
The reference value ±16384 (4000h) corresponds to parameter
46.10 Speed scaling in the forward and reverse directions.
Direction
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
Out
Control word
Speed reference
Acc time 1
Dec time 1
In
Status word
Speed actual
value
Motor current
DC voltage
The table below gives the recommended drive parameter settings.
Drive parameter
Setting for
ACS880 drives
Description
50.01 FBA A Enable
1 = Enable
Enables communication between the
drive and the fieldbus adapter
module.
50.04 FBA A ref1 type
4 = Speed
Selects the fieldbus A reference 1
type and scaling.
50.07 FBA A act1 type
0 = Auto
Selects the actual value type and
scaling according to the currently
active Ref1 mode defined in
parameter 50.04.
51.01 FBA TYPE
1 = Profibus_DP1)
Displays the type of the fieldbus
adapter module.
51.02 Node address
32)
Defines the PROFIBUS node address
of the fieldbus adapter module.
51.03 Baud rate
120001)
Displays the current baud rate on the
PROFIBUS network in kbit/s.
51.04 MSG type
1 = PPO11)
Displays the telegram type selected
by the PLC configuration tool.
Start-up 69
Drive parameter
Setting for
ACS880 drives
Description
51.05 Profile
0 = PROFIdrive
Selects the Control word according to
the PROFIdrive profile (speed control
mode).
51.07 RPBA mode
0 = Disabled
Disables the RPBA emulation mode.
52.01 FBA data in1
4 = SW 16bit1)
Status word
52.02 FBA data in2
5 = Act1 16bit
Actual value 1
52.03 FBA data in3
P.1.72)
Motor current
52.05 FBA data in5
P.1.112)
DC voltage
53.01 FBA data out1
1 = CW 16bit1)
Control word
53.02 FBA data out2
2 = Ref1 16bit
Reference 1 (speed)
53.03 FBA data out3
P.23.122)
Acc time 1
53.05 FBA data out5
P.23.132)
Dec time 1
51.27 FBA par refresh
1 = Configure
Validates the FPBA-01 configuration
parameter settings.
19.12 Ext1 ctrl mode1
2 = Speed
Selects speed control as the control
mode 1 for external control location 1.
20.01 Ext1 commands
8 = Fieldbus A
Selects the fieldbus A interface as the
source of the start and stop
commands for external control
location 1.
22.11 Speed ref1
selection
FB A ref1
Selects the fieldbus A reference 1 as
the source for speed reference 1.
1)
Read-only
2)
or automatically detected/set
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)
70 Start-up
Configuring the master station
After the adapter module has been initialized by the drive, the
master station must be prepared for communication with the
module. Examples of an ABB AC500 PLC and Siemens SIMATIC
S7 PLC are given below. If you are using another master system,
refer to its documentation for more information.
The examples can be applied to all drive types compatible with the
module.
„ Downloading the GSD file
Configuration of the master station requires a type definition (GSD)
file.Downloadthe FPBA-01 GSD file from the Document library
(www.abb.com/drives).
• For DP-V0 communication, the file name is ABB_0959.GSD.
•
For DP-V1 communication, the file name is ABB10959.GSD.
The GSD file describes the vendor-specific and PROFIdrivespecific features of the adapter module. Vendor-specific features
can be used, for example, in the ABB Drives communication
profile. The PROFIdrive profile supports a set of services
described in the PROFIdrive specification.
„ Configuring an ABB AC500 PLC
This example shows how to configure the communication between
an ABB AC500 PLC and the adapter module using the Control
Builder Plus PS501 software, version 2.1.0 and later.
Before you start, make sure that you have downloaded the FPBA01 GSD file from the Document library.
Start-up 71
1. Start the ABB Control Builder software.
2. On the Tools menu, select Device Repository.
3. In the window that opens, click Install... and browse for the
GSD file.
4. Open or create the PLC project that is used to control the
drive.
5. Add the CM572-DP PROFIBUS master device to the PLC
project, if necessary.
6. Add the FPBA-01 module to the PROFIBUS network.
7. Add the DP module, for example, PPO Type 4 to the FPBA-01
module to define cyclical communication between the adapter
module and the PLC.
72 Start-up
8. Define the CM572-DP master properties, such as the Baud
rate, Node address (Station address) and the Highest station
address.
•X
-
FPBA-Ol_mdiiWI_exdmp/e
(ffj ACSOO_PMS83_ETH_V2_1 (ACSOO
AC500
CPU_parameters (CPU parameters)
• 10_Bus (I/O-Bus)
+ €:) Interfaces (Interfaces)
Communication_modules 1'-0mmuno<:<KI!>~
+ ~ PMSx1_ETH_Onboard_Ethernet
CM572_DP (CM572-DP)
i!'ln
EJ
Identification
Mode
Highest station address:
- 1ft
Ct!l
- Cj
C
C
C
CMS72_Master
!CI"I57<~-M~•sterl
r
:±i
Station adchss:
Auto-Clear mocle
±I
126
Bus parameters
Baudrate:
- zeJ ~~··-~ ..~··J
Slot time:
TA524 _Siot2 (Dummy module)
TA524 _Siot3 (Dummy module)
TA524 _Siot4 (Dummy module)
~
11500
kllit/s
Taroet rotation time:
300
t6it
Min. TSDR:
11
tBit
Max. TSDR:
150
tBit
0
t6it
GAP update factor:
tBit
Max. retry limi::
Quiet time:
Setup time:
Bus morOtoring
8.3933 ms
10
Calc.Aated timing
Data control time:
120
ms
Tid!:
37 tBit
Min slave interval:
2000
IJS
Tid2:
150 tBit
10
ms
Poll timeout:
12590 t6it
Edit parameter
values
Set defau~ values
...
l~essages
~iption
Project
j <D Data has been skipped while...
Precompile:
Q.
X
0 0 error(s) <D 1 warnin<J(s) G 0 messaoe(s)
Save Project
0
I Object
Position
FPBA-OI_Inarual_ex ... ACSOO [ACSOO_PMS...
No <or inyo!idl aop!ication defined for !/0 hardng. !/0
Current user: (nobody)
Start-up 73
9. Define the FPBA-01 properties:
On the DP-Parameters tab,
•
select the Node address (Station address) and the DP
Mode
•
configure the Fail-safe functionality.
I-_.....__ ___:'----~.....__C_M_S7_2..:-:..M_a_st_e_,
r
lffj
I
DP-Parameters JStatus Information
r identification
I
Station address:
ABB_Drives_FPBA_O l_DP_ V 1 .___ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _...
_ X_
I
r
Watchdog
r Parameter
4
!dent number: Jox0959
:::B
_j
I
T_SDR (tBit):
II
j3
~ Watchdog control
Lock/Unlock: J 2 (Lock)
Tfme (ms):
400
Groups ...
User parameter
~
Symbolic values
Parameter
DPMode
Process Alarm
Diagnostic Alarm
Update Alarm
Alarm Mode
Prm Structure
Length of User Data
Structure Type
Slot
Reserved
Fail Safe mode
Control-zero mode
Failsafe Timeout(O = No timeout)
PZDI Failsafe value
PZD2 Failsafe value
PZD3 Failsafe value
PZD4 Failsafe value
PZDS Failsafe value
PZD6 Failsafe value
PZD7 Failsafe value
PZD8 Failsafe value
PZD9 Failsafe value
PZDIO Failsafe value
Length of user parameter (Byte):
Value
DPVO
Disabled
Disabled
Disabled
type mode
Enabled
26
129
0
0
Use fail-safe values
Ignore data
50
1147
0
0
0
0
0
0
0
0
0
30
Allowed values
Bit(7) 0 0-1
Bit(6) 0 0-1
Bit(S) 0 0-1
Bit(2) 0 0-1
BitArea(0-2) o 0-7
Bit(3) I 0-1
UnsignedB 26 26-26
Unsigned8 129 129-129
UnsignedB o 0-0
Unsigned8 0 0-0
BitArea(0-1) o 0-2
BitArea(2-3) 0 0-1
Unsignedl6 10 0-65535
Unsignedl6 1150 0-65535
Unsignedl6 0 0-65535
Unsignedl6 0 0-65535
Unsignedl6 0 0-65535
Unsignedl6 0 0-65535
Unsignedl6 0 0-65535
Unsignedl6 0 0-65535
Unsignedl6 0 0-65535
Unsignedl6 0 0-65535
Unsignedl6 0 0-65535
Defaults
74 Start-up
10. Define the DP module properties:
On the DP-module I/O Mapping tab, type names for the
variables that refer to the drive's signals in the PLC program.
11. Open the PLC program and create a program that controls the
drive.
Start-up 75
12. Compile the project and download it to the PLC.
Note: Make sure that the variable names defined for the
drive's signals are used in the PLC program. Otherwise the
communication will not work.
8 POUs
i•.• ~ PLC_PRG [PRG)
76 Start-up
„ Configuring a Siemens SIMATIC S7 PLC
This example shows how to configure the communication between
a Siemens SIMATIC S7 PLC and the adapter module using
SIMATIC Manager Step 7.
Before you start, make sure that you have downloaded the FPBA01 GSD file from the Document library.
1. Install the GSD file.
Start-up 77
2. Select the Fail Safe mode and enter a Failsafe Timeout value.
Properties - DP slave
I
General
Parameter A ssignment
I
Parameters
- @]]
- @]]
- @]]
- @]]
- @]]
- @]]
- @]]
- @]]
- @]]
- @]]
- @]]
- @]]
- @]]
- @]]
- @]]
- @]]
- @]]
- @]]
= '----OK
I
....
Value
· t ype m82~ ·.···
Alarm Mode
::.
..•..·....•.·..•...'.',','· .. . . ... ... ....... .....
~-·
.. . .
...
w
Prm Structure
EQ?~~d§ ~I! tt=:K- 1~::: ~:R::
Length of User Data
26
Structure Type
129
Slot
0
Reserved
0
Fail Safe mode
Use fail-safe values
Control-zero mode
Failsafe Timeout(O
Ignore data
= No timeout)
30
PZD 1 Failsafe value
1150
PZD2 Failsafe value
0
PZD3 Failsafe value
0
PZD4 Failsafe value
0
PZDS Failsafe value
0
PZD6 Failsafe value
0
PZD7 Failsafe value
0
PZDS Failsafe value
0
PZD9 Failsafe value
0
L
~I
78 Start-up
3. Set the message type, baud rate and node number.
find:
.Erofile:
IStandard
PROFIBUS DP
S·D Additional Field Devices
ltJCJ General
S·LJ Drives
SO ABB
1$J ·"j
·
ABB Drives FPBA-01 DP-VO
' Universal module
PP0-01, 4 PKW + 2 PZD
PPO -02, 4 PKW + 6 PZD
PP0-03, 0 PKW + 2 PZD
PP0-04, 0 PKW + 6 PZD
PP0-05, 4 PKW + 10 PZD
PP0-06, 0 PKW + 10 PZD
:•... 1 PP0-07, 4 PKW + 12 PZD
PP0 -08, 0 PKW + 12 PZD
PP0-02. 4 PKW + (2+2+2) PZD
····
PP0-04, 0 PKW + (2+2+2) PZD
PP0-05, 4 PKW + (2+2+2+2+2) PZD
PP0-06, 0 PKW + (2+2+2+2+2) PZD
PP0-07_ 4 PKW+(2+2+2+2+2+2)PZ[
PP0-08, 0 PKW+(2+2+2+2+2+2)PZ[
······
PPO -01 , 4 PKW +N oCons. 2 PZD
PPO -02, 4 PKW +N oCons. 6 PZD
PP0-03, 0 PKW +NoCons. 2 PZD
PP0-04, 0 PKW +NoCons. 6 PZD
PP0-05, 4 PKW +NoCons. 10 PZD
PP0-06. 0 PKW +NoCons. 10 PZD
·· i PPO -07_ 4 PKW +N oCons. 12 PZD
1
PP0-08, 0 PKW +NoCons. 12 PZD
·
~ ::I:. AOO 11.:. .......... ~OOA n1 riO\ 11
~~~
lili! SIMATIC 300(1) (Configuration)-- 319_FPBA
0
2
CPU 319-3 PN/DP
X7
X2
X3
MPIIDP
DP
PN-10
Pori J
XJPJ
3
4
5
6
7
8
PROFIBUS
0116xDC24V
Dl16xDC24V
0016xDC24V /O.!lil.
0016xDC24V/O.!lil.
9
10
11
Slot
1
.?
3
4
5
DPID
4./lX
/3:!.\''
Order Number I Designation
PP0-07_ 4 PKW + 12 PZD
-,~PPO-Ol 4.Ft:w·-. !.?P.?O
I Address
256... 263
Q Address
256... 263
Comment
Start-up 79
„ Cyclic data handling
With 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 chapter Communication protocol.
For example, Siemens SIMATIC S7 requires the use of special
functions SFC15 and SFC14.
80 Start-up
Communication profiles 81
Communication profiles
What this chapter contains
This chapter describes the communication profiles used in the
communication between the PROFIBUS network, the adapter
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 FPBA-01 module, the PROFIBUS network may employ
either the PROFIdrive profile or the ABB Drives profile. Both are
converted to the native profile (eg, DCU or FBA) by the adapter
module. In addition, two Transparent modes – for 16-bit and 32-bit
words respectively – are available. With the Transparent modes,
no data conversion takes place.
82 Communication profiles
The figure below illustrates the profile selection:
FPBA-01
Drive
Profile selection:
PROFIdrive
Data conversion
1)
ABB Drives
Select
PROFIBUS
CW
REF1
REF2
SW
ACT1
ACT2
PZDx
•
•
16/32
•
-bit
•
PZD10
1)
1)
Select
Transparent16
Optional
reference/actual
value scaling
16/32
-bit
PROFIBUS
Data conversion
Group A
Par. 05
PROFIdrive
positioning
Data conversion
Group A
Par. 05
1)
Transparent32
Native profile (eg, DCU or FBA)
Note: The diagram is applicable only when PPO messaging is used. If
standard telegrams (ST) are used, the communication profile is selected
automatically.
The following sections describe the Control word, the Status word,
references and actual values for the PROFIdrive and ABB Drives
communication profiles. Refer to the drive manuals for details on
the native profiles.
Communication profiles 83
PROFIdrive communication profile
„ Control word and Status word
The Control word (PROFIdrive parameter 967) 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 bitcoded instructions in the Control word and returns status
information to the master in the Status word (PROFIdrive
parameter 968).
The contents of the Control word and the Status word are detailed
below; see the drive documentation for information on the drivespecific bits. The drive states for all operating modes are
presented on page 88. The drive states for the positioning mode
are presented on page 89.
Control word contents
The table below shows the contents of the Control word for the
PROFIdrive communication profile (PROFIdrive parameter 967).
The upper case boldface text refers to the states shown in the
state machine on page 88.
Bit
0
1
2
Name
Value
STATE/Description
Speed control mode
Positioning mode
ON
1
Proceed to READY TO OPERATE.
OFF1
0
Emergency OFF, stop by the selected
deceleration ramp. Proceed to OFF1
ACTIVE; proceed further to READY TO
SWITCH ON unless other interlocks
(OFF2, OFF3) are active.
OFF2
1
Continue operation (OFF2 inactive).
0
Emergency OFF, coast to stop.
Proceed to OFF2 ACTIVE; proceed further
to SWITCH-ON INHIBIT.
1
Continue operation (OFF3 inactive).
OFF3
84 Communication profiles
Bit
3
4
5
6
Name
Value
STATE/Description
Speed control mode
Positioning mode
0
Emergency stop, stop according to fastest
possible deceleration mode. Proceed to
OFF3 ACTIVE; proceed further to
SWITCH-ON INHIBIT. Warning: Ensure
motor and driven machine can be stopped
using this stop mode.
OPERATION_
ENABLE
1
Proceed to ENABLE OPERATION.
0
Inhibit operation. Proceed to OPERATION
INHIBIT.
ENABLE_
RAMP_
GENERATOR
or
1
Normal operation.
Proceed to RAMP
FUNCTION
GENERATOR:
ENABLE OUTPUT.
Normal operation.
Do not reject
traversing task.
TRAVERSING
_TASK
0
Stop according to
selected stop type.
Reject traversing
task.
1
Normal operation.
Proceed to RAMP
FUNCTION
GENERATOR:
ENABLE
ACCELERATOR.
Normal operation.
No intermediate
stop.
0
Halt ramping (Ramp
Function Generator
output held).
Intermediate stop
1
Normal operation.
Proceed to
OPERATING.
Note: This bit is
effective only if the
fieldbus interface is
set as the source for
this signal by drive
parameters.
Activate traversing
task (0 –> 1). This is
a toggle bit; each
rising edge of signal
enables a traversing
task or a new set
point.
0
Force Ramp
Function Generator
input to zero.
Communication profiles 85
Bit
7
STATE/Description
Name
Value
RESET
0 –> 1 Fault reset if an active fault exists. Proceed
to SWITCH-ON INHIBIT.
Note: This bit is effective only if the fieldbus
interface is set as the source for this signal
by drive parameters.
0
Speed control mode
Positioning mode
(Continue normal operation)
8
JOGGING_1
Jogging 1 (Not supported by all drive types)
9
JOGGING_2
Jogging 2 (Not supported by all drive types)
10
REMOTE_
CMD
11
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.
1
Vendor-specific bit
as defined by
PROFIdrive
parameter 933.
0
Start homing
procedure.
Stop homing
procedure.
12
Vendor-specific bit as defined by
PROFIdrive parameter 934
13
Vendor-specific bit as defined by
PROFIdrive parameter 935
14
Vendor-specific bit as defined by
PROFIdrive parameter 936
15
Vendor-specific bit as defined by
PROFIdrive parameter 937
86 Communication profiles
Status word contents
The table below shows the contents of the Status word for the
PROFIdrive communication profile (PROFIdrive parameter 968).
The upper case boldface text refers to the states shown in the
state machine on page 88.
Bit
0
1
2
3
4
5
6
7
8
9
Name
RDY_ON
Value
STATE/Description
Speed control mode Positioning mode
1
READY TO SWITCH ON
0
NOT READY TO SWITCH ON
1
READY TO OPERATE
0
OFF1 ACTIVE
1
ENABLE OPERATION
0
DISABLE OPERATION
1
FAULT
0
No fault
1
OFF2 inactive
0
OFF2 ACTIVE
1
OFF3 inactive
0
OFF3 ACTIVE
SWC_ON_INH
IB
1
SWITCH-ON INHIBIT ACTIVE
0
SWITCH-ON INHIBIT NOT ACTIVE
ALARM
1
Warning/Alarm
0
No Warning/Alarm
1
OPERATING. Actual value equals
reference value (= is within tolerance
limits).
0
Actual value differs from reference value
(= is outside tolerance limits).
1
Drive control location: REMOTE
0
Drive control location: LOCAL
RDY_RUN
RDY_REF
TRIPPED
OFF_2_STA
OFF_3_STA
AT_SETPOINT
REMOTE
Communication profiles 87
Bit
10
11
Name
Value
Actual frequency or
speed value equals
or is greater than
supervision limit.
Target position
reached
0
Actual frequency or
speed value is
within supervision
limit.
Not at target
position
1
Vendor-specific bit
as defined by
PROFIdrive
parameter 939
Homing procedure
was executed and is
valid.
1
0
13
Speed control mode Positioning mode
1
0
12
STATE/Description
1
0
No valid home
position available
Vendor-specific bit
as defined by
PROFIdrive
parameter 940
Traversing task
acknowledgement
(0 –> 1)
Vendor-specific bit
as defined by
PROFIdrive
parameter 941
Drive stopped.
Drive moving.
Traversing task is
executed (n <> 0).
14
Vendor-specific bit as defined by
PROFIdrive parameter 942
15
Vendor-specific bit as defined by
PROFIdrive parameter 943
88 Communication profiles
State machine for all operating modes
The general PROFIdrive state machine for all operating modes is
shown below.
SWITCH-ON
INHIBIT
MAINS OFF
PROFIdrive
State machine
(SW Bit6=1)
OFF1 (CW Bit0=0)
Power ON
NOT READY
TO SWITCH ON
A B C D
CW = Control word
SW = Status word
n = Speed
I = Input Current
RFG = Ramp function
generator
f = Frequency
(SW Bit0=0)
(CW=xxxx x1xx xxxx x110)
(CW Bit3=0)
READY TO
SWITCH ON
OPERATION
INHIBIT
(SW Bit0=1)
(SW Bit2=0)
operation
inhibited
from any state
Fault
ON (CW=xxxx x1xx xxxx x111)
READY TO
OPERATE
from any state
FAULT
Main contactor ON
(SW Bit1=1)
(CW Bit7=1)
OFF1 (CW Bit0=0)
OFF1
ACTIVE
from any state
from any state
Emergency stop
Emergency stop
OFF3 (CW Bit2=0)
OFF2 (CW Bit1=0)
(SW Bit1=0)
n(f)=0 / I=0
Enable operation
(CW Bit3=1)
B C D
(SW Bit3=1)
OFF3
ACTIVE
F
OFF2
(SW Bit5=0) ACTIVE
(SW Bit4=0)
Main contactor OFF
n(f)=0 / I=0
SPEED MODE ONLY
(CW Bit4=0)
ENABLE
OPERATION
(SW Bit2=1)
C D
(CW Bit4,5,6=0)
A
(CW Bit5=0)
Jogging 1 or 2 ON
(CW Bit8=1 or Bit9=1)
RFG: ENABLE
OUTPUT
D
(CW Bit6=0)
E
(CW Bit4=1)
JOGGING 1 or 2
ACTIVE
B
(CW Bit5=1)
Jogging 1 or 2 OFF
(CW Bit8=0 or Bit9=0)
RFG: ENABLE
ACCELERATION
state
C
rising edge
of the bit
Jogging pause
(CW Bit6=1)
condition
OPERATING
D
(SW Bit8=1)
F
‘n=0 or f =0’ and ‘I=0’
and pause expired
Communication profiles 89
State machine for positioning mode
The PROFIdrive state machine for the positioning mode is shown
below.
F
BASIC STATE:
Operating1)
(SW Bit10,13=1)
E
(CW Bit4,5=1
and
CW Bit6
edge 0⇒1)
(CW Bit11=1)
HOMING
RUNNING
(SW Bit10,11,13=0)
HOMING
READY
(SW Bit10,11,13=1)
(CW Bit11=0)
F
Traversing task
active
F
PROFIdrive
State machine
(SW Bit10,13=0)
F
(CW Bit6 edge
0⇒1)
for PROFIdrive
positioning mode
(CW Bit5=0)
Braking with
ramp
(SW Bit10,13=0)
Intermediate
stop
CW= Control word
SW = Status word
State
E
(CW Bit5=0)
(CW Bit4=0)
Braking with
ramp
F
(SW Bit10,13=0)
condition
1)
In the “Operating”
state of the general
state machine:
SW bits 0, 1 and 2 = 1
SW bit 6 = 0.
90 Communication profiles
„ References
ABB drives can receive control information from multiple sources
including analog and digital inputs, the drive control panel and a
communication module (for example, FPBA-01). In order to have
the drive controlled through PROFIBUS, the communication
module must be defined as the source for control information, for
example, reference.
References in speed control mode
In the speed control mode, references are 16-bit or 32-bit words
containing a sign bit and a 15-bit or 31-bit integer. A negative
reference (indicating reversed direction of rotation) is formed by
calculating the two’s complement from the corresponding positive
reference.
A 16-bit speed reference (REF or NSOLL_A) in hexadecimal
(0…4000h) corresponds to 0…100% of Maximum Reference (as
defined with a drive parameter).
A 32-bit speed reference (NSOLL_B) in hexadecimal
(0…4000 0000h) corresponds to 0…100% of Maximum Reference
(as defined with a drive parameter).
References in positioning mode (ACSM1 only)
In the positioning mode, references are 16-bit or 32-bit words. A
32-bit reference contains a sign bit and a 31-bit integer. A negative
reference (indicating reversed direction of rotation) is formed by
calculating the two’s complement from the corresponding positive
reference.
For a 32-bit position reference (XSOLL_A), the unit and scaling are
defined with drive parameters (for example, POS UNIT, POS2INT
SCALE and FEED CONST).
For a 32-bit velocity reference (VELOCITY_A), the unit and scaling
are defined with drive parameters (for example, POS SPEED UNIT
and POS SPEED2INT).
Communication profiles 91
„ Actual values
Actual values are 16-bit or 32-bit words containing information on
the operation of the drive. The functions to be monitored are
selected with a drive parameter.
Actual values in speed control mode
The scaling of 16-bit actual speed values (ACT or NIST_A) in
hexadecimal (0…4000h) corresponds to 0…100% of Maximum
Reference (as defined with a drive parameter).
The scaling of 32-bit actual speed values (NIST_B) in hexadecimal
(0…4000 0000h) corresponds to 0…100% of Maximum Reference
(as defined with a drive parameter).
Actual values in positioning mode (ACSM1 only)
For a 32-bit actual position value (XIST_A), the unit and scaling
are defined with drive parameters (for example, POS UNIT,
POS2INT SCALE and FEED CONST).
92 Communication profiles
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 in 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
below. The drive states are presented on page 96.
Control word contents
The table below shows the contents of the Control word for the
ABB Drives communication profile. The upper case boldface text
refers to the states shown on page 96.
Bit
0
1
2
Name
OFF1_
CONTROL
Value
STATE/Description
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
by 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.
Communication profiles 93
Bit
3
4
5
6
7
Name
INHIBIT_
OPERATION
RAMP_OUT_
ZERO
RAMP_HOLD
RAMP_IN_
ZERO
RESET
Value
STATE/Description
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
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).
1
Enable ramp function.
Proceed to RAMP FUNCTION
GENERATOR: ACCELERATOR
ENABLED.
0
Halt ramping (Ramp Function Generator
output held).
1
Normal operation. Proceed to
OPERATING.
Note: This bit is effective only if the
fieldbus interface is set as the source for
this signal by drive parameters.
0
Force Ramp Function Generator input to
zero.
0 –> 1 Fault reset if an active fault exists.
Proceed to SWITCH-ON INHIBITED.
Note: This bit is effective only if the
fieldbus interface is set as the source for
this signal by drive parameters.
0
8…9
Reserved
Continue normal operation.
94 Communication profiles
Bit
Name
10
REMOTE_
CMD
1
Fieldbus control enabled
0
Control word and reference not getting
through to the drive, except for CW bits
OFF1, OFF2 and OFF3.
EXT_CTRL_
LOC
1
Select External Control Location EXT2.
Effective if control location parameterized
to be selected from fieldbus.
0
Select External Control Location EXT1.
Effective if control location parameterized
to be selected from fieldbus.
11
12…
15
Value
STATE/Description
Drive-specific (For information, see the drive documentation.)
Status word contents
The table below shows the contents of the Status word for the ABB
Drives communication profile. The upper case boldface text refers
to the states shown on page 96.
Bit
0
1
2
3
4
5
6
Name
RDY_ON
RDY_RUN
RDY_REF
TRIPPED
OFF_2_STA
OFF_3_STA
SWC_ON_
INHIB
Value STATE/Description
1
READY TO SWITCH ON
0
NOT READY TO SWITCH ON
1
READY TO OPERATE
0
OFF1 ACTIVE
1
OPERATION ENABLED
0
OPERATION INHIBITED
1
FAULT
0
No fault
1
OFF2 inactive
0
OFF2 ACTIVE
1
OFF3 inactive
0
OFF3 ACTIVE.
1
SWITCH-ON INHIBITED
0
–
Communication profiles 95
Bit
7
8
9
10
11
12
13…
14
15
Name
ALARM
Value STATE/Description
1
Warning/Alarm
0
No warning/alarm
1
OPERATING. Actual value equals
reference (= is within tolerance limits, ie,
in speed control, speed error is 10%
max. of nominal motor speed).
0
Actual value differs from reference (= is
outside tolerance limits).
1
Drive control location: REMOTE (EXT1
or EXT2)
0
Drive control location: LOCAL
1
Actual frequency or speed equals or
exceeds supervision limit (set by drive
parameter). Valid in both directions of
rotation.
0
Actual frequency or speed within
supervision limit
EXT_CTRL_
LOC
1
External Control Location EXT2 selected
0
External Control Location EXT1 selected
EXT_RUN_
ENABLE
1
External Run Enable signal received
0
No External Run Enable signal received
AT_SETPOINT
REMOTE
ABOVE_
LIMIT
Drive-specific (For information, see the drive documentation.)
FBA_ERROR
1
Communication error detected by
fieldbus adapter module
0
Fieldbus adapter communication OK
96 Communication profiles
State machine
The state machine for the ABB Drives communication profile is
shown below.
SWITCH-ON
INHIBITED
MAINS OFF
Power ON
(SW Bit6=1)
(CW Bit0=0)
NOT READY TO
SWITCH ON
A B CD
(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
(SW Bit1=1)
(CW=xxxx x1xx xxxx 1111
and SW Bit12=1)
(SW Bit1=0)
n(f)=0 / I=0
B C D
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
OFF3 (CW Bit2=0)
OFF2 (CW Bit1=0)
(CW Bit3=1
and
SW Bit12=1)
OFF3
ACTIVE
(SW Bit5=0)
OFF2
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
D
(SW Bit8=1)
condition
rising edge
of the bit
Communication profiles 97
„ 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 analog and digital inputs, the drive control panel and a
communication module (for example, FPBA-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.
Scaling
References are scaled as shown below.
Note: The values of REF1 MAX and REF2 MAX are set with drive
parameters. See the drive manuals for further information.
In ACSM1, ACS850, ACQ810 and ACS880, the speed reference
(REFx) in decimal (0…20000) corresponds to 0…100% of the
speed scaling value (as defined with a drive parameter, eg,
ACS880 parameter 46.10 Speed scaling.)
In ACS355, drive parameter REFx MIN may limit the actual
minimum reference.
Fieldbus
Drive
REF2: 10000
REF1: 20000
0
REF2: -10000
REF1: -20000
REFx MAX / Speed scale
REFx MIN
-(REFx MIN)
-(REFx MAX) / Speed scale
98 Communication profiles
„ 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
Actual values are scaled as shown below.
Note: The values of REF1 MAX and REF2 MAX are set with drive
parameters. See the drive manuals for further information.
Fieldbus
Drive
ACT2: 10000
ACT1: 20000
0
ACT2: -10000
ACT1: -20000
REFx MAX
0
-(REFx MAX)
Communication protocol 99
Communication protocol
What this chapter contains
This chapter describes the PROFIBUS messaging used in the
communication with the drive and in PROFIBUS slave device
configuration messages.
PROFIBUS DP
The FPBA-01 module supports the PROFIBUS DP-V0 and DP-V1
protocols according to the IEC 61158, IEC 61784 and EN 50170
standards. PROFIBUS DP-V0/DP-V1 is a distributed I/O system
which enables the master to use a large number of peripheral
modules and field devices. The data transfer is mainly cyclic: the
master reads the input information from the slaves and sends the
output information back to the slaves.
The FPBA-01 module uses so-called PPOs (parameter/process
data objects) in cyclic communication and also supports standard
telegrams 1 and 2. See section Cyclical message types on page
114 for the supported PPO messages and standard telegrams.
100 Communication protocol
„ Service access points (SAPs)
The services of the PROFIBUS Data Link Layer (Layer 2) are used
by PROFIBUS DP through service access points (SAPs). Precisely
defined functions are assigned to individual SAPs.
For further information on SAPs, refer to the manual of the
PROFIBUS master, PROFIDRIVE – The PROFIBUS Profile for
Adjustable Speed Drives V2.0 and V3.1, or the EN 50170 and
IEC 61784 standards.
„ Communication start-up
The following service access points (SAPs) are used to initiate DP
communication:
SAP no.
Short name
Name
Default SAP (0)
Data_Exch
Cyclical Data Exchange
(Write_Read_Data)
58
Global_Control
Global Control Service
59
Get_Cfg
Read Configuration Data
60
Slave_Diag
Read Diagnostic Data
61
Set_Prm
Send Parameter Data
62
Chk_Cfg
Check Configuration Data
Communication protocol 101
PROFIBUS SD2 telegram for Default SAP (0) and SAP 58-62
PROFIBUS typically uses SD2 telegrams for DP communication.
The structure of an SD2 telegram is shown below.
DP header
SD
68h
LE LEr SD
x
x
68h
DA
SA
xx
xx
DP trailer
FC *DSAP *SSAP DU
x
xx
xx
x…
FCS
ED
xx
16h
SD = Start delimiter
LE = Length
LEr = Length repeated
DA = Destination address
SA = Source address
FC = Function code
*DSAP = Destination service access point
*SSAP = Source service access point
DU = Data unit for DP services
FCS = Frame checking sequence
ED = End delimiter
*Not present with Default SAP (0)
Data unit
See the descriptions of each SAP on the following pages.
Default SAP (SAP 0) (Data_Exchange)
This SAP allows the master to send output data to a slave station
and to simultaneously request input data from the same station.
Outp_Data (Output Data)
DU length: 4 to 32 bytes (depending on the selected PPO message or
standard telegram type)
Inp_Data (Input Data)
DU length: 4 to 32 bytes (depending on the selected PPO message or
standard telegram type)
102 Communication protocol
In addition to Default SAP, any master can read the I/O data of any
slave at any time using the “Read_Inputs” (SAP 56) and
“Read_Outputs” (SAP 57) telegrams. These telegrams have
otherwise the same structure as the cyclic Data_Exchange
telegram, but include the DSAP and SSAP bytes. In these
telegrams, the MSB of the DA and SA bytes is set to 1 to indicate
that a DSAP/SSAP byte follows in the telegram header. For more
information, see section PROFIBUS SD2 telegram for Default SAP
(0) and SAP 58-62 on page 101.
SAP 58 (Global_Control)
This SAP is used to send special commands addressed to a single
slave, a special group of slaves, or all slaves at once (broadcast).
Global_Control
Type: Octet String - Length: 2
DU Byte
0
Description
GC_Command
MSB 0 0 x x x x x 0 LSB
Reserved
Clear Data
0 = Do not clear output
1 = Clear output
Unfreeze
Freeze
Un_Sync
Sync
00 = No function
10 = Activated
x1 = Deactivated
00 = No function
10 = Activated
x1 = Deactivated
Reserved
1
Group_Select
0…255. The value must match the Group Identification number
of SAP 61 (DU Byte 6).
Communication protocol 103
SAP 61 (Set_Prm)
This SAP is used in the parameterization of the drive.
Prm_Data (Parameter Data Standard)
Type: Octet String
Total length: 37 – Prm_Data length: 14 – User_Prm_Data length: 23
DU
Byte
0
Value
B8h
(Recommended
default
value)
Description
Station status
MSB x x 1 1 1 0 0 0 LSB
Reserved
WD_ON
1 = Watchdog ON
Freeze_Req
1 = Slave is requested to process in
freeze mode
Sync_Req
1 = Slave is requested to process in
SYNC mode
Unlock_Req
1)
Lock_Req
1) 00 = Min TSDR and slave-related parameters may be overwritten.
10 = Slave locked for other masters. All parameters can be
carried over.
x1 = Slave released for other masters
1…2
3
WD_Fact_1 and WD_Fact_2 – Watchdog Factors 1 and
2 (set by the PROFIBUS master)
WdFactor1 × WdFactor2 × 10 ms = monitoring time of the
slave to verify that the master is still active
0Bh
MinTSDR – Minimum Station Delay Respond Time
(Default) Time after which a slave station is allowed to send
response frames to the master. Calculated by multiplying
the hex value with tBit (time required for transmitting one
bit).
4…5 0959h
Vendor Identification (for FPBA-01: 0959h)
104 Communication protocol
6
7
00h
Group Identification
DPV1_Status_1 (DP-V1 only)
MSB x 0 x 0 0 x x x LSB
Dis_Start_Control (Disable Stop-Bit
Control)
0 = Start bit monitoring in receiver
enabled
1 = Start bit monitoring in receiver
disabled
Dis_Stop_Control (Disable Stop-Bit
Control)
0 = Stop bit monitoring in receiver
enabled
1 = Stop bit monitoring in receiver
disabled
WD_Base (Watchdog time base)
0 = 10 ms
1 = 1 ms
Reserved
Publisher_Enabled. Not supported.
0 = Slave not operated in DXB
Publisher mode
1 = Slave operated in DXB
Publisher mode
Fail_Safe. Not supported.
DPV1_Enable
0 = Slave operated in DP mode
1 = Slave operated in DP-V1 mode
Communication protocol 105
8
DPV1_Status_2 (DP-V1 only) (Not supported)
MSB x x x x x x 0 x LSB
Chk_Cfg_Mode
0 = Chk_Cfg according to EN 50170
(default state)
1 = User-specific evaluation of Chk_Cfg
Reserved. To be parameterized with ‘0’.
Enable_Update_Alarm
0 = Enable_Update_Alarm disabled
1 = Enable_Update_Alarm enabled
Enable_Status_Alarm
0 = Enable_Status_Alarm disabled
1 = Enable_Status_Alarm enabled
Enable_Manufacturer_Specific_Alarm
0 = Enable_Manufacturer_Specific_Alarm
disabled
1 = Enable_Manufacturer_Specific_Alarm
enabled
Enable_Diagnostic_Alarm
0 = Enable_Diagnostic_Alarm disabled
1 = Enable_Diagnostic_Alarm enabled
Enable_Process_Alarm
0 = Enable_Process_Alarm disabled
1 = Enable_Process_Alarm enabled
Enable_Pull_Plug_Alarm
0 = Enable_Pull_Plug_Alarm disabled
1 = Enable_Pull_Plug_Alarm enabled
106 Communication protocol
9
DPV1_Status_3 (DP-V1 only)
MSB
0 0 0 x 1 x x x
LSB
Alarm_Mode. Not supported.
Limits the number of active alarms.
0 = 1 alarm of each type
1 = 2 alarms in total
2 = 4 alarms in total
3 = 8 alarms in total
4 = 12 alarms in total
5 = 16 alarms in total
6 = 24 alarms in total
7 = 32 alarms in total
Prm_Structure
0 = Prm telegram according to
EN 50170
1 = Prm telegram in structure form
(DPV2 extension)
IsoM_Req (Isochron Mode
Request) Not supported.
0 = Isochron Mode disabled
1 = Isochron Mode enabled
Reserved. To be parameterized
with ‘0’.
10
1Bh
11
81h
Structure_Type
129: USER_PRM_DATA
12
0
Slot_Number
Set to 0
13
0
Reserved
Structured_Length
(Default) Length of the structured Prm telegram. (User parameter
length is 23 bytes + 4 header bytes.)
Communication protocol 107
User_Prm_Data (Parameter Data Extended)
Type: Octet String - Length: 23
14
00h
Header byte
(Default)
MSB 0
0 0 0 0 x 0 x LSB
Fail-safe mode. Defines the action
taken when the PLC is switched
from ‘RUN’ to ‘STOP’ mode.
00 = STOP (default)
01 = LAST REFERENCE
02 = USE FAIL-SAFE.
The values of the PZDs are
defined by bytes 11-30 in the
Prm_Data telegram.
Control zero mode. Defines the
action taken if a PROFIBUS
telegram containing only zeros is
received.
00 = USE FRAME (default).
Note that, with this setting, the
drive might not be stopped (if it
is running) since bit 10
(Remote Command) in the
control word is also zero.
However, the other PZDs may
still be updated, but have the
value zero.
01 = IGNORE
Reserved
15… 0…
16 65536
Cut off time out in milliseconds. 0 = Cut off disabled.
17… 0…
18 65536
Fail-safe, PZD1 (typically CW)
19… 0…
20 65536
Fail-safe, PZD2 (typically REF)
21… 0…
22 65536
Fail-safe, PZD3
23… 0…
24 65536
Fail-safe, PZD4
108 Communication protocol
25… 0…
26 65536
Fail-safe, PZD5
27… 0…
28 65536
Fail-safe, PZD6
29… 0…
30 65536
Fail-safe, PZD7
31… 0…
32 65536
Fail-safe, PZD8
33… 0…
34 65536
Fail-safe, PZD9
35… 0…
36 65536
Fail-safe, PZD10
The extended parameter data bytes are configured via the
PROFIBUS network configuration tool. The functions are defined
in the GSD file.
SAP 62 (Chk_Cfg)
With this telegram, the master sends the selected data exchange
(Write_Read_Data) telegram type code to the slave. The table
below gives the typical hexadecimal values (DU Byte 0…n) that
are sent to the drive in order to select the PPO type or standard
telegram (ST).
Telegram
name
Cyclical telegram
length (in words)
Default code for
Supported
message type
parameter
(see figure below) channel access
mode
PPO 1
4 PKW + 2 PZD in/out F3 F1
DP-V0 / DP-V11)
PPO 2
4 PKW + 6 PZD in/out F3 F5
DP-V0 / DP-V11)
PPO 3
0 PKW + 2 PZD in/out F1
DP-V11)
PPO 4
0 PKW + 6 PZD in/out F5
DP-V11)
PPO 5
4 PKW + 10 PZD
in/out
F3 F9
DP-V0 / DP-V11)
PPO 6
0 PKW + 10 PZD
in/out
F9
DP-V11)
Communication protocol 109
Telegram
name
Cyclical telegram
length (in words)
Default code for
Supported
message type
parameter
(see figure below) channel access
mode
PPO 7
4 PKW + 12 PZD
in/out
0xF3, 0xFB
DP-V0 / DP-V11)
PPO 8
0 PKW + 12 PZD
in/out
0xFB
DP-V11)
ST 1
2 PZD in / 2 PZD out
C3 C1 C1 FD 00 01 DP-V1
ST 2
4 PZD in / 4 PZD out
C3 C3 C3 FD 00 02 DP-V1
1)
DP-V1 mode selected by the user.
PKW: “Parameter-Kennung-Wert” (Parameter ID value)
PZD: “Prozeßdaten” (Process data, cyclically transferred)
The default codes for the PPO types in the table above define data
consistency over the message as follows:
MSB x x x x x x x x LSB
Length of data
0000 = 1 byte per word
•••
1111 = 16 bytes per word
Input/Output
00 = Special format
01 = Input
10 = Output
11 = Input and output
0 = Byte
1 = Word
0 = Consistency of byte/word
1 = Consistency of entire length
For example, 11110001 = F1 = PPO3
110 Communication protocol
Data non-consistent over the entire message is also supported by
the FPBA-01 module. The cyclical frame types supported by the
module are defined in the GSD file.
SAP 60 (Slave_Diag)
This SAP gives diagnostic information on the slave station.
Diag_Data (Diagnostic Data)
Type: Octet String - Length: 6 (Standard)
+ 2 (Extended Diagnosis) (DP-V0 mode)
+ 5 (Extended Diagnosis) (DP-V1 mode)
Note: During initialization, the module only sends the standard part of the
message.
DU
Byte
0
Description
Station_Status_1
MSB x
x
x
x
x
x
x
x LSB
Diag.Station_Non_Existent (Set by Master,
reset by Slave)
Slave not found
Diag.Stagion_Not_Ready (Set by Slave)
Slave not ready for data exchange
Diag.Cfg_Fault (Set by Slave)
Received configuration data does not match
original config. data
Diag.Ext_Diag (Set by Slave)
Diagnostic entry present in slave-specific
diagnostic area
Diag.Not_Supported (Set by Slave)
Service not supported by slave
Diag.Invalid_Slave_Response (Set by
Master, reset by Slave)
Invalid response by slave
Diag.Prm_Fault (Set by Slave)
Invalid parameter or parameter value
Diag.Master_Lock (Set by Master, reset by
Slave)
Slave is parameterized by another master
Communication protocol 111
1
Station_Status_2
MSB x
0
x
x
x
1
x
x LSB
Diag.Prm_Req (Set by Slave)
Slave requires re-configuration and reparameterization
Diag.Stat_Diag (Set by Slave)
Static diagnosis. Slave (temporarily)
unable to provide valid data
Always set to 1 by slave
Diag.WD_On (Set by Slave)
Watchdog on
Diag.Freeze_Mode (Set by Slave)
Freeze command received by slave
Diag.Sync_Mode (Set by Slave)
Sync command received by slave
Reserved
Diag.Deactivated (Set by Master, reset by
Slave)
Slave is inactive
2
Station_Status_3
MSB
x
0
0
0
0
0
0
0 LSB
Reserved
Diag.Ext_Diag_Overflow (Set by
slave)
3
4…5
62)
Diag.Master_Add
The address of the master that parameterized this slave
Ident_Number (for FPBA-01: 0959h)
Ext_Diag_Data (0x02) (DP-V0 only)
The number of bytes (including this byte) reserved for Extended
Diagnosis
112 Communication protocol
61)
Header Byte (DP-V1 only)
The complete header consists of 5 bytes with FPBA-01.
MSB 0
0
x
x
x
x
x
x LSB
Block length in bytes including
header
Diagnostic type
00 = Device-related diagnostic
according to PROFIdrive 3.1.
72)
Communication Diagnostic (DP-V0 only)
MSB 0
0
0
0
0
0
x
x LSB
Communication temporarily lost
Communication permanently lost
Reserved
71)
Status Type = Status Message (0x81) (DP-V1 only)
MSB 1
x
x
x
x
x
x
x LSB
Diagnostic type
0 = Reserved
1 = Status_Message (normal
alarm message)
2 = Module_Status
3 = DXB_Link_Status
4 to 29 = Reserved
30 = PrmCmdAck
31 = Red_State
32 to 126 = Manufacturer-specific
127 = Reserved
Set to 1
81)
Slot Number (0x00) (DP-V1 only)
Slot Number (0…244).
Communication protocol 113
91)
Specifier (0x00) (DP-V1 only)
MSB 0
0
0
0
0
0
x
x LSB
Specifier
Reserved
101)
Communication Diagnostic (DP-V1 only)
MSB 0
0
0
0
0
0
x
x LSB
Communication temporarily lost
Communication permanently lost
Reserved
1)
The FPBA-01 module is operated in the DP-V1 mode. The diagnostic
information is according to PROFIdrive 3.1.
2) The FPBA-01 module is operated in the DP-V0 (DP) mode. The
diagnostic information is according to PROFIdrive 2.0.
„ Other SAPs for DP-V1 communication
Master
class
Master
SAP
Slave
SAP
Short name
Meaning
C1
51
51
Server SAP
Read, Write, Alarm
C1
51
50
Alarm SAP
Alarm
C2
50
49
Resource Mgmt.
SAP
Req PDU
C2
50
48...0
Communication
SAP
Abort, Read/Write,
Data_Transfer
C2
62
55
Set_Slave_Add
Change Station
Address (C2 Master)
114 Communication protocol
Cyclical message types
Parameter
identification
OUT area
IN area
ID
IND
IND
VALUE
VALUE
PKW
Process data
Fixed area
Freely mappable area
CW REF PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 PZD11 PZD12
SW ACT PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 PZD11 PZD12
Parameter
channel
„ PPO types
PZD
Type 1
DP-V0
Type 2
DP-V0
Type 3
DP-V1
Type 4
DP-V1
Type 5
DP-V0
Type 6
DP-V1
Type 7
DP-V0
Type 8
DP-V1
OUT area – Data sent from master to slave (control data)
IN area – Data sent from slave to master (actual data)
Parameter identification:
ID – Parameter identification
IND – Index for arrays
VALUE – Parameter value (Max. 4 bytes)
PKW – Parameter ID/value
Process data:
CW – Control word
SW – Status word
REF – Reference
ACT – Actual value
PZD – Process data (application-specific)
DW – Data word
Communication protocol 115
„ Standard telegram (ST) types (DP-V1)
ST1
PZD1
PZD2
OUT area
STW1
Control word 1
NSOLL_A
Speed set point A
IN area
ZSW1
Status word 1
NIST_A
Speed actual value A
PZD1
PZD2…3
PZD4
OUT area
STW1
Control word 1
NSOLL_B
Speed set point B
STW2
Control word 2
IN area
ZSW1
Status word 1
NIST_B
Speed actual
value B
ZSW2
Status word 2
ST2
Note: For the contents of the Control word, the Status word,
references and actual values, see chapter Communication profiles.
116 Communication protocol
Parameter handling in cyclic communication (DP)
In cyclic PROFIBUS DP communication, parameter data is
transferred in PPO message types 1, 2 and 5, as shown in section
PPO types on page 114. The parameter identification part consists
of eight bytes, as shown below.
Parameter
identification
ID
IND
Process data
CW REF
SW ACT (PD1, PD2...)
VALUE
15 14 13 12 11 10
9
8
Request label
Response label
7
6
5
4
3
2
1
0
Parameter number (PNU)
Request signal
Not used (=0)
The Request label is used by the master when transmitting data to
the slave, while the Response label is used by the slave as a
positive or negative acknowledgement. The tables below show the
Request/Response functions.
Request labels (from master to slave)
Request
Function
Response labels
Ackn. (+)
Ackn. (-)
0
No task
0
–
1
Request parameter value
1, 2
7
2
Change parameter value (word)
1
7, 8
3
2
7, 8
4
Change parameter value (double
word)
Request description element
3
7
5
Change description element
3
7, 8
6
Request parameter value (array)
4, 5
7, 8
Communication protocol 117
Request labels (from master to slave)
Request
Function
Response labels
Ackn. (+)
7
Change parameter value (array
word)
Change parameter value (array
double word)
Request number of array elements
8
9
Ackn. (-)
4
7, 8
5
7, 8
6
7
Response label (Acknowledgement from slave to master)
Ackn.
Function
0
No response
1
Transfer parameter value (word)
2
Transfer parameter value (double word)
3
Transfer description element
4
Transfer parameter value (array word)
5
Transfer parameter value (array double word)
6
Transfer number of array elements
118 Communication protocol
Response label (Acknowledgement from slave to master)
Ackn.
7
Function
Task cannot be executed, followed by error number
0
1
2
3
4
5
6
7
9
11
15
17
=
=
=
=
=
=
=
=
=
=
=
=
18
101
102
103
=
=
=
=
110 =
111 =
120 =
121 =
122 =
130 =
140 =
150 =
160 =
Illegal parameter number
Parameter value cannot be changed
Lower or upper limit violated
Erroneous subindex
No array
Incorrect data type
Setting not allowed (can only be reset)
Descriptive element cannot be changed
Descriptive data not available
No parameter change rights
Text array not available
Task cannot be executed due to operating status (eg,
parameter is currently read-only)
Other error
Vendor-specific error
Request not supported
Request cannot be completed due to communication
error
Failure during write to non-volatile memory
Request aborted due to time-out
Parameter cannot be mapped to PZD (size mismatch or
non-existent)
Parameter cannot be mapped to PZD (end of memory)
Parameter cannot be mapped to PZD (multiple PZD
write)
Cannot map Control word bit (parameter 933…937, eg,
double mapping of bits)
Cannot change mode to TORQUE (frequency is used)
Internal buffer overflow
Internal communication error
8
No parameter change rights for PKW interface
9
Parameter data signal (word)
10
Parameter data signal (double word)
Communication protocol 119
The allocation of drive control/actual words, drive parameters and
PROFIdrive parameters to the parameter identification part of the
PPO type is shown below.
• The Index column corresponds to the parameter number
(PNU) in the ID part of parameter identification.
•
The Sub-index column corresponds to the IND part of
parameter identification.
•
The Example No. column refers to the examples on the
following pages.
Virtual drive control area
Index
Sub-index
Par. No.
(Decimal)
0h
1h
1
0h
2h
2
•••
0h
1)
63h
Request label
R/W
6/7/81)
Example.
No.
1, 2
99
Supported with an ACSM1 drive only
Drive parameters
Index
Sub-index
Par. No.
(Decimal)
1
1
101
1
2
102
•••
63h
1)
63h
9999
Supported with an ACSM1 drive only
Request label
R/W
6/7/81)
Example
No.
1, 2
120 Communication protocol
PROFIdrive parameters
Index
Sub-index
393h
2h
394h
396h
Par. No
(Decimal)
915
3
•••
•••
9h
9
916
R/W
6/7
6
R/W
6/7
7
R/W
1/2
3, 4
R
6
5
R/W
1/2
3, 4
2
3h
3
•••
•••
9h
9
0h
Example
No.
2
3h
2h
Request label
918
•••
3B3h
0h
947
1
9h
9
11h
17
19h
25
21h
33
29h
41
•••
3CCh
0h
972
For a complete PROFIdrive parameter list, see Appendix A –
PROFIdrive parameters.
Note: Continuous (cyclic) writing of PROFIdrive parameters should
be avoided as the values of these parameters are stored in the
flash memory of the adapter module. The estimated lifetime of the
flash memory is 100,000 program/erase cycles, and continuous
writing will cause the memory to fail prematurely.
Communication protocol 121
„ Parameter data transfer examples (DP-V0)
Note: Only the ‘data unit’ part of the telegram is presented in the
examples. See section PROFIBUS SD2 telegram for Default SAP
(0) and SAP 58-62 on page 101.
Example 1: Reading a drive parameter (or data set)
To determine the parameter number and subindex for drive
parameter reading, convert the drive parameter group number and
the parameter index number to hexadecimal. The index number is
the Subindex (IND), and the group number is the Parameter
Number (PNU). For example, to read parameter 84.11 from the
drive:
84.11 = 54h.0Bh => Parameter Number = 54h, Subindex = 0Bh.
Request (Read parameter value [array])
Parameter Number
Subindex1)
Resp
REF
PZD3
PZD4
PZD5
PZD6
60 54 0B 00 00 00 00 00 04 7F 34 15 00 00 00 00 00 00 00 00
40 54 0B 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 00
SW
ACT
DP trailer
Req
DP header
CW
PZD3 PZD4 PZD5 PZD6
Parameter Value (100 decimal)
Subindex1)
Parameter Number
Response (Read parameter value [array])
1) 2nd
byte reserved
122 Communication protocol
70 54 0B 00 00 00 00 03 03 37 34 15 00 00 00 00 00 00 00 00
SW
ACT
PZD3 PZD4
DP trailer
Resp
DP header
Error response
PZD5 PZD6
Error Number (3: Erroneous subindex)
Subindex1)
Parameter Number
Response (Negative acknowledgement)
1)
2nd byte reserved
Communication protocol 123
Example 2: Writing a drive parameter (or data set)
To determine the parameter number and subindex for drive
parameter writing, convert the drive parameter group number and
the parameter index number to hexadecimal. The index number is
the Subindex (IND), and the group number is the Parameter
Number (PNU). For example, to write parameter 12.02 to the drive:
12.02 = 0Ch.02h => Parameter number = 0Ch, Subindex = 02h.
The following is an example of writing a 16-bit parameter.
Request (Change parameter value [array])
Parameter Number
Subindex1)
Parameter Value (100 decimal)
Resp
REF
PZD3
PZD4
PZD5
PZD6
70 0C 02 00 00 00 00 64 04 7F 34 15 00 00 00 00 00 00 00 00
40 0C 02 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 00
SW
ACT
DP trailer
Req
DP header
CW
PZD3 PZD4 PZD5 PZD6
Parameter Value (100 decimal)
Subindex1)
Parameter Number
Response (Transfer parameter value [array])
1) 2nd
byte reserved
124 Communication protocol
The following is an example of writing a 32-bit parameter:
Request (Change parameter value [array double word])
Parameter Number
Subindex1)
Parameter Value (100 decimal)
Resp
REF
PZD3
PZD4
PZD5
PZD6
80 0C 02 00 00 00 00 64 04 7F 34 15 00 00 00 00 00 00 00 00
50 0C 02 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 00
SW
ACT
DP trailer
Req
DP header
CW
PZD3 PZD4 PZD5 PZD6
Parameter Value (100 decimal)
Subindex1)
Parameter Number
Response (Transfer parameter value [array double word])
1) 2nd
byte reserved
Communication protocol 125
Example 3: Reading a PROFIdrive parameter (word)
In this example, PROFIdrive parameter 918 is used to read the
station number of the slave.
Request (Parameter value read)
Parameter Number (918 decimal)
IND
Read:
Req
Resp
Param.Value
CW
REF
13 96 00 00 00 00 00 00 04 7F 34 15
DP
header 13 96 00 00 00 00 00 02 03 37 34 15
IND
Param.Value
SW
Parameter Number (918 decimal)
Request (Parameter value updated)
The slave returns its station number (2).
ACT
DP
trailer
126 Communication protocol
Example 4: Writing a PROFIdrive parameter (word)
In this example, current parameter settings are saved to the
FLASH memory of the drive. This is done by setting the value of
PROFIdrive parameter 971 (3CBh) to 1.
Note that the drive always observes the Control word (CW)
and reference (REF) bytes. The values shown below are
examples.
Request (Parameter value write)
Parameter Number (971 decimal)
IND
Write:
Req
Resp
Param.Value
CW
REF
23 CB 00 00 00 00 00 01 04 7F 34 15
DP
header 13 CB 00 00 00 00 00 01 03 37 34 15
IND
Param.Value
SW
ACT
Parameter Number (971 decimal)
Response (Parameter value updated)
DP
trailer
Communication protocol 127
Example 5: Reading a PROFIdrive parameter (array)
In this example, PROFIdrive parameter 945 is used to read the
code of the active fault. As shown on page 164, parameter 945 is
of the array type with subindexes 0 and 1.
Request (Request parameter value [array])
Parameter Number (945 decimal)
Subindex (Latest acknowledged fault)1)
Param.Value
Read:
Req
Resp
CW
REF
63 B1 01 00 00 00 00 00 04 7F 34 15
DP
header 43 B1 01 00 00 00 23 00 03 37 34 15
Param.Value
SW
DP
trailer
ACT
Subindex (Latest acknowledged fault)1)
Parameter Number (945 decimal)
Response (Transfer parameter value [array])
1) 2nd
byte reserved
The slave returns the code of the active fault (2300h). The fault
codes are according to the DRIVECOM® standard. See the drive
User’s manual for drive-specific fault codes.
The implementation of the PROFIdrive profile in the adapter
module supports the storage of the active and the five latest
occurred different faults in the fault buffer. The fault codes can be
accessed by PROFIdrive parameters 945 and 947 (see page 164).
The value zero indicates no fault. The subindexes of these
parameters are related to each other, that is, parameter 945 with
subindex 1 relates to the subindex of parameter 947.
128 Communication protocol
Example 6: Configuring the process data written to the drive
PROFIdrive parameter 915 can be used to define which data is
written cyclically to a drive parameter as application-specific
process data.
In the example below, the value of drive parameter 12.02
(0Ch.02h) is selected to be taken from PZD3. The parameter will
continue to be updated with the contents of PZD3 in each Request
frame until a different selection is made.
Subindex (IND) defines which process data word (PZD) the
required data is taken from. Parameter Value selects the drive
parameter to which that word is mapped.
Request (Change parameter value [array])
Parameter Number (915 decimal)
Subindex (03 = PZD3)1)
Parameter Value
Resp
REF PZD3 PZD4 PZD5 PZD6
73 93 03 00 00 00 0C 02 04 7F 34 15 00 00 00 00 00 00 00 00
43 93 03 00 00 00 0C 02 03 37 34 15 00 00 00 00 00 00 00 00
SW
ACT
DP trailer
Req
DP header
CW
PZD3 PZD4 PZD5 PZD6
Parameter Value
Subindex (03 = PZD3)1)
Parameter Number (915 decimal)
Response (Transfer parameter value [array])
1) 2nd
byte reserved
Subsequently, the contents of PZD3 in each Request frame are
written to drive parameter 12.02 CONSTANT SPEED 1 until a
different selection is made.
Communication protocol 129
Example 7: Configuring the process data read from the drive
PROFIdrive parameter 916 can be used to define which data is
read cyclically from the drive as application-specific process data.
In the example below, drive parameter 1.04 (01h.04h) is selected
to be transmitted by the drive as PZD3. The selection is in force
until it is superseded by another selection.
Subindex (IND) defines which process data word the required data
is transmitted in, and Parameter Value defines which drive
parameter is mapped to that word.
Request (Change parameter value [array])
Parameter Number (916decimal)
Subindex (03 = PZD3)1)
Parameter Value
Resp
REF PZD3 PZD4 PZD5 PZD6
73 94 03 00 00 00 01 04 04 7F 34 15 00 00 00 00 00 00 00 00
43 94 03 00 00 00 01 04 03 37 34 15 00 00 00 00 00 00 00 00
SW
ACT
DP trailer
Req
DP header
CW
PZD3 PZD4 PZD5 PZD6
Parameter Value
Subindex (03 = PZD3)1)
Parameter Number (916 decimal)
Response (Transfer parameter value [array])
1)
2nd byte reserved
xx
xx
xx xx xx xx
xx
xx xx xx
xx
xx
PZD3 (Value of drive parameter 1.04)
00 OB xx xx xx
xx
xx
xx
DP trailer
Resp
DP header
Subsequent response frames:
130 Communication protocol
„ DP-V1 read/write request sequence
A read/write service on a drive parameter is illustrated below.
Master
PROFIdrive
Parameter
request
DP-V1
Slave
Write request DB47
Parameter request
Write response
without data
Read request DB47
without data
Read response (–)
without data
Parameter
processing
Read request DB47
without data
PROFIdrive
Parameter
response
Read response
with data
Parameter response
The messaging employs DP-V1 data units. The PROFIdrive
parameter request is included within the DP-V1 request as data.
Likewise, the DP-V1 response contains the PROFIdrive parameter
response as data.
A write request (Function number 5Fh – see page 132) is first sent
containing the parameter request.
If the write request is valid, the adapter module acknowledges it
with DP-V1 write response code 5Fh with no data. The master will
then send a read request. If the adapter module is still busy
performing the internal parameter request, it will return a negative
response with the DP-V1 error code B5h (State conflict). In this
case, the read request will be repeated by the master until the
adapter module has the PROFIdrive response data ready.
If the write request is invalid, a negative response is returned with
a DP-V1 error code (see page 133).
Communication protocol 131
PROFIBUS SD2 telegram for SAP 51
The read/write service uses a variable-length PROFIBUS SD2
telegram shown below.
DP header
SD
68h
LE LEr SD
x
x
DP trailer
DA
SA
FC
DSAP
SSAP
DU
FCS
ED
xx
xx
x
xx
xx
x…
xx
16h
68h
SD = Start delimiter
LE = Length
LEr = Length repeated
DA = Destination address
SA = Source address
FC = Function code
DSAP = Destination service access point
SSAP = Source service access point
DU = Data unit for DP services
FCS = Frame checking sequence
ED = End delimiter
Data unit
DP-V1
Command/Response
PROFIdrive V3 Parameter Channel
Data
DU0 DU1 DU2 DU3 Request/Response header
(See the tables on pages 134
and 136.)
Byte
Meaning
Value
DU0
Function number
See page 132.
DU1
Slot number
0 = Module itself
1 = Drive parameter access
DU2
Index
47 (0x2F)
DU3
Data length
(Depends on type of
message)
DU4…DUn
PROFIdrive data
132 Communication protocol
The table below lists the DP-V1 function numbers.
Value
Meaning
0x48
Idle REQ, RES
0x51
Data transport REQ, RES
0x56
Resource manager REQ
0x57
Initiate REQ, RES
0x58
Abort REQ
0x5C
Alarm REQ, RES
0x5E
Read REQ, RES
0x5F
Write REQ, RES
0xD1
Data transport negative response
0xD7
Initiate negative response
0xDC
Alarm negative response
0xDE
Read negative response
0xDF
Write negative response
The table below lists the DP-V1 error responses.
Byte
Meaning and value
DU0
Function number = 0xDF (Error Write) = 0xDE (Error
Read)
DU1
Error_Decode: PROFIdrive: Always 0x80 (DP-V1 codes)
DU2
Error_Code_1: Error class/error code (see page 133)
DU3
Error_Code_2: Always 0
Communication protocol 133
The table below lists the error codes for the DP-V1 error
responses.
MSB x
x
x
x
x
x
x
x LSB
Error class
Meaning
Error code
0…9
(Reserved)
10 (0x0A)
Application
0 = Read error
1 = Write error
2 = Module failure
3…7 = Reserved
8 = Version conflict
9 = Feature not supported
10…15 = User-specific
11 (0x0B)
Access
0 = Invalid index
1 = Write length error
2 = Invalid slot
3 = Type conflict
4 = Invalid area
5 = State conflict
6 = Access denied
7 = Invalid range
8 = Invalid parameter
9 = Invalid type
10…15 = User-specific
12 (0x0C)
Resource
0 = Read constraint conflict
1 = Write constraint conflict
2 = Resource busy
3 = Resource unavailable
4…7 = Reserved
8…15 = User-specific
13…15
User-specific
134 Communication protocol
The table below shows the contents of the PROFIdrive Request
header.
Field(s)
Description
Range
Byte/Word
Request
Reference
Unique identification
set by the master.
Changed for each
new request.
1…255
Byte
Request ID
Request type for the
issued block
Request
Parameter (01h)
Change
Parameter (02h)
Byte
Drive Object
ID
To be set to 0 or 1.
0…255
Byte
No. of
Parameters
Number of parameters
that are present in the
request
1…37
Byte
Attribute
Type of object being
accessed
Note: “Description”
and “Text” are not
supported.
Value (10h)
Description (20h)
Text (30h)
Byte
No. of
Elements
Number of array
elements accessed or
length of string
accessed. Set to 0 if
non-array parameters
are used.
0, 1…234
Byte
Parameter
Index
Address of the
parameter that is
being accessed. “0” is
allowed by FPBA-01.
1…65535
Word
Communication protocol 135
Field(s)
Description
Range
Byte/Word
Subindex
Addresses
• the first array
element of the
parameter or
• the beginning of a
string access or
• the text array or
• the description
element that is
being accessed.
0…65535
Word
Format1)
See the table on page
137.
See the table on
page 137.
Byte
Number of
Values1)
Number of values
following
0…234
Byte
Values1)
The values of the
request. In case of an
odd number of bytes,
a zero byte is
appended to ensure
the word structure of
the telegram.
–
See the
Format
field.
1)
Only if Request ID is 02h (Change Parameter). The Format, Number of
Values and Values fields are repeated for other parameters.
136 Communication protocol
The table below shows the contents of the PROFIdrive Response
header.
Field(s)
Description
Range
Request
Reference
(mirrored)
Mirrored from the request
1…255
Response ID
Response from the slave. In
case any requested services fail,
a “not acknowledged” (NAK)
response will be indicated.
Request Param OK
(01h)
Request Param NAK
(81h)
Change Param OK
(02h)
Change Param NAK
(82h)
Drive Object
ID
To be set to 1.
0…255
No. of
Parameters
Number of parameters that are
present in the response
1…37
Format1)
See the table on page 137.
See the table on page
137.
Number of
Values1)
Number of values following
0…234
Values1)
The values of the request. In
case of an odd number of bytes,
a zero byte is appended to
ensure the word structure of the
telegram.
–
1)
Only if Response ID is 01h (Request Parameter OK). The Format,
Number of Values and Values fields are repeated for other parameters.
Communication protocol 137
The table below shows the data types for the Format field.
Code
Type
0x00
(Reserved)
0x01…0x36
Standard data types
1
Boolean (not supported)
2
Integer8 (not supported)
3
Integer16
4
Integer32
5
Unsigned8 (not supported)
6
Unsigned16
7
Unsigned32
8
Floating point (not supported)
9
Visible string (not supported)
•••
0x37…0x3F
(Reserved)
0x40
Zero
0x41
Byte
0x42
Word
0x43
Double word
0x44
Error
0x45…0xFF
(Reserved)
138 Communication protocol
The table below shows the PROFIdrive parameter request error
codes.
Error #
Meaning
Used at
00h
Impermissible
parameter number
Access to an unavailable parameter
01h
Parameter value cannot
be changed
Change access to a parameter
value that cannot be changed
02h
Low or high limit
exceeded
Change access with a value outside
the limits
03h
Invalid subindex
Access to an unavailable subindex
04h
No array
Access with a subindex to a nonindexed parameter
05h
Incorrect data type
Change access with a value that
does not match the data type of the
parameter
06h
Setting not permitted
(can only be reset)
Change access with a value
unequal to 0 when this is not
permitted
07h
Description element
cannot be changed
Change access to a description
element that cannot be changed
09h
No description data
available
Access to an unavailable
description (Parameter value is
available.)
0Bh
No operation priority
Change access rights without rights
to change parameters
0Fh
No text array available
Access to a text array that is not
available (Parameter value is
available.)
11h
Request cannot be
executed because of
operating mode
Access is temporarily not possible
for reasons that are not specified in
detail.
14h
Value impermissible
Change access with a value that is
within limits but is not permissible
for other long-term reasons
(parameter with defined single
values)
Communication protocol 139
Error #
Meaning
Used at
15h
Response too long
The length of the current response
exceeds the maximum
transmittable length.
16h
Parameter address
impermissible
Illegal value or value that is not
supported for the attribute, number
of elements, parameter number or
sub-index, or a combination
17h
Illegal format
Write request: Illegal format or
format of parameter data that is not
supported
18h
Number of values
inconsistent
Write request: Number of values of
parameter data does not match
number of elements at the
parameter address
65h…FF
Manufacturer-specific
error area
–
65h
Vendor-specific error
Vendor-specific error
66h
Request not supported
Request not supported
67h
Communication error
Request cannot be completed
because of a communication error.
6Eh
Non-volatile error
Failure during write to non-volatile
memory
6Fh
Time-out error
Request aborted because of
timeout
78h
PZD map failure
Parameter cannot be mapped to
PZD (size mismatch or nonexistent).
79h
PZD memory failure
Parameter cannot be mapped to
PZD (out of memory).
7Ah
Multiple PZD map
Parameter cannot be mapped to
PZD (multiple PZD write).
82h
Control word bit map
Cannot map Control word bit
(parameter 933…937, eg, double
mapping of bits).
8Ch
Set torque mode error
Cannot change mode to TORQUE
(frequency is used).
140 Communication protocol
Error #
Meaning
Used at
90h
Illegal Request ID
The request ID of the response is
illegal.
96h
Internal buffer
Buffer overflow
A0h
Internal communication
Communication error between the
module and the drive
„ Parameter data transfer examples (DP-V1)
The following examples show how parameter data is transferred
using the DP-V1 mechanisms READ and WRITE.
Note: Only the “data unit” part of the SD2 telegram is presented in
the examples. See PROFIBUS SD2 telegram for SAP 51 on page
131.
Example 1a: Reading a drive parameter (array element)
Drive parameters are addressed so that the drive parameter group
corresponds to the Parameter index (PNU), and the drive
parameter number within the group corresponds to the Subindex
(IND). In the following example, a value is read from drive
parameter number 12.04 (0C.04h).
• DP-V1 Write request (Read parameter value):
Function number
Slot number
Index
Data length
Request reference
Request ID (01h= Request Parameter
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter index
Subindex
5F 01 2F 0A 05
DP
header DP-V1 Command
01
01
01
10
01
00 0C 00
PROFIdrive V3 Parameter Channel
04
DP
trailer
Communication protocol 141
•
Positive Read response to DP-V1 Read request:
Function number
Slot number
Index
Data length
Response reference (mirrored)
Response ID
Drive object ID
Number of parameters
Format (42h = Word)
Number of values
Parameter value
DP
header
•
5E
01
2F
08
DP-V1 Response
05
01
01
01
42
01
05
64
DP
trailer
PROFIdrive V3 Parameter Channel
Negative response to PROFIdrive Read request:
Function number
Slot number
Index
Data length
Response reference (mirrored)
Response ID
Drive object ID (mirrored)
Number of parameters
Format (44h = Error)
Number of values
PROFIdrive error
code
DP
header
5E
01
2F
08
DP-V1 Response
05
01
01
01
42
01
05
64
PROFIdrive V3 Parameter Channel
DP
trailer
142 Communication protocol
Example 1b: Reading 3 drive parameters (multi-parameter)
In this example, three parameters (12.04, 20.08 and 30.19) are
read using one telegram.
• DP-V1 Write request (Read parameter value):
Function number
Slot number
Index
Data length
Request reference
Request ID (01h= Request Parameter
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter number
Subindex
DP
header
5F 01 2F 16 06 01 01 03 10 01 00 0C 00 04
DP-V1
Command
PROFIdrive V3 Parameter Channel
•••
10 01 00 14 00 08
•••
(Par. Channel
continued)
10 01 00 1E 00 13
•••
(Par. Channel
continued)
•••
DP
trailer
Communication protocol 143
•
Positive Read response to DP-V1 Read request:
Function number
Slot number
Index
Data length
Response reference (mirrored)
Response ID
Drive object ID
Number of parameters
Format (42h = Word)
Number of values
Parameter value
DP
header
5F 01 2F 10 06 01 01 03 42 01 01 90
DP-V1
Response
PROFIdrive V3 Parameter
Channel
•••
42 01 01 F4
•••
(Par. Channel
cont’d)
42 01 00 30
•••
(Par. Channel
cont’d)
•••
DP
trailer
The values 190h (400), 1F4h (500) and 1Eh (30) are returned.
144 Communication protocol
Example 2a: Writing a drive parameter (one array element)
Drive parameters are addressed so that the drive parameter group
corresponds to the Parameter index (PNU), and the drive
parameter number within that group corresponds to the Subindex
(IND). In the following example, a value is written to drive
parameter 12.02 (0C.02h).
Function number
Slot number
Index
Data length
Request reference
Request ID
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter number
Subindex
Format
(42h = Word)
Number of
values
5F
01
2F 0E 07
DP-V1
Command
02
01
01
10
01
00 0C 00
02
42
PROFIdrive V3 Parameter Channel
01
02
58
DP trailer
DP header
Value
Communication protocol 145
Slot number
Slot number
Index
Data length
Request reference (mirrored)
Response ID
Drive object ID (mirrored)
Number of parameters
DP
header
5E
01
2F
04
DP-V1 Response
07
02
01
01
PROFIdrive V3
Parameter Channel
DP
trailer
146 Communication protocol
Example 2b: Writing 2 drive parameters (multi-parameter)
In this example, the values 300 (12Ch) and 500 (1F4h) are written
to drive parameters 12.02 (0C.02h) and 20.08 (14.08h)
respectively using one telegram.
Function number
Slot number
Index
Data length
Request reference
Request ID (02h= Change Parameter)
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter number
Subindex
DP
header
5F 01 2F 14 08 02 01 02 10 01 00 0C 00 02
DP-V1 Command
PROFIdrive V3 Parameter
Channel
•••
10 01 00 14 00 08
(Par. Channel cont’d)
•••
42 01 01 2C
(Par. Channel
cont’d)
42 01 01 F4
•••
(Par. Channel
cont’d)
•••
•••
•••
DP
trailer
Value
Number of values
Format (42h = Word)
Communication protocol 147
Slot number
Slot number
Index
Data length
Request reference (mirrored)
Response ID
Drive object ID (mirrored)
Number of parameters
DP
header
5E
01
2F
04
DP-V1 Response
08
02
01
02
PROFIdrive V3
Parameter Channel
DP
trailer
148 Communication protocol
Example 3: Reading a PROFIdrive parameter
In this example, PROFIdrive parameter 918 (396h) is used to read
the station number of the slave.
• DP-V1 Write request (Reading a PROFIdrive parameter):
Function number
Slot number
Index
Data length
Request reference
Request ID (01h= Request Parameter)
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter index
Subindex
5F 01 2F 0A 09
DP
header DP-V1 Command
•
01
01
01
10
00
03
96
00
00
PROFIdrive V3 Parameter Channel
DP
trailer
DP-V1 Read response:
Function number
Slot number
Index
Data length
Response reference (mirrored)
Response ID
Drive object ID
Number of parameters
Format (42h = Word)
Number of values
Value of error
values
DP
header
5E
01
2F
08
DP-V1 Response
09
01
01
01
42
01
23
00
PROFIdrive V3 Parameter Channel
DP
trailer
The slave returns the station number of the slave (0003h in this
example).
Communication protocol 149
Example 4: Configuring the process data written to the drive
PROFIdrive parameter 915 (393h) can be used to define which
data is written cyclically to a drive parameter as application-specific
process data.
In the example below, the value of drive parameter 12.06 (0C.06h)
is selected to be taken from PZD3. The parameter will continue to
be updated with the contents of PZD3 in each Request frame until
a different selection is made.
Subindex (IND) defines which process data word the required data
is taken from. Value selects the drive parameter to which that word
is mapped.
• DP-V1 Write request:
Function number
Slot number
Index
Data length
Request reference
Request ID (02h = Change
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter number
Subindex
Format (42h =
Word)
Number of
values
5F 01 2F 0E 0A 02 01 01 10 01 03 93 00 03 42 01 0C 06
DP-V1
Command
PROFIdrive V3 Parameter Channel
DP trailer
DP header
Value
150 Communication protocol
•
DP-V1 Read response:
Function number
Slot number
Index
Data length
Request reference (mirrored)
Response ID
Drive object ID (mirrored)
Number of parameters
Format (42h = Word)
Number of values
Value of error
values
5E 01 2F 08 0A 01 01 01 42 01 00 68
DP
header DP-V1 Response
PROFIdrive V3 Parameter Channel
DP
trailer
Subsequently, the contents of PZD3 in each Request frame are
written to drive parameter 12.06 until a different selection is made.
Example 5: Determining the source of process data read from
the drive
PROFIdrive parameter 916 (394h) can be used to define which
data is read cyclically from the drive as application-specific process
data. In the example below, the parameter is used to determine
which drive parameter the contents of PZD3 are taken from.
Subindex (IND) defines which process data word the required data
is transmitted in.
Communication protocol 151
•
DP-V1 Write request:
Function number
Slot number
Index
Data length
Request reference
Request ID (01h = Read)
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter index
Subindex
DP
header
•
5F
01
2F
0A 0B
01
DP-V1 Response
01
01
10
01
03
94
00
03
PROFIdrive V3 Parameter Channel
DP
trailer
DP-V1 Read response:
Function number
Slot number
Index
Data length
Request reference (mirrored)
Response ID
Drive object ID (mirrored)
Number of parameters
Format (42h = Word)
Number of values
Value of error
values
DP
header
5E
01
2F
08
DP-V1 Response
0B
01
01
01
42
01
0C
05
PROFIdrive V3 Parameter Channel
DP
trailer
Value indicates the source of PZD3 as drive parameter 12.05
(0C.05h).
152 Communication protocol
Diagnostics 153
Diagnostics
What this chapter contains
This chapter explains how to trace faults with the status LEDs on
the adapter module.
154 Diagnostics
LED indications
The adapter module is equipped with three bicolor diagnostic
LEDs. The LEDs are described below.
Name
HOST
Color
Function
Green
Connection to host OK
Blinking red
Establishing communication to
host, or communication to host
lost
Flashing orange,
alternating with the
MODULE flashing orange
Internal file system error. The
error may be cleared by
cycling drive power. If the error
persists, contact your local
ABB representative.
Diagnostics 155
Name
MODULE
NETWORK
Color
Function
Green
Module status OK
Blinking red
Configuration mismatch
Blinking red in unison with
HOST (blinking red)
Establishing communication to
host
Blinking green in unison
with NETWORK (blinking
red)
Network connection lost
Blinking green once per
second with NETWORK
steady green
No communication with this
node
Blinking green 3 times per
second with NETWORK
steady green
Only Class 2 master
connection (no cyclic
communication established)
Red
Module fault
Flashing orange,
alternating with the HOST
flashing orange
Internal file system error. The
error may be cleared by
cycling drive power. If the error
persists, contact your local
ABB representative.
Blinking green
Establishing network
connection
Green
Network connection OK
Blinking red
Network connection lost
156 Diagnostics
Technical data 157
Technical data
What this chapter contains
This chapter contains the technical data of the adapter module and
the PROFIBUS link.
FPBA-01
Enclosure:
158 Technical data
Mounting: Into the option slot on the drive
Degree of protection: IP20
Ambient conditions: The applicable ambient conditions specified
for the drive in its manuals are in effect.
Indicators: Three bicolor LEDs (HOST, MODULE, NETWORK)
Connectors:
• 20-pin connector to drive (X2)
•
9-pin D-SUB connector to bus (X1)
Power supply:
• +3.3 V ±5% max. 450 mA (supplied by the drive)
•
Isolated +5 V supply available for bus termination circuitry (X1
pins 5 and 6). 30 mA max.
General:
• Estimated min. lifetime: 100 000 h
•
•
•
All materials UL/CSA-approved
Complies with EMC standard EN 61800-3:2004
Bus interface functionally isolated from drive
Technical data 159
PROFIBUS link
Compatible devices: All PROFIBUS-compliant devices
Medium: Shielded twisted pair RS-485 cable (PROFIBUSapproved cable recommended)
• Termination: 220 ohms, or active termination circuitry at each
end of trunk cable (termination not built in the FPBA-01
module)
•
Specifications:
Parameter
Line A
PROFIBUS DP
Line B
DIN 19245 Part 1
Unit
Impedance
35…165
(3…20 MHz)
100…130
(f > 100 kHz)
ohm
Capacitance
< 30
< 60
pF/m
Resistance
< 110
–
ohm/km
Wire gauge
> 0.64
> 0.53
mm
Conductor area
> 0.34
> 0.22
mm2
•
Maximum bus length:
Transfer rate
(kbit/s)
≤
93.75
187.5
500
1500
3000
6000
12000
Line A (m)
1200
1000
400
200
100
100
100
Line B (m)
1200
600
200
–
–
–
–
Topology: Trunk line, drop lines allowed. Max. 126 nodes with
repeaters (31 nodes + repeater per section)
Transfer rate: 12 Mb/s max., automatically detected by the
adapter module
Serial communication type: Asynchronous, half-duplex RS-485
Protocol: PROFIBUS DP
160 Technical data
Appendix A – PROFIdrive parameters 161
Appendix A – PROFIdrive
parameters
What this chapter contains
This chapter contains a list of the PROFIdrive profile parameters.
PROFIdrive parameters
Par. no. R/W1)
Data type
Description
915
R/W
Array [10]
Unsigned16
Assignment PZD1 to PZD10 in PPOwrite
916
R/W
Array [10]
Unsigned16
Assignment PZD1 to PZD10 in PPOread
918
R/W
Unsigned16
Node address. Writing this parameter will
change the node address. Module restart required.
919
R
Octet
String4
Device system number.
923
R
Array [n]
Unsigned16
List of all parameters for signals.
Mandatory if process data normalization
is used and/or parameters 915 and 916
are implemented.
Signal no. and name
1 – Control word 1 (STW1)
Type
Unsigned16
162 Appendix A – PROFIdrive parameters
Par. no. R/W1)
Data type
Description
2 – Status word 1 (ZSW1)
Unsigned16
3 – Control word 2 (STW2)
Unsigned16
4 – Status word 2 (ZSW2)
Unsigned16
5 – Speed set point A
(NSOLL_A)
Signed16
6 – Speed actual value A
(NIST_A)
Signed16
7 – Speed set point B
(NSOLL_B)
Signed32
8 – Speed actual value B
(NIST_B)
Signed32
27 – Position set point A
(XSOLL_A)
Signed32
28 – Position actual value A
(XIST_A)
Signed32
32 – Traversing block
selection (SATZANW) (not
supported)
Unsigned16
33 – Actual traversing block
(AKTSATZ) (not supported)
Unsigned16
34 – Target position
(TARPOS_A) (not
supported)
35 – Velocity
(VELOCITY_A)
101…9999 – Drive-specific
927
R/W
Unsigned16
Signed32
Unsigned32
–
Operator control rights (parameter
identification, PKW)
Value
Mode
0
Parameters cannot be
written, only read (927 can
be written).
1
Parameters can be written
and read (default).
Appendix A – PROFIdrive parameters 163
Par. no. R/W1)
Data type
Description
928
Unsigned16
Control rights (process data, PZD).
929
R/W
R
Unsigned16
Value
Mode
0
PZD part is disabled, ie,
Receipt of new PZD data is
ignored.
1
PZD part is enabled
(default).
Selected PPO type
Value
PPO type
Configuration
1
PPO1
F3h, F1h
2
PPO2
F3h, F5h
3
PPO3
F1h
4
PPO4
F5h
5
PPO5
F3h, F9h
6
PPO6
F9h
7
PPO7
0xF3, 0xFB
8
PPO8
0xFB
Note: This parameter is not available if
standard telegram ST1 or ST2 is
selected.
930
R/W
Unsigned16
Selection switch for communication
profile.
Value
Mode
1
PROFIdrive
8001h
ABB Drives
8002h
Transparent 16
8003h
Transparent 32
8004h
PROFIdrive positioning
mode
164 Appendix A – PROFIdrive parameters
Par. no. R/W1)
Data type
Description
933
Unsigned16
Selection switch for Control word, bit 11.
R/W
Value
Module Control word bit
0
None
1 to 5
Vendor-specific 1 to 52)
934
R/W
Unsigned16
Selection switch for Control word, bit 12.
(See parameter 933 for coding.)
935
R/W
Unsigned16
Selection switch for Control word, bit 13.
(See parameter 933 for coding.)
936
R/W
Unsigned16
Selection switch for Control word, bit 14.
(See parameter 933 for coding.)
937
R/W
Unsigned16
Selection switch for Control word, bit 15.
(See parameter 933 for coding.)
939
R/W
Unsigned16
Selection switch for Status word, bit 11.
Value
Module Status word bit
0
None
1 to 4
Vendor-specific 1 to 42)
940
R/W
Unsigned16
Selection switch for Status word, bit 12.
(See parameter 939 for coding.)
941
R/W
Unsigned16
Selection switch for Status word, bit 13.
(See parameter 939 for coding.)
942
R/W
Unsigned16
Selection switch for Status word, bit 14.
(See parameter 939 for coding)
943
R/W
Unsigned16
Selection switch for Status word, bit 15.
(See parameter 939 for coding.)
945
R
Array[64]
Unsigned16
Fault code (coded according to
DRIVECOM profile). Supported with
ACS355 drives only. Note: The drive
may limit the actual number of the faults
recorded.
Subindex Contents
1
Active fault
Appendix A – PROFIdrive parameters 165
Par. no. R/W1)
Data type
Description
947
Array [64]
Unsigned16
Fault number.
R
Subindex Contents
See parameter 945.
952
R/W
Unsigned16
Number of faults occurred. Writing a zero
clears the value.
953
R
Unsigned16
3)
Last alarm
954
R
Unsigned16
3)
Second last alarm
955
R
Unsigned16
3)
Third last alarm
956
R
Unsigned16
3)
Fourth last alarm
957
R
Unsigned16
3)
Fifth last alarm
958
R
Unsigned16
Sixth last alarm (not supported)
959
R
Unsigned16
Seventh last alarm (not supported)
960
R
Unsigned16
Eighth last alarm (not supported)
961
R
Octet
String4
Hardware configuration (manufacturerspecific ID of the drive)
963
R
Unsigned16
Detected baud rate:
0 = 9.6 kbit/s
1 = 19.2 kbit/s
2 = 93.75 kbit/s
3 = 187.5 kbit/s
4 = 500 kbit/s
6 = 1.5 Mbit/s
7 = 3 Mbit/s
8 = 6 Mbit/s
9 = 12 Mbit/s
11 = 45.45 kbit/s
255 = Invalid baud rate
166 Appendix A – PROFIdrive parameters
Par. no. R/W1)
Data type
Description
964
Array [7]
Unsigned16
Subindex Contents
R
0
Manufacturer
1
Device type
2
Version
3
Firmware date (year)
4
Firmware date (day/month)
5
Number of Axes
6
Identification (0959h)
965
R
Octet
String2
Profile number of this device.
Eg: 0302h = Profile 3, Version 2
967
R
Unsigned16
Control word (CW)
968
R
Unsigned16
Status word (SW)
970
R/W
Unsigned16
Load parameter record
Value
Description
0
No action
1
Restore factory settings
The parameter must do a zero-to-one
transition and the motor must be
stopped.
971
R/W
Unsigned16
Save parameter record
Value
Description
0
No action
1
Save the drive parameters
to non-volatile memory
The parameter must do a zero-to-one
transition and the motor must be
stopped.
Appendix A – PROFIdrive parameters 167
Par. no. R/W1)
Data type
Description
972
Unsigned16
Software reset
R/W
Value
Description
0
No action
1
Re-boot PROFIBUS module
The parameter must do a zero-to-one
transition and the motor must be
stopped.
975
R
Array[n]
Unsigned16
DO identification. For subindexes 0…4,
see parameter 964.
Subindex Meaning
980
981
1)
R
Array[n]
Unsigned16
5
Value 2 = Axis
6
Bit 0=1 -> Application Class
1 supported
Bit 2=1 -> Application Class
3 supported
Number list of the defined parameters. If
the subindex is 0, the end of the list has
been reached. If the subindex is the
number of the next list parameter, the list
is continued there.
Read and/or Write
The meaning of vendor-specific bits is defined by the drive application
program.
3)
Support depends on the drive type.
2)
168 Appendix A – PROFIdrive parameters
Appendix B – I&M records 169
Appendix B – I&M records
What this chapter contains
This chapter contains the telegram and response structures for
I&M (Identification & Maintenance) records.
I&M records
I&M records can be read, for example, with the DTM tool. The
FPBA-01 module supports the mandatory I&M0 record as well as
the optional I&M1 and I&M2 records.
170 Appendix B – I&M records
„ Call-REQ-PDU telegram for read/write access to
I&M records
DP-V1
header
Call
Header
Contents
Size
Coding
Notes
Function_Num
1 Octet
5Fh
fixed
Slot_Number
1 Octet
0…255
variable
Index
1 Octet
255
fixed
Length
1 Octet
4 / 68
Call Header only /
Write
Extended_Function_ 1 Octet
Num
08h
Indicates “Call”,
fixed
reserved
1 Octet
00h
fixed
FI_Index
2 Octets
65000… Subindex of I&M0
Record
65000 = I&M0
65001 = I&M1
65002 = I&M2
IM_Function
64 Octets
Data
Write only (I&M1
or I&M2)
Appendix B – I&M records 171
„ Response structure for I&M0 (Read-only)
Contents
Size
Coding
Header Manufacturer-specific
10 Octets
“FPBA-01”
I&M
block
MANUFACTURER_ID
2 Octets
0x1A = ABB Automation
ORDER_ID
20 Octets
“68469325” (for FPBA01 kit)
SERIAL_NUMBER
16 Octets
Serial number of FPBA
module
HARDWARE_REVISION
2 Octets
Hardware version of
FPBA module
SOFTWARE_REVISION
4 Octets
Format: V255.255.255
Eg, V1.0.0 = software
version 1.00
REVISION_COUNTER
2 Octets
(Marks a change of
hardware or its
parameters)
PROFILE_ID
2 Octets
3A00 (…3AFF)
PROFIdrive
PROFILE_SPECIFIC_
TYPE
2 Octets
0 = no specific type
IM_VERSION
2 Octets
0x0101 = version 1.1
IM_SUPPORTED
2 Octets
3 = I&M0, I&M1 and
I&M2 supported
172 Appendix B – I&M records
„ Response structure for I&M1 (Read/Write)
Contents
Size
Coding
Header
Manufacturer-specific
10 Octets
–
I&M0
block
TAG_FUNCTION
32 Octets
Device function or task
TAG_LOCATION
22 Octets
Device location
„ Response structure for I&M2 (Read/Write)
Contents
Size
Coding
Header
Manufacturer-specific
10 Octets
–
I&M0
block
INSTALLATION_DATE 16 Octets
Installation date.
Eg, 2011-01-01 16:23
RESERVED
Reserved
38 Octets
Note: I&M1 and I&M2 are blank (0x20) by default.
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
Telephone 262 785-3200
1-800-HELP-365
Fax
262 780-5135
www.abb.com/drives
ABB Beijing Drive Systems
Co. Ltd.
No. 1, Block D,
A-10 Jiuxianqiao Beilu
Chaoyang District
Beijing, P.R. China, 100015
Telephone +86 10 5821 7788
Fax
+86 10 5821 7618
www.abb.com/drives
3AFE68573271 Rev E (EN) 2011-09-07
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