ABB FENA-01 User manual

Options for ABB drives, converters and inverters

User’s manual

FENA-01/-11/-21 Ethernet adapter module

List of related manuals

Drive manuals and guides Code

(EN/Multilingual)

3AUA0000066143 ACS355 drives (0.37…22 kW,

0.5…30 hp) user’s manual

ACS580-01 manuals

ACSM1 manuals

ACS850-04 manuals

ACQ810 manuals

ACS880-01 manuals

ACS880-04 manuals

ACS880-07 manuals

9AKK105713A8085

00578051

00592009

00598718

9AKK105408A7004

9AKK105713A4819

9AKK105408A8149

Option manuals and guides

FENA-01/-11/-21 Ethernet adapter module user’s manual

3AUA0000093568

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

Internet. See section

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3AUA0000093568 Rev B

EN

EFFECTIVE: 2014-01-29

User’s manual

FENA-01/-11/-21 Ethernet adapter module

Table of contents

1. Safety instructions

4. Mechanical installation

5. Electrical installation

Modbus/TCP protocol

EtherNet/IP protocol

PROFINET IO protocol

 2014 ABB Oy

All Rights Reserved.

Table of contents 5

Table of contents

List of related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1. Safety instructions

Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Use of warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Safety in installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2. Introduction to the manual


Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Purpose of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

General terms and abbreviations . . . . . . . . . . . . . . . . . . . . 26

Modbus/TCP terms and abbreviations . . . . . . . . . . . . . . . . 27

EtherNet/IP terms and abbreviations . . . . . . . . . . . . . . . . . . 27

PROFINET IO terms and abbreviations . . . . . . . . . . . . . . . 28

3. Overview of the Ethernet network and the FENA-01/-

11/-21 module


Ethernet network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Example topology of the Ethernet link . . . . . . . . . . . . . . . . . 34

FENA-01/-11/-21 Ethernet adapter module . . . . . . . . . . . . . . . . 35

Layout of the adapter module . . . . . . . . . . . . . . . . . . . . . . . 36

6 Table of contents

4. Mechanical installation


Necessary tools and instructions . . . . . . . . . . . . . . . . . . . . . . . . 39

Unpacking and examining the delivery . . . . . . . . . . . . . . . . . . . . 39

Installing the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

5. Electrical installation


Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Necessary tools and instructions . . . . . . . . . . . . . . . . . . . . . . . . 43

General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Connecting the adapter module to the Ethernet network . . . . . . 44

Connection procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Modbus/TCP protocol

6. Modbus/TCP – Start-up


Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Modbus/TCP connection configuration . . . . . . . . . . . . . . . . 50

FENA-01/-11-/21 configuration parameters – group A

(group 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

FENA-01/-11/-21 configuration parameters – group B

(group 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

FENA-01/-11/-21 configuration parameters – group C

(group 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Starting up fieldbus communication for ACS355 drives . . . . . . . 63

Parameter setting examples – ACS355 . . . . . . . . . . . . . . . . 64

Speed and torque control using the ABB Drives –

Enhanced communication profile . . . . . . . . . . . . . . . . . . 64

Starting up fieldbus communication for ACSM1 drives . . . . . . . 67

Parameter setting examples – ACSM1 . . . . . . . . . . . . . . . . 68

Speed and torque control using the ABB Drives –

Enhanced communication profile . . . . . . . . . . . . . . . . . . 68


Starting up fieldbus communication for ACS850 and ACQ810 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Parameter setting examples – ACS850 and ACQ810 . . . . . 73

Speed control using the ABB Drives – Enhanced communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Starting up fieldbus communication for ACS880 and ACS580 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Parameter setting examples – ACS880 . . . . . . . . . . . . . . . 78

Speed control using the ABB Drives – Enhanced communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . 78


Frequency control using the ABB Drives – Enhanced communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Client configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Modbus register maps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

7. Modbus/TCP – Communication profiles


Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . . 87

Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . 87

Control word contents . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

8. Modbus/TCP – Communication protocol


Modbus/TCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Register addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Function codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Encapsulated Interface Transport / Read Device Identification . 97

Exception codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98


Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

ABB Drives profile - Classic . . . . . . . . . . . . . . . . . . . . . . . . . 99

ABB Drives profile - Enhanced . . . . . . . . . . . . . . . . . . . . . 100

Transparent 16-bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Transparent 32-bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

9. Modbus/TCP – Diagnostics

Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Fault and warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . 107

LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Internal error code registers . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

EtherNet/IP protocol

10. EtherNet/IP – Start-up


Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

EtherNet/IP connection configuration . . . . . . . . . . . . . . . . 116

FENA-01/-11/-21 configuration parameters – group A

(group 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117


(group 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130


(group 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

Starting up fieldbus communication for ACS355 drives . . . . . . 133


Speed control using the ODVA AC/DC drive profile,

Extended speed control assembly . . . . . . . . . . . . . . . . 134

Starting up fieldbus communication for ACSM1 drives . . . . . . 137

Parameter setting examples – ACSM1 . . . . . . . . . . . . . . . 138



Starting up fieldbus communication for ACS850 and ACQ810 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Parameter setting examples – ACS850 and ACQ810 . . . . 142




Starting up fieldbus communication for ACS880 and ACS580 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

Parameter setting examples – ACS880 and ACS580 . . . . 146



Configuring the client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Select protocol/profile. . . . . . . . . . . . . . . . . . . . . . . . . . 149

Select output and input assembly instances . . . . . . . . 149

Select connection method . . . . . . . . . . . . . . . . . . . . . . 151

EDS files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

Configuring an Allen-Bradley® PLC . . . . . . . . . . . . . . . . . 153

11. EtherNet/IP – Communication profiles


Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

ODVA AC/DC drive profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

ODVA output attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

Run Forward & Run Reverse (Control supervisor object) .

162

Fault Reset (Control supervisor object) . . . . . . . . . . . . 162

Net Ctrl (Control supervisor object) . . . . . . . . . . . . . . . 162

Net Ref (AC/DC drive object) . . . . . . . . . . . . . . . . . . . . 162

Speed Reference (AC/DC drive object) . . . . . . . . . . . . 163

Torque Reference (AC/DC drive object) . . . . . . . . . . . 165

ODVA input attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

Faulted (Control supervisor object) . . . . . . . . . . . . . . . 166

Warning (Control supervisor object). . . . . . . . . . . . . . . 166

Running Forward (Control supervisor object) . . . . . . . 166

Running Reverse (Control supervisor object) . . . . . . . 166

Ready (Control supervisor object) . . . . . . . . . . . . . . . . 166

Ctrl From Net (Control supervisor object) . . . . . . . . . . 166

Ref From Net (AC/DC drive object) . . . . . . . . . . . . . . . 166

At Reference (AC/DC drive object) . . . . . . . . . . . . . . . 167


State (Control supervisor object) . . . . . . . . . . . . . . . . . 167

Speed Actual (AC/DC drive object) . . . . . . . . . . . . . . . 169

Torque Actual (AC/DC drive object) . . . . . . . . . . . . . . . 171

ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . 172

Control word and Status word . . . . . . . . . . . . . . . . . . . . . . 172

Control word contents. . . . . . . . . . . . . . . . . . . . . . . . . . 172

Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . 175

State machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

12. EtherNet/IP – Communication protocol


EtherNet/IP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

Object modeling and functional profiles . . . . . . . . . . . . . . . . . . 182

Assembly objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

Basic speed control assembly . . . . . . . . . . . . . . . . . . . . . . 182

Basic speed control plus drive parameters assembly . . . . 183

Extended speed control assembly . . . . . . . . . . . . . . . . . . . 185

Extended speed control plus drive parameters assembly . 186

Basic speed and torque control assembly . . . . . . . . . . . . . 189

Basic speed and torque control plus drive parameters assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

Extended speed and torque control assembly . . . . . . . . . . 192

Extended speed and torque control plus drive parameters assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

ABB Drives profile with set speed assembly . . . . . . . . . . . 196

ABB Drives profile with set speed plus drive parameters assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

ABB Drives profile with set speed and set torque assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

ABB Drives profile with set speed and set torque plus drive parameters assembly . . . . . . . . . . . . . . . 200

Transparent 16 with one assembly . . . . . . . . . . . . . . . . . . 203


Transparent 16 with one assembly plus drive parameters 204

Transparent 16 with two assembly . . . . . . . . . . . . . . . . . . 206

Transparent 16 with two assembly plus drive parameters 207

Transparent 32 with one assembly . . . . . . . . . . . . . . . . . . 209

Transparent 32 with one assembly plus drive parameters 210

Transparent 32 with two assembly . . . . . . . . . . . . . . . . . . 213

Transparent 32 with two assembly plus drive parameters 214

Class objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

Identity object, class 01h . . . . . . . . . . . . . . . . . . . . . . . . . . 218

Class attributes (Instance #0) . . . . . . . . . . . . . . . . . . . 218

Instance attributes (Instance #1) . . . . . . . . . . . . . . . . . 218

Attribute explanations. . . . . . . . . . . . . . . . . . . . . . . . . . 218

Motor data object, class 28h . . . . . . . . . . . . . . . . . . . . . . . 221



Control supervisor object, class 29h . . . . . . . . . . . . . . . . . 222



AC/DC-drive object, class 2Ah . . . . . . . . . . . . . . . . . . . . . 224



Drive parameter object, class 90h . . . . . . . . . . . . . . . . . . . 226

Fieldbus configuration object, class 91h . . . . . . . . . . . . . . 227

Class attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

Instance #1: FENA-01/-11/-21 configuration parameters group A (group 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

Instance #2: FENA-01/-11/-21 configuration parameters group B (group 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

Instance #3: FENA-01/-11/-21 configuration parameters group C (group 3). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

TCP/IP interface object, class F5h . . . . . . . . . . . . . . . . . . 233


Attribute explanations. . . . . . . . . . . . . . . . . . . . . . . . . . 234

Ethernet link object, class F6h . . . . . . . . . . . . . . . . . . . . . . 236




Connection object, class 05h . . . . . . . . . . . . . . . . . . . . . . . 237

Class attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

Instance attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

Acknowledge handler object, class 2Bh . . . . . . . . . . . . . . 240

Class attributes (Instance #0). . . . . . . . . . . . . . . . . . . . 240


13. EtherNet/IP – Diagnostics



LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242

PROFINET IO protocol

14. PROFINET IO – Start-up


Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247

Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

PROFINET IO connection configuration . . . . . . . . . . . . . . 248

FENA-01/-11/-21 configuration parameters – group A

(group 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249


(group 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258


(group 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260

Virtual address area allocation with ACSM1 . . . . . . . . 261

Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

Starting up fieldbus communication for ACS355 drives . . . . . . 263


Speed control using the PROFIdrive communication profile with PPO Type 4 . . . . . . . . . . . . . . . . . . . . . . . . 264

Speed and torque control using the ABB Drives communication profile with PPO Type 4. . . . . . . . . . . . 266

Starting up fieldbus communication for ACSM1 drives . . . . . . 269

Parameter setting examples – ACSM1 . . . . . . . . . . . . . . . 270



Position control using the PROFIdrive communication profile with PPO Type 4 . . . . . . . . . . . . . . . . . . . . . . . . 272

Speed and torque control using the ABB Drives communication profile with PPO Type 4 . . . . . . . . . . . 276

Starting up fieldbus communication for ACS850 and ACQ810 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279

Parameter setting examples – ACS850 and ACQ810 . . . . 280


Starting up fieldbus communication for ACS880 and ACS580 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

Parameter setting examples – ACS880 . . . . . . . . . . . . . . 284

Speed control using PROFIdrive communication profile with PPO Type 4 . . . . . . . . . . . . . . . . . . . . . . . . 284

Parameter setting examples – ACS580 . . . . . . . . . . . . . . 286

Frequency control using PROFIdrive communication profile with PPO Type 4 . . . . . . . . . . . . . . . . . . . . . . . . 286

Configuring the master station . . . . . . . . . . . . . . . . . . . . . . . . . 289

Downloading the GSD file . . . . . . . . . . . . . . . . . . . . . . . . . 289

Configuring an ABB AC500 PLC . . . . . . . . . . . . . . . . . . . . 289

Configuring a Siemens SIMATIC S7 PLC . . . . . . . . . . . . . 295

15. PROFINET IO – Communication profiles


Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

PROFIdrive communication profile . . . . . . . . . . . . . . . . . . . . . 307


Control word contents . . . . . . . . . . . . . . . . . . . . . . . . . 307


State machine for all operating modes. . . . . . . . . . . . . 312

State machine for the positioning mode. . . . . . . . . . . . 313

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314

References in speed control mode . . . . . . . . . . . . . . . 314

References in positioning mode (ACSM1 only) . . . . . . 314

Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315

Actual values in speed control mode . . . . . . . . . . . . . . 315


Actual values in positioning mode (ACSM1 only). . . . . 315

ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . 316


Control word contents. . . . . . . . . . . . . . . . . . . . . . . . . . 316


State machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

16. PROFINET IO – Communication protocol


PROFINET IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

PROFINET IO in FENA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

Cyclic message types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326

PPO types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326

Standard telegram (ST) types (DP-V1) . . . . . . . . . . . . . . . 327

Parameter handling using acyclic parameter access mechanism

(DP-V1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327

Header and frame structures . . . . . . . . . . . . . . . . . . . . . . . 328

ErrorCode1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329

DP-V1 read/write request sequence . . . . . . . . . . . . . . . . . 330

Read and write blocks . . . . . . . . . . . . . . . . . . . . . . . . . 331

Data block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332

Function blocks for sending DP-V1 messages

(Siemens S7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

Parameter data transfer examples . . . . . . . . . . . . . . . . . . . 339

Example 1a: Reading a drive parameter (array element) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

Example 1b: Reading 3 drive parameters

(multi-parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

Example 2a: Writing a drive parameter (one array element) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

Example 2b: Writing 2 drive parameters

(multi-parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345


Example 3: Reading a PROFIdrive parameter. . . . . . . 347

Example 4: Configuring the process data written to the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348

Example 5: Determining the source of the process data read from the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350

Diagnostic and alarm mechanism . . . . . . . . . . . . . . . . . . . . . . 351

Alarm mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352

Fault code mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . 352

Fault buffer mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . 354

17. PROFINET IO – Diagnostics



LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358

18. Technical data


FENA-01/-11/-21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361

Ethernet link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362

19. Appendix A – PROFIdrive parameters and I&M records of PROFINET IO


PROFIdrive parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364

I&M records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371

Call-REQ-PDU telegram for read/write access to

I&M records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371

Response structure for I&M0 (Read-only) . . . . . . . . . . . . . 372

Response structure for I&M1 (Read/Write) . . . . . . . . . . . . 372





20. Appendix B – ABB IP configuration tool for FENA


Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

Finding adapter modules in the network . . . . . . . . . . . . . . . . . 376

Rewriting the IP configuration of adapter modules . . . . . . . . . . 377

21. Appendix C – FENA configuration web pages


Browser requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379

Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379

Logging in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380

Menu overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381

Status page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382

Configuration page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383

Support page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385

Password page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386

Further information

Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . 387

Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387

Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . 387

Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . 387

Safety instructions 17

1

Safety instructions

Contents of this chapter

The chapter contains the warning symbols used in this manual and the safety instructions which you must obey when you install or connect an optional module to a drive, converter or inverter. If you ignore the safety instructions, injury, death or damage can occur.

Read this chapter before you start the installation.

18 Safety instructions

Use of warnings

Warnings tell you about conditions which can cause injury or death, or damage to the equipment. They also tell you how to prevent the danger. The manual uses these warning symbols:

Electricity warning tells you about hazards from electricity which can cause injury or death, or damage to the equipment.

General warning tells you about conditions, other than those caused by electricity, which can cause injury or death, or damage to the equipment.

Safety instructions 19

Safety in installation

These instructions are for all who install or connect an optional module to a drive, converter or inverter and need to open its front cover or door to do the work.

WARNING! Obey these instructions. If you ignore them, injury or death, or damage to the equipment can occur.

•

If you are not a qualified electrician, do not do installation or maintenance work.

•

Disconnect the drive, converter or inverter from all possible power sources. After you have disconnected the drive, converter or inverter, always wait for 5 minutes to let the intermediate circuit capacitors discharge before you continue.

•

Disconnect all dangerous voltages connected to other control signal connectors in reach. For example, it is possible that

230 V AC is connected from outside to a relay output of the drive, converter or inverter.

•

Always use a multimeter to make sure that there are no parts under voltage in reach. The impedance of the multimeter must be at least 1 Mohm.

20 Safety instructions

Introduction to the manual 21

2

Introduction to the manual


This chapter introduces this manual.

Applicability

This manual applies to the FENA-01/-11/-21 Ethernet adapter module, SW version 3.00 and later.

Compatibility



Drives

This table shows the compatibility of the FENA adapter module with the different ABB drives.

FENA-01

FENA-11

FENA-21

ACS355 ACSM1 ACS850 ACQ810 ACS880 ACS580

x x x x x x x x x x x x x

22 Introduction to the manual



Protocols

The FENA adapter module is compatible with Ethernet standards

IEEE 802.3 and IEEE 802.3u.

This table shows the protocols supported by the FENA adapter module from SW version 0.290 onwards.

Modbus/TCP

1)

EtherNet/IP™ PROFINET IO

FENA-01

FENA-11

x x x x x x

FENA-21

x x x

1)

In addition to Modbus/TCP, FENA-01/-11/-21 supports Modbus over

UDP.

This table specifies the clients/masters that are compatible with the supported protocols.

Protocol

Modbus/TCP

EtherNet/IP

1)

Compatible client/master

All Modbus/TCP clients that support:

• Modbus Application Protocol Specification v1.1b

• Modbus Messaging on TCP/IP Implementation Guide v1.0b

All EtherNet/IP clients that support:

• The CIP Networks Library, Volume 1, Common

Industrial Protocol (CIP), Edition 3.0 May, 2006

• The CIP Networks Library, Volume 2, EtherNet/IP

Adaptation of CIP, Edition 1.2 May, 2006

• Recommended Functionality for EtherNet/IP Devices

Version 1.2, Feb., 2006

PROFINET IO All PROFINET IO masters that support:

• GSDML file version 2.20

• PROFINET IO protocol according IEC standards

61158 and 61784

• PROFINET-IO conformance class B




Tools

The FENA-11/-21 adapter module can be used in the Ethernet tool network for ACS880 and ACS580 drives. The Ethernet tool network enables commissioning and monitoring several single drives, or inverter and supply units of a multidrive from a single location by using the Drive composer pro PC tool.

Note: When the FENA-11/-21 adapter module is used only in the

Ethernet tool network, the recommended setting for parameters

50.21 FBA A timelevel sel and 50.51 FBA B timelevel sel is Slow.

For more information on the Ethernet tool network, see:

•

Ethernet tool network for ACS880 drives application guide

(3AUA0000125635) [English])

•

Drive composer user’s manual (3AUA0000094606 [English]).

Target audience

This manual is intended for people who plan the installation, install, start up, use and service the adapter module. Before you do work on the module, read this manual and the applicable drive/converter

/inverter manual that contains the hardware and safety instructions for the product in question.

You are expected to know the fundamentals of electricity, wiring, electrical components and electrical schematic symbols.

The manual is written for readers worldwide. Both SI and imperial units are shown.

Purpose of the manual

The manual provides information on installing, commissioning and using the FENA-01/-11/-21 Ethernet adapter module.


Contents

The manual consists of the following chapters:

•

Safety instructions

gives the safety instructions which you must obey when you install a fieldbus adapter module.

•

Overview of the Ethernet network and the FENA-01/-11/-21 module

contains a short description of the Ethernet network

and the adapter module.

•

Mechanical installation

contains a delivery checklist and

instructions on installing the adapter module.

•

Electrical installation

contains instructions on cabling and connecting the adapter module to the Ethernet network.

•

Technical data

contains the technical data of the adapter module and the Ethernet link.

•

Appendix A – PROFIdrive parameters and I&M records of

PROFINET IO

contains the PROFIdrive profile parameters and telegram and response structures for the I&M records of the

PROFINET IO protocol.

•

Appendix B – ABB IP configuration tool for FENA

shows how

to use the APP IP configuration tool for FENA.

•

Appendix C – FENA configuration web pages

presents the

FENA configuration web pages.

Modbus/TCP protocol

•

Modbus/TCP – Start-up

presents the steps to take during the start-up of the drive with the adapter module and gives information on configuring the Modbus/TCP client.

•

Modbus/TCP – Communication profiles

describes the

communication profiles used in the communication between the client, the adapter module and the drive.

•

Modbus/TCP – Communication protocol

describes the

Modbus/TCP communication protocol for the adapter module.

•

Modbus/TCP – Diagnostics

explains how to trace faults with the status LEDs on the adapter module.


EtherNet/IP protocol

•

EtherNet/IP – Start-up

presents the steps to take during the

start-up of the drive with the adapter module and gives examples of configuring the EtherNet/IP client.

•

EtherNet/IP – Communication profiles

describes the

communication profiles used in the communication between the client, the adapter module and the drive.

•

EtherNet/IP – Communication protocol

describes the

EtherNet/IP communication protocol for the adapter module.

•

EtherNet/IP – Diagnostics

explains how to trace faults with the

status LEDs on the adapter module.

PROFINET IO protocol

•

PROFINET IO – Start-up

presents the steps to take during the

start-up of the drive with the adapter module and gives examples of configuring the PROFINET master.

•

PROFINET IO – Communication profiles

describes the communication profiles used in the communication between the master, the adapter module and the drive.

•

PROFINET IO – Communication protocol

describes the

PROFINET IO communication protocol for the adapter module.

•

PROFINET IO – Diagnostics

explains how to trace faults with the status LEDs on the adapter module.


Terms and abbreviations

Later in this manual, term drive substitutes for string drive/converter/inverter.



General terms and abbreviations

Term

Command word

Control word

FENA-01/-11/-21

Ethernet adapter module

Fieldbus adapter module

MAC ID

Profile

Status word

Explanation

See Control word.

16-bit or 32-bit word from master to slave with bit-coded control signals (sometimes called the

Command word).

One of the optional fieldbus adapter modules available for ABB drives. FENA-01/-11/-21 is a device through which an ABB drive is connected to an Ethernet network.

Device through which the drive is connected to an external communication network, that is, a fieldbus. The communication with the module is activated with a drive parameter.

Every node on an Ethernet network has to have a unique identifier. This node number is called

MAC ID (Media Access Control ID).

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.

16-bit or 32-bit word from slave to master with bit-coded status messages.


Abbreviation

DHCP

EMC

FBA

LSB

MSB

PLC

Explanation

Dynamic Host Control Protocol. A protocol for automating the configuration of IP devices.

DHCP can be used to automatically assign IP addresses and related network information.

Electromagnetic compatibility

Fieldbus adapter

Least significant bit

Most significant bit

Programmable logic controller



Modbus/TCP terms and abbreviations

Term

Exception code

Function code

Holding register

Explanation

If an error related to the requested Modbus function occurs, the data field contains an exception code that the server application can use to determine the next action to be taken.

The second byte sent by the client. The function tells the server what kind of action to perform.

Holds data that will be later executed by an application program.



EtherNet/IP terms and abbreviations

Term

EDS file

Input

Explanation

The Electronic Data Sheet (EDS) file identifies the properties of the device to the EtherNet/IP client. Each type of drive and application program requires its own EDS file.

In the ODVA EtherNet/IP specification the word

‘input’ is used to describe data flow from a device (such as the adapter module) to the network.


Term Explanation

I/O Assembly selection Smart networked devices (like FENA) can produce and/or consume more than one I/O value. Typically, they will produce and/or consume one or more I/O value, as well as status and diagnostic information. Each piece of data communicated by a device is represented by an attribute of one of the device’s internal objects.

Communicating multiple pieces of data

(attributes) across a single I/O connection requires that the attributes be grouped or assembled together into a single block.

ODVA™

Output

ODVA stands for Open DeviceNet Vendor

Association. ODVA is an independent organization that promotes interoperativity between different manufacturers’ EtherNet/IP products. ABB is an Associate Member at

ODVA.

In the ODVA EtherNet/IP specification the word

‘output’ is used to describe data flow from the network into a device (such as the adapter module).



PROFINET IO terms and abbreviations

Term

Array

Explanation

Acyclic communication Communication in which messages are sent only once on request

Parameter consisting of data fields of equal data type

Cyclic communication Communication in which parameter/process data objects are sent cyclically at pre-defined intervals

DCP

Fault

Discovery Control Protocol. A protocol that allows the master controller to find every

PROFINET IO device on a subnet.

Event that leads to tripping of the device

Term

GSD file

Index

I/O controller

Master

Name

Parameter

Parameter number

Parameter/Process

Data object

Process data

Slave

Warning


Explanation

ASCII-format device description file in a specified form. Each different slave type on the

PROFINET IO network needs to have its own

GSD file. GSD files in PROFINET IO are written in GSDML.

Access reference for objects in PROFINET IO

Control system with bus initiative. In PROFINET

IO terminology, I/O controllers are also called master stations.

Control system with bus initiative. In PROFINET

IO terminology, master stations are also called active stations.

Symbolic name of a parameter

Value that can be accessed as an object, eg, variable, constant, signal

Parameter address

Special object that contains parameter and process

Special object that contains parameter and process data

Data that contains Control word and reference value or Status word and actual value. May also contain other (user-definable) control information.

Passive bus participant. In PROFINET IO terminology, slave stations (or slaves) are also called passive stations. Also referred to as node.

Signal caused by an existing alarm which does not lead to tripping of the device


The text in italics is the original German term.

Abbreviation

ACT

DAP

DP

DP-V0

DP-V1

GSDML

ISW

MAP

PAP

PD

PKE

PKW

PNU

PPO

PWE

PZD

PZDO

SAP

Explanation

Actual value

Istwert

Device access point

Decentralised Periphery

Dezentrale Peripherie

PROFINET IO extension to the EN 50170 standard, providing the basic functionality of DP, including cyclic data exchange

PROFINET IO extension to the EN 50170 standard, including, eg, acyclic data exchange

General Station Description Markup Language

See ACT.

Module access point

Parameter access point

Process data

Prozessdaten

Parameter identification

Parameter-Kennung

Parameter identification value

Parameter-Kennung-Wert

Parameter number

Parameternummer

Parameter/Process data object

Parameter-/Prozessdaten-Objekt

Parameter value

Parameter-Wert

See PD.

Process data object

Prozessdatenobjekt

Service access point

Abbreviation

SOW

STW

ZSW

Explanation

Reference

Sollwert

Control word

Steuerwort

Status word

Zustandswort



Overview of the Ethernet network and the FENA-01/-11/-21 module 33

3

Overview of the Ethernet network and the FENA-01/-11/-

21 module


This chapter contains a short description of the Ethernet network and the FENA adapter module.

Ethernet network

Ethernet standards support a variety of physical media (coaxial cable, twisted pair, fiber optics) and topologies (bus and star). The

FENA-01/-11/-21 adapter module supports twisted pair as the physical media in a star topology. In addition, FENA-21 supports a daisy chain topology.

The maximum length for an Ethernet segment on twisted pair media is 100 meters. All twisted pair media between the Ethernet node and the switch or router must be shorter than 100 meters, including media within patch panels. For more information, see chapter

Technical data

.

34 Overview of the Ethernet network and the FENA-01/-11/-21 module



Example topology of the Ethernet link

This figure shows an example of an allowable topology for an

Ethernet network with FENA-01/-11.

Other slave device

ABB drive

Other slave device

Switch or router

This figure shows an example of an allowable topology for an

Ethernet network with FENA-21.

ABB drive

ABB drive

ABB drive

Other slave device

Network master device


FENA-01/-11/-21 Ethernet adapter module

The FENA-01/-11/-21 Ethernet adapter module is an optional device for ABB drives which enables the connection of the drive to an Ethernet 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

• give a process actual value or a process reference to the PID controller of the drive

• read status information and actual values from the drive

• reset a drive fault.

The protocols used to access these functionalities over Ethernet are described in chapters:

•


•


•


.

The adapter module supports 10 Mbit/s and 100 Mbit/s data transfer rates and automatically detects the data transfer rate used in the network.

Note: PROFINET IO uses only 100 Mbit/s in the Full duplex mode.

The adapter module is installed into an option slot on the drive control unit. See the drive manuals for module placement options.




Layout of the adapter module

This figure shows the layout of FENA-01/-11.

1

4

2

3

No.

Description

1 Lock

2 Mounting screw

See chapter



3 Connector X1 to Ethernet


4 Diagnostic LEDs





This figure shows the layout of FENA-21.

1

5

2

3 4

No. Description See chapter

1 Lock

2 Mounting screw



3 Connector X1 to Ethernet



4 Connector X2 for chaining another adapter module

5 Diagnostic LEDs





Mechanical installation 39

4

Mechanical installation


This chapter contains a delivery checklist and instructions to install the adapter module.

Necessary tools and instructions

See the applicable drive hardware manual.

Unpacking and examining the delivery

1. Open the option package.

2. Make sure that the package contains:

•

Ethernet adapter module, type FENA-01/-11/-21

• this manual.

3. Make sure that there are no signs of damage.

40 Mechanical installation

Installing the adapter module

WARNING! Obey the safety instructions. See chapter


on page

17

. If you ignore the safety

instructions, injury or death can occur.

The adapter module has a specific position in the drive. Plastic pins, a lock and one screw hold the adapter module in place. The screw also makes an electrical connection between the module and drive frame for cable shield termination.

When the adapter module is installed, it makes the signal and power connection to the drive through a 20-pin connector.

When you install or remove the adapter module from the control unit:

1. Pull out the lock.

1

Mechanical installation 41

2. Put the adapter module carefully into its position on the drive.

3. Push in the lock.

3

4

4. Tighten the screw.

Note: It is necessary to tighten the screw properly to fulfill the

EMC requirements and to ensure the proper operation of the module.

See the applicable drive manual for further instructions on how to install the adapter module to the drive.

42 Mechanical installation

Electrical installation

Electrical installation 43

5


This chapter contains:

• general cabling instructions

• instructions on connecting the adapter module to the Ethernet network.

Warnings

WARNING! Obey the safety instructions. See chapter


on page

17

. If you ignore the safety

instructions, injury or death can occur. If you are not a qualified electrician, do not do electrical work.

Necessary tools and instructions

See the applicable drive hardware manual.

44 Electrical installation

General cabling instructions

•

Arrange the bus cables as far away from the motor cables as possible.

•

Avoid parallel runs.

•

Use bushings at cable entries.

Connecting the adapter module to the Ethernet network

The network cable can be CAT5 or higher, and type UTP, FTP or

STP.

When CAT5 FTP or STP is used, the cable shield is connected to the drive frame through an RC network. In FENA-01, it is possible to change this connection by using jumper J1 located next to the

X1 connector.

•

Position 1-2 connects the cable shield directly to the drive frame.

•

Position 2-3 connects the cable shield to the drive frame through an RC network. This is the default setting of the jumper.

The figure below shows the location of jumper pin 1 on the FENA-

01 adapter module.

J1

X1

Pin 1

Electrical installation 45



Connection procedure

1. Connect the network cable to the RJ-45 connector (X1) on the adapter module.

2. If you want to create a daisy chain with FENA-21 adapter modules, connect the X2 connector of the first adapter module to X1 on the next adapter module, and so on.

46 Electrical installation

Modbus/TCP protocol

Modbus/TCP – Start-up

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

49


. . . . . . . . . . . . . . . . . . .

85


. . . . . . . . . . . . . . . . . .

95


. . . . . . . . . . . . . . . . . . . . . . . . . . .

107

Modbus/TCP – Start-up 49

6

Modbus/TCP – Start-up



• information on configuring the drive for operation with the adapter module

• drive-specific instructions on starting up the drive with the adapter module

• information on configuring the client for communication with the adapter module.

Warnings

WARNING! Obey the safety instructions given in this manual and the drive documentation.

50 Modbus/TCP – Start-up

Drive configuration

The information in this section applies to all drive types compatible with the adapter module, unless otherwise stated.



Modbus/TCP connection configuration

After the adapter module has been mechanically and electrically installed according to the instructions in chapters


and


, you must prepare the drive

for communication with the module.

The detailed procedure of activating the module for Modbus/TCP communication with the drive depends on the drive type. Normally, you must adjust a parameter to activate the communication. See the drive-specific start-up sections starting on page

63

.

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. You can adjust the parameters via a drive control panel, a PC tool or a web user interface. For more information on the web user interface, see


.

Note:

•

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 gray boxes in the tables.

•

The new parameter settings take effect only when you power up the module the next time or when you activate the fieldbus adapter refresh parameter.


FENA-01/-11-/21 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 and ACS580 if the adapter is installed as fieldbus adapter A or group 54 if the adapter is installed as fieldbus adapter B.

No.

01

Name/Value

FBA TYPE

Description

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.

02 PROTOCOL/

PROFILE

ACS355:

FB PAR 2

ACSM1:

FBA PAR2

ACS850/ACQ810:

FBA par2

ACS880/ACS580:

Protocol/Profile

Selects the application protocol and communication profile for the network connection.

The selections available for Modbus communication are listed below.

0 = MB/TCP ABB C Modbus/TCP: ABB Drives profile - Classic

1 = MB/TCP ABB E Modbus/TCP: ABB Drives profile - Enhanced

2 = MB/TCP T16 Modbus/TCP: Transparent 16-bit profile

3 = MB/TCP T32 Modbus/TCP: Transparent 32-bit profile

4 = MB/UDP ABB C Modbus over UDP: ABB Drives profile - Classic

5 = MB/UDP ABB E Modbus over UDP: ABB Drives profile -

Enhanced

6 = MB/UDP T16

7 = MB/UDP T32

Modbus over UDP: Transparent 16-bit profile

Modbus over UDP: Transparent 32-bit profile

Default

128 =

ETHER-

NET

0 =

MB/TCP

ABB C


No.

Name/Value

03 COMM RATE

ACS355:

FB PAR 3

ACSM1:

FBA PAR3

ACS850/ACQ810:

FBA par3

ACS880/ACS580:

Commrate

0 = Auto

1 = 100 Mbps FD

2 = 100 Mbps HD

3 = 10 Mbps FD

4 = 10 Mbps HD

04 IP

CONFIGURATION

ACS355:

FB PAR 4

ACSM1:

FBA PAR4

ACS850/ACQ810:

FBA par4

ACS880/ACS580:

IP configuration

0 = Static IP

Description

Sets the bit rate for the Ethernet interface.

Autonegotiate

100 Mbps, full duplex

100 Mbps, half duplex



Sets the method for configuring the IP address, subnet mask and gateway address for the module.

Default

0 = Auto

1 = Dyn

IP DHCP

1 = Dyn IP DHCP

05 IP ADDRESS 1

ACS355:

FB PAR 5

ACSM1:

FBA PAR5

ACS850/ACQ810:

FBA par5

ACS880/ACS580:

IP address 1

0…255

… …

Configuration will be obtained from parameters

05

…

13

.

Configuration will be obtained via DHCP.

An IP address is assigned to each IP node on a network. An IP address is a 32-bit number that is typically represented in “dotted decimal” notation consisting of four decimal integers, on the range 0…255, separated by periods. Each integer represents the value of one octet (8bits) in the IP address. Parameters

05

...

08

define the four octets of the IP address.

IP address

…

0

…


No.

Name/Value

08 IP ADDRESS 4

ACS355:

FB PAR 8

ACSM1:

FBA PAR8

ACS850/ACQ810:

FBA par8

ACS880/ACS580:

IP address 4

0…255

09 SUBNET CIDR

ACS355:

FB PAR 9

ACSM1:

FBA PAR9

ACS850/ACQ810:

FBA par9

ACS880/ACS580:

Subnet CIDR

Description

See parameter

05 IP ADDRESS 1

.

IP address

Subnet masks are used for splitting networks into smaller networks called subnets. A subnet mask is a 32-bit binary number that splits the IP address into a network address and host address.

Subnet masks are typically represented in either dotted decimal notation or the more compact CIDR notation, as shown in the table below.

0

Default

0

Dotted decimal

255.255.255.254

255.255.255.252

255.255.255.248

255.255.255.240

255.255.255.224

255.255.255.192

255.255.255.128

255.255.255.0

255.255.254.0

255.255.252.0

255.255.248.0

255.255.240.0

255.255.224.0

255.255.192.0

255.255.128.0

255.255.0.0

1…31

CIDR Dotted decimal

31 255.254.0.0

30 255.252.0.0

29 255.248.0.0

28 255.240.0.0

27 255.224.0.0

26 255.224.0.0

25 255.128.0.0

24 255.0.0.0

23 254.0.0.0

22 252.0.0.0

21 248.0.0.0

20 240.0.0.0

19 224.0.0.0

18 192.0.0.0

17 128.0.0.0

16

Subnet mask in CIDR notation

CIDR

15

14

13

12

11

4

3

6

5

10

9

8

7

2

1


No.

Name/Value

10 GW ADDRESS 1

ACS355:

FB PAR 10

ACSM1:

FBA PAR10

ACS850/ACQ810:

FBA par10

ACS880/ACS580:

GW address 1

0…255

… …

13 GW ADDRESS 4

ACS355:

FB PAR 13

ACSM1:

FBA PAR13

ACS850/ACQ810:

FBA par13

ACS880/ACS580:

GW address 4

14

…

18

0…255

Reserved

Description

IP gateways connect individual physical IP subnets into a unified IP network. When an IP node needs to communicate with an IP node on another subnet, the IP node sends the data to the IP gateway for forwarding. Parameters

10

…

13

define the four octets of the gateway address.

GW address

…

See parameter

10 GW ADDRESS 1

.

GW address

These parameters are not used by the adapter module when the module is configured for

Modbus/TCP.

Default

0

…

0

N/A


No.

Name/Value

19 T16 SCALE

ACS355:

FB PAR 19

ACSM1:

FBA PAR19

ACS850/ACQ810:

FBA par19

ACS880/ACS580:

T16 scale

0…65535

20 MODBUS/TCP

TIMEOUT

ACS355:

FB PAR 20

ACSM1:

FBA PAR20

ACS850/ACQ810:

FBA par20

ACS880/ACS580:

Timeout time

0…65535

Description

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 (eg, DCU or FBA) and a 16-bit 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, ACS880 and

ACS580, setting this parameter to 65535 provides an approximation of 1 = 1 rpm.

Reference multiplier/actual value divisor

Defines the Modbus/TCP timeout value.

The Modbus protocol does not specify a timeout mechanism for the application layer. A timeout mechanism may be desired when controlling a drive, so the adapter module provides a method for this purpose.

• If the parameter value is zero, this feature is disabled.

• If the parameter value is non-zero, the timeout is:

(Modbus/TCP timeout value) * 100 milliseconds

For example, a value of 22 results in a timeout of:

22 * 100 milliseconds = 2.2 seconds

If a timeout occurs, the adapter module signals the drive that communication with the client has been lost. The drive configuration then determines how to respond.

Example: If the Modbus/TCP timeout is

250 ms and the drive is configured to fault on a communication failure with a delay of 500 ms, the drive will fault 750 ms after communications is lost.

Modbus/TCP timeout value

Default

99

20


No.

Name/Value

21 TIMEOUT MODE

ACS355:

FB PAR 21

ACSM1:

FBA PAR21

ACS850/ACQ810:

FBA par21

ACS880/ACS580:

Timeout mode

0 = None

1 = Any message

Description

Selects which Modbus/TCP register accesses reset the timeout counter.

22

2 = Control RW

WORD ORDER

ACS355:

FB PAR 22

ACSM1:

FBA PAR22

ACS850/ACQ810:

FBA par22

ACS880/ACS580:

Word order

0 = LOHI

Default

2 =

Control

RW

The Modbus/TCP timeout feature is disabled.

The timeout counter is reset when any Modbus register of the drive is accessed.

The timeout counter is reset when the drive receives either a new Control word or new reference value (REF1 or REF2) from the

Modbus/TCP client.

Selects in which order the 16-bit registers of

32-bit parameters are transferred.

For each register (16-bit), the first byte contains the high order byte and the second byte contains the low order byte.

1 = HILO

23

…

26

1 = HILO

Reserved

The first register contains the low order word and the second register contains the high order word.

The first register contains the high order word and the second register contains the low order word.


Modbus/TCP.

N/A


No.

Name/Value

27 FBA PAR

REFRESH

28

ACS355/ACSM1:

FBA PAR

REFRESH

ACS850/ACQ810:

FBA par refresh

ACS880/ACS580:

FBA A/B par refresh

0 = Done

1 = Refresh

PAR TABLE VER

ACS355:

FILE CPI FW REV

ACSM1:

PAR TABLE VER

ACS850/ACQ810:

Par table ver

ACS880/ACS580:

FBA A/B par table ver

29 DRIVE TYPE

CODE

ACS355:

FILE CONFIG ID

ACSM1:

DRIVE TYPE

CODE

ACS850/ACQ810:

Drive type code

ACS880/ACS580:

FBA A/B drive type code

Description

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.

Default

0 = Done

Refreshing done

Refreshing

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 numbers

z = correction number or letter.

Parameter table revision

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

N/A

N/A

Drive type code of the fieldbus adapter module mapping file


No.

Name/Value

30 MAPPING FILE

VER

ACS355:

FILE CONFIG REV

ACSM1:

MAPPING FILE

VER

ACS850/ACQ810:

Mapping file ver

ACS880/ACS580:

FBA A/B mapping file ver

Description

Read-only. Displays the fieldbus adapter module mapping file revision stored in the memory of the drive in decimal format.

Mapping file revision

31 D2FBA COMM STA Read-only. Displays the status of the fieldbus

ACS355:

FBA STATUS adapter module communication.

Note: The value names may vary by drive.

ACSM1:

D2FBA COMM STA

ACS850/ACQ810:

D2FBA comm sta

ACS880/ACS580:

D2FBA A/B comm status

0 = Idle

1 = Exec.init

2 = Time out

3 = Conf.err

Adapter is not configured.

Adapter is initializing.

A timeout has occurred in the communication between the adapter and the drive.

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

5 = On-line

6 = Reset

Adapter is off-line.

Adapter is on-line.

Adapter is performing a hardware reset.

Default

N/A

0 = Idle

OR

4 = Offline


No.

Name/Value

32 FBA COMM SW

VER

ACS355:

FBA CPI FW REV

ACSM1:

FBA COMM SW

VER

ACS850/ACQ810:

FBA comm sw ver

ACS880/ACS580:

FBA A/B comm SW ver

Description

Read-only. Displays the common program revision of the adapter module in format axyz, where:




33 FBA APPL SW

VER

ACS355:

FBA APPL FW

REV

ACSM1:

FBA APPL SW

VER

ACS850/ACQ810:

FBA appl sw ver

ACS880/ACS580:

FBA A/B appl SW ver

Common program version of the adapter module

Read-only. Displays the application program revision of the adapter module in format axyz, where:




Application program revision of the adapter module

Default

N/A

N/A


FENA-01/-11/-21 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


No.

1)

Name/Value Description Default

01 0 = None DATA OUT 1

(client to drive)

ACS355:

FBA DATA OUT 1

ACSM1:

FBA DATA OUT1

ACS850/ACQ810:

FBA data out1

ACS880/ACS580:

FBA A/B data out1

Selects the drive parameter address into which the value of the DATA OUT 1 register is written

(from the client to the server). The Modbus register address maps are explained in chapter


.

The content is defined by a decimal number in the range of 0 to 9999 as follows:

0

101…

9999

Not used

1…99 Virtual address area of drive control.

Not used when the Modbus/TCP protocol is used.

Parameter area of the drive

0 = None

101…9999

Not used

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).

Note: In ACS880 and ACS580, choose Other to display a list of mappable drive parameters.

02…

12

DATA OUT 2 …

DATA OUT 12

See parameter

01 DATA OUT 1

.

0 = None

1)

The number of parameters in this group may vary by drive type and drive firmware.


FENA-01/-11/-21 configuration parameters – group C (group 3)

Note: The actual parameter group number depends on the drive type. Group C (group 3) corresponds to:




No.

1)


01 0 = None DATA IN 1

(drive to client)

ACS355:

FBA DATA IN 1

ACSM1:

FBA DATA IN1

ACS850/ACQ810:

FBA data in1

ACS880/ACS580:

FBA A/B data in1

Selects the drive parameter address from which the data is read to the DATA IN 1 register (from the server to the client). The

Modbus register address maps are explained

in chapter


.


0

101…

9999

Not used

1…99 Virtual address area of drive control. Not used when the

Modbus/TCP protocol is used.


0 = None

101…9999

Not used





02…

12

DATA IN 2 …

DATA IN 12

See parameter

01 DATA IN 1

.

0 = None

1)





Control locations

ABB drives can receive control information from multiple sources including digital inputs, analog inputs, the drive control panel and a fieldbus 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.).

To give the fieldbus client the most complete control over the drive, you must select the adapter module as the source of this information. The drive-specific parameter setting examples below contain the drive control parameters relevant in the examples. For a complete parameter list, see the drive documentation.


Starting up fieldbus communication for ACS355 drives

1. Power up the drive.

2. Enable the communication between the adapter module and the drive with parameter 9802 COMM PROT SEL.

3. Set the module configuration parameters in group 51.

•

Select the communication protocol and profile with parameter 5102 and configure the network settings with parameters 5103…5113.

•

With parameters 5120 and 5121, select how the adapter module detects fieldbus communication breaks.

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 parameter groups 54 and 55.

Note: The adapter module assigns the Control word, Status word, references 1…2 and actual values 1…2 automatically to

Modbus registers. Process data groups are not available for the ABB Drives - Classic communication profile.

7. Validate the settings made in parameter groups 51, 54 and 55 with parameter 5127 FBA PAR 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.




Parameter setting examples – ACS355

Speed and torque control using the ABB Drives –

Enhanced communication profile

This example shows how to configure a speed and torque control application that uses the ABB Drives - Enhanced profile. In addition, some application-specific data is added to the communication.

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

Drives profile. For more information, see section

ABB Drives communication profile

on page

87

.

When Reference 1 (REF1) is used, a reference value of ±20000

(decimal) corresponds to the reference set with parameter 1105

REF1 MAX in the forward and reverse directions.


(decimal) corresponds to the reference set with parameter 1108


The minimum and maximum 16-bit integer values that can be given through the fieldbus are -32768 and 32767 respectively.

Output data Input data

Control word

Speed reference

Torque reference

Constant speed 1

1)

Constant speed 2

1)

1)

Example

Modbus register

(4)00001

(4)00002

(4)00003

(4)00004

(4)00005

Status word

Speed actual value

Torque actual value

Power

1)

DC bus voltage

1)

Modbus register

(4)00051

(4)00052

(4)00053

(4)00054

(4)00055

The table below gives the recommended drive parameter settings.

Drive parameter

9802 COMM PROT SEL

Setting for ACS355 drives

4 = EXT FBA

Description

Enables communication between the drive and the fieldbus adapter module.

5101 FBA TYPE ETHERNET

1)

Displays the type of the fieldbus adapter module.


Drive parameter

5102 FB PAR 2

(PROTOCOL/PROFILE)

5103 FB PAR 3

(COMMRATE)

5104 FB PAR 4

(IP CONFIGURATION)

5105 FB PAR 5

(IP ADDRESS 1)

5106 FB PAR 6

(IP ADDRESS 2)

5107 FB PAR 7

(IP ADDRESS 3)

5108 FB PAR 8

(IP ADDRESS 4)

5109 FBA PAR 9

(SUBNET CIDR)

5120 FB PAR 20

(MODBUS/TCP

TIMEOUT)

5121 FB PAR 21

(TIMEOUT MODE)

3018 COMM FAULT

FUNC

3019 COMM FAULT TIME 3.0 s

2)

5401 FBA DATA IN 1

5402 FBA DATA IN 2

5501 FBA DATA OUT 1

5502 FBA DATA OUT 2


Description

1 (= MB/TCP ABB E) Selects the Modbus/TCP protocol and the ABB Drives -

Enhanced profile.

0 (= Auto)

2)

Ethernet communication rate is negotiated automatically by the device.

0 (= Static IP)

192

2)


05

…

13

.

First part of the IP address

168

2)

0

2)

Second part of the IP address

Third part of the IP address

16

2)

24

2)

Last part of the IP address

10

2)

Sets the network mask as

255.255.255.0, allowing access only to the last subnet.

Sets the communication timeout as 1 second.

2 (= Control RW)

2)

1 = FAULT

106

2)

107

2)

1202

2)

1203

2)

2)

5127 FBA PAR REFRESH 1 = REFRESH

The timeout feature monitors the updating of the Control word and

Reference 1.

Enables fieldbus communication fault monitoring.

Defines the fieldbus communication break supervision time.

Power

DC bus voltage

Constant speed 1

Constant speed 2

Validates the FENA-01/-11/-21 configuration parameter settings.


Drive parameter Setting for ACS355 drives

9904 MOTOR CTRL

MODE

2 = VECTOR: TORQ

1001 EXT1 COMMANDS 10 = COMM

1002 EXT2 COMMANDS

1102 EXT1/EXT2 SEL

1103 REF1 SELECT

1106 REF2 SELECT

1601 RUN ENABLE

1604 FAULT RESET SEL

10 = COMM

8 = COMM

8 = COMM

8 = COMM

7 = COMM

8 = COMM

Description

Selects the vector control mode as the motor control mode.

Selects the fieldbus interface as the source of the start and stop commands for external control location 1.


Enables external control location

1/2 selection through the fieldbus.

Selects the fieldbus reference 1 as the source for speed reference 1.


Selects the fieldbus interface as the source for the inverted Run enable signal (Run disable).

Selects the fieldbus interface as the source for the fault reset signal.

1)

Read-only or automatically detected/set

2)

Example

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

Control word:

•

Reset the fieldbus communication fault (if active).

•

Enter 47Eh (1150 decimal) –> READY TO SWITCH ON.

•

Enter 47Fh (1151 decimal) –> OPERATING (Speed mode) or

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


Starting up fieldbus communication for ACSM1 drives


2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA 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.



•

Select the communication protocol and profile with parameter 51.02 and configure the network settings with parameters 51.03…51.13.

•

With parameters 51.20 and 51.21, select how the adapter module detects fieldbus communication breaks.




Modbus registers. Process data groups are not available in the

ABB Drives - Classic communication profile.

8. Validate the settings made in parameter groups 51, 52 and 53 with parameter 51.27 FBA PAR REFRESH.





Parameter setting examples – ACSM1

Speed and torque control using the ABB Drives –

Enhanced communication profile

This example shows how to configure a speed and torque control application that uses the ABB Drives - Enhanced profile. In addition, some application-specific data is added to the communication.




on page

87

.


(4E20h) corresponds to the reference set with parameter 25.02

SPEED SCALING in the forward and reverse directions.


(2710h) corresponds to the reference set with parameter 32.04

TORQUE REF 1 MAX in the forward and reverse directions.




Control word

Speed reference

Torque reference

Constant speed

1)

Speed reference for jogging function 1

1)

1)

Example

Modbus register

(4)00001

(4)00002

(4)00003

(4)00004

(4)00005

(4)00006

(4)00007

Status word

Speed actual value

Torque actual value

Power

1)

DC bus voltage

1)

Modbus register

(4)00051

(4)00052

(4)00053

(4)00054

(4)00055

(4)00056

(4)00057


Drive parameter

50.01 FBA ENABLE

Setting for ACSM1 drives

Enable

Description

50.02 COMM LOSS FUNC Fault

2)

50.03 COMM LOSS T OUT 3.0 s

2)

50.04 FBA REF1

MODESEL

50.05 FBA REF2

MODESEL

Speed

Torque




Selects the fieldbus reference 1 scaling.


51.01 FBA TYPE

51.02 FBA PAR2

(PROTOCOL/PROFILE)

51.03 FBA PAR3

(COMMRATE)

51.04 FBA PAR4

(IP CONFIGURATION)

ETHERNET

1)


1 (= MB/TCP ABB E) Selects the Modbus/TCP protocol and the ABB Drives -

Enhanced profile.

0 (= Auto)

2)


0 (= Static IP)

2)


05

…

13

.


Drive parameter

51.05 FBA PAR5

(IP ADDRESS 1)

51.06 FBA PAR6

(IP ADDRESS 2)

51.07 FBA PAR7

(IP ADDRESS 3)

51.08 FBA PAR8

(IP ADDRESS 4)

51.09 FBA PAR9

(SUBNET CIDR)

52.01 FBA DATA IN1

52.03 FBA DATA IN3

53.01 FBA DATA OUT1

53.03 FBA DATA OUT3


192

2)

Description


168

0

2)

16

24

2)

2)

51.20 FBA PAR20

(MODBUS/TCP TIMEOUT)

51.21 FBA PAR21

TIMEOUT MODE)

10

2)

2 (= Control RW)

2)

51.27 FBA PAR REFRESH

10.01 EXT1 START FUNC


10.08 FAULT RESET SEL

24.01 SPEED REF1 SEL

122

2)

107

2)

2408

2)

2410

2)

FBA

FBA

2)

REFRESH

P.FBA MAIN CW.8

FBA REF1








Reference 1.

Power

DC bus voltage

Constant speed


Validates the FENA-11/-21 configuration parameter settings.






Drive parameter

32.02 TORQ REF ADD

SEL

34.01 EXT1/EXT2 SEL


FBA REF2

Description

Selects the fieldbus reference 2 as the source for torque reference 1.

P.FBA MAIN CW.15


1/2 selection through the fieldbus only (bit 15 in the fieldbus

Control word).

34.03 EXT1 CTRL MODE1 Speed

34.05 EXT2 CTRL MODE1 Torque

Selects speed control as the control mode 1 for external control location 1.

Selects torque control as the control mode 1 for external control location 2.

1)


2)

Example


Control word:

•


•


•




Starting up fieldbus communication for ACS850 and ACQ810 drives


2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA enable.

3. With parameter 50.02 Comm loss func, select how the drive reacts to a fieldbus communication break.

Notes:

•

This function monitors both communication between the fieldbus master and the adapter module and communication between the adapter module and the drive.

•

In ACQ810, you can select the control locations to be monitored with parameter 50.21 Comm loss enable. By default, the monitoring is enabled in both control locations

(EXT1 and EXT2).

4. With parameter 50.03 Comm loss t out, define the time between communication break detection and the selected action.


50.04…50.11.



•


•







8. Validate the settings made in parameter groups 51, 52 and 53 with parameter 51.27 FBA par refresh.





Parameter setting examples – ACS850 and ACQ810

Speed control using the ABB Drives – Enhanced communication profile

This example shows how to configure a speed control application that uses the ABB Drives - Enhanced profile. In addition, some application-specific data is added to the communication.




on page

87

.



Speed scaling in the forward and reverse directions.




Control word

Speed reference

Reference 2 (Not used)

Constant speed 1

1)

Constant speed 2

1)

Modbus register

(4)00001

(4)00002

(4)00003

(4)00004

(4)00005

(4)00006

(4)00007

Status word

Speed actual value

Actual value 2 (Not used)

Power

1)

DC bus voltage

1)

Modbus register

(4)00051

(4)00052

(4)00053

(4)00054

(4)00055

(4)00056

(4)00057

1)

Example


Drive parameter

50.01 Fba enable

Setting for

ACS850/ACQ810 drives

Enable

Description

50.02 Comm loss func

50.03 Comm loss t out

50.04 Fb ref1 modesel

Fault

2)

3.0 s

2)

Speed





51.01 FBA type

51.02 FBA par2

(PROTOCOL/

PROFILE)

51.03 FBA par3

(COMMRATE)

51.04 FBA par4

(IP CONFIGURATION)

Ethernet

1)


1 (= MB/TCP ABB E) Selects the Modbus/TCP protocol and the ABB Drives - Enhanced profile.

0 (= Auto)

2)


0 (= Static IP)

2)


05

…

13

.


Description Drive parameter

51.05 FBA par5

(IP ADDRESS 1)

51.06 FBA par6

(IP ADDRESS 2)

51.07 FBA par7

(IP ADDRESS 3)

51.08 FBA par8

(IP ADDRESS 4)

51.09 FBA par9

(SUBNET CIDR)

51.20 FBA par20

(MODBUS/TCP TIME-

OUT)

51.21 FBA par21

(TIMEOUT MODE)

52.01 FBA data in1

52.03 FBA data in3

53.01 FBA data out1

53.03 FBA data out3

51.27 FBA par refresh

10.01 Ext1 start func

10.10 Fault reset sel

21.01 Speed ref1 sel

(ACS850)

21.01 Speed ref sel

(ACQ810)

0

2)

16

2)

24

2)

Setting for


192

2)

168

2)

10

122

2)

107

2)

2606

2)

2607

2)

Refresh

FB

2)

2 (= Control RW)

2)

P.FBA main cw.8

FBA ref1

FBA ref1

1)


2)

Example









Reference 1.

Power

DC bus voltage

Constant speed 1

Constant speed 2




Selects the fieldbus reference 1 as the source for speed reference

1.



Control word:

•


•


•

Enter 47Fh (1151 decimal) –> OPERATING (Speed mode).

Starting up fieldbus communication for ACS880 and ACS580 drives


2. Enable the communication between the adapter module and the drive by selecting the correct slot number in parameter

50.01 FBA A enable.

The selection must correspond to the slot where the adapter module is installed. For example, if the adapter module is installed in slot 1, you must select slot 1.

3. With parameter 50.02 FBA A comm loss func, select how the drive reacts to a fieldbus communication break.


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.



•


•






8. Save the valid parameter values to permanent memory with parameter 96.07 Parameter save manually.

9. Validate the settings made in parameter groups 51, 52 and 53 with parameter 51.27 FBA A par refresh.







Speed control using the ABB Drives – Enhanced communication profile

This example shows how to configure a speed control application that uses the ABB Drives - Enhanced profile. In addition, some application-specific data is added to the communication.




on page

87

.



Speed scaling in the forward and reverse directions.



Control word

Speed reference


Constant speed 1

1)

Constant speed 2

1)

Modbus register

(4)00001

(4)00002

(4)00003

(4)00004

(4)00005

(4)00006

(4)00007

Status word

Speed actual value


Power

1)

DC bus voltage

1)

Modbus register

(4)00051

(4)00052

(4)00053

(4)00054

(4)00055

(4)00056

(4)00057

1)

Example


Drive parameter

50.01 FBA A enable


1 = Option slot 1

2)

Description

50.02 FBA A comm loss func

1 = Fault

2)


Enables fieldbus A communication fault monitoring.


Drive parameter

50.03 FBA A comm loss t out


3.0 s

2)

50.04 FBA A ref1 type

51.01 FBA A type

51.02 Protocol/Profile

51.03 Commrate

51.04 IP configuration

51.05 IP address 1

51.06 IP address 2

51.07 IP address 3

51.08 IP address 4

51.09 Subnet CIDR

51.20 Timeout time

51.21 Timeout mode

52.01 FBA A data in1

52.03 FBA a data in3

53.01 FBA A data out1


4 = Speed

128 = ETHERNET

0 = Auto

2)

0 = Static IP

192

2)

168

2)

0

2)

16

2)

24

2)

10

2)

2)

2 = Control RW

01.14

2)

01.11

2)

22.26

2)

22.27

2)

51.27 FBA A par refresh 1 = Refresh

2)

1)

1 = MB/TCP ABB E

Description

Defines the fieldbus A communication break supervision time.

Selects the fieldbus A reference 1 type and scaling.


Selects the Modbus/TCP protocol and the ABB Drives - Enhanced profile.



05

…

13

.









Reference 1.

Output power

DC voltage

Constant speed 1

Constant speed 2



Drive parameter

20.01 Ext1 commands

22.11 Speed ref1 source

31.11 Fault reset selection


12 = Fieldbus A

Description

4 = FB A ref1

06.1.7

1)


2)

Example

Selects the fieldbus A interface as the source of the start and stop commands for external control location 1.

Selects the fieldbus A reference 1 as the source for speed reference

1.



Control word:

•


•


•






Frequency control using the ABB Drives – Enhanced communication profile

This example shows how to configure a frequency control application that uses the ABB Drives - Enhanced profile. In addition, some application-specific data is added to the communication.




on page

87

.

In the frequency control mode, when Reference 1 (REF1) is used, a reference value of ±20000 (4E20h) corresponds to the reference set with parameter 46.02 Frequency scaling in the forward and reverse directions.


Output data

Control word

Frequency reference


Constant frequency 1

1)


1)

Modbus register

(4)00001

(4)00002

(4)00003

(4)00004

(4)00005

(4)00006

(4)00007

Input data Modbus register

(4)00051 Status word

Frequency actual value (4)00052


Power

1)

(4)00053

(4)00054

(4)00055

DC bus voltage

1)

(4)00056

(4)00057

1)

Example


Drive parameter

50.01 FBA A enable


1 = Option slot 1

2)

Description


1 = Fault

2)




Drive parameter



3.0 s

2)


51.01 FBA A type


51.03 Commrate


51.05 IP address 1

51.06 IP address 2

51.07 IP address 3

51.08 IP address 4

51.09 Subnet CIDR

51.20 Timeout time

51.21 Timeout mode

52.01 FBA A data in1

52.03 FBA a data in3



0 = Speed or frequency

128 = ETHERNET

0 = Static IP

192

2)

168

2)

0

2)

16

2)

24

2)

10

2)

2)

2 = Control RW

01.14

2)

01.11

2)

28.26

2)

28.27

2)


2)

1)

1 = MB/TCP ABB E

0 = Auto

2)

Description




Selects the Modbus/TCP protocol and the ABB Drives - Enhanced profile.



05

…

13

.









Reference 1.

Output power

DC voltage





Drive parameter

20.01 Ext1 commands


31.11 Fault reset selection


12 = Fieldbus A

Description

4 = FB A ref1

06.1.7

1)


2)

Example



1.



Control word:

•


•


•

Enter 47Fh (1151 decimal) –> OPERATING (Scalar motor control mode).


Client configuration

After the adapter module has been initialized by the drive, you must prepare the client for communication with the module. Due to the large number of different Modbus clients, specific instructions cannot be provided here. Refer to the documentation of your client for more information.



Modbus register maps

The Modbus register map which the adapter module presents to the Modbus client is selected with parameter

02 PROTOCOL/

PROFILE

(see page

51

).

For Modbus register map definitions, see chapter

Modbus/TCP –

Communication protocol

.

For definitions of the Control word, Status word, references and actual values for a given communication profile, see chapter


.

Modbus/TCP – Communication profiles 85

6

Modbus/TCP –

Communication profiles


This chapter describes the communication profiles used in the communication between the Modbus/TCP client, the adapter module and the drive.


Communication profiles are ways of conveying control commands

(Control word, Status word, references and actual values) between the Modbus client and the drive.

With the FENA adapter module, the Modbus/TCP network may employ either the ABB Drives profile or one of two Transparent modes for 16-bit and 32-bit words respectively. For the ABB Drives profile, data is converted by the adapter module into the native profile (eg, DCU or FBA). For the Transparent modes, no data conversion takes place.

86 Modbus/TCP – Communication profiles

The figure below illustrates the profile selection:

Modbus/TCP network

FENA

Profile selection:

ABB Drives profile

ABB Drives

Data conversion

Native profile (eg,

DCU, FBA)

Drive-specific profile

1)

(with 16-bit words)

Transparent16

Optional reference/ actual value scaling


1)

(with 32-bit words)

Transparent32

Drive

1)

Can be used if the native profile is supported by the drive.

The following sections describe the Control word, the Status word, references and actual values for the ABB Drives communication profile. Refer to the drive manuals for details on the native 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 client 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 client in the Status word.

The contents of the Control word and the Status word are detailed below. The drive states are presented on page

91

.

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 in the state machine on page

91

.

Bit Name

0 OFF1_

CONTROL

1 OFF2_

CONTROL

2 OFF3_

CONTROL

Value

1

0

1

0

1

0

STATE/Description

Proceed to READY TO OPERATE.

Stop along currently active deceleration ramp. Proceed to OFF1 ACTIVE; proceed to READY TO SWITCH ON unless other interlocks (OFF2, OFF3) are active.

Continue operation (OFF2 inactive).

Emergency OFF, coast to stop.

Proceed to OFF2 ACTIVE, proceed to

SWITCH-ON INHIBITED.


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.


Bit

3

4

5

6

7

Name

INHIBIT_

OPERATION

RAMP_OUT_

ZERO

RAMP_HOLD

RAMP_IN_

ZERO

RESET

Value

1

0

1

0

1

0


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.

Inhibit operation. Proceed to OPERATION

INHIBITED.

Normal operation. Proceed to RAMP

FUNCTION GENERATOR: OUTPUT

ENABLED.

Force Ramp Function Generator output to zero. Drive ramps to stop (current and DC voltage limits in force).

Enable ramp function.

Proceed to RAMP FUNCTION

GENERATOR: ACCELERATOR

ENABLED.

Halt ramping (Ramp Function Generator output held).

1 Normal operation. Proceed to

OPERATION.

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.


0 Continue normal operation.

8…9 Reserved.


Bit Name

10 REMOTE_

CMD

Value

1

0


Fieldbus control enabled.

Control word and reference not getting through to the drive, except for CW bits

OFF1, OFF2 and OFF3.

11

12…

15

EXT_CTRL_

LOC

1

0

Select External Control Location EXT2.

Effective if control location parameterized to be selected from fieldbus.



Reserved or freely programmable control bits

(Not supported with ACS355)

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 in the state machine on page

91

.

Bit Name

0 RDY_ON

1 RDY_RUN

2 RDY_REF

3 TRIPPED

4 OFF_2_STA

5 OFF_3_STA

6 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 –


Bit

7

8

9

10

11

Name

ALARM

AT_

SETPOINT

REMOTE

ABOVE_

LIMIT

EXT_CTRL_

LOC


1 Warning/Alarm

0 No warning/alarm

1 OPERATION. 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

1 External Control Location EXT2 selected.

Note concerning ACS880: This bit is effective only if the fieldbus interface is set as the target for this signal by drive parameters.

User bit 0 selection (06.33)

0 External Control Location EXT1 selected

12 EXT_RUN_

ENABLE

1 External Run Enable signal received.

Note concerning ACS880: This bit is effective only if the fieldbus interface is set as the target for this signal by drive parameters.

User bit 1 selection (06.34)

13…

14

0 No External Run Enable signal received

Reserved or freely programmable status bits

(Not supported with ACS355)

15 FBA_ERROR 1 Communication error detected by fieldbus adapter module

0 Fieldbus adapter communication OK


State machine

The state machine for the ABB Drives communication profile is shown below.

MAINS OFF

Power ON

SWITCH-ON

INHIBITED

(SW Bit6=1)

(CW Bit0=0)


A B C D

(CW Bit3=0)

OPERATION

INHIBITED operation inhibited

(SW Bit2=0) from any state

NOT READY TO

SWITCH ON

(CW=xxxx x

(SW Bit0=0)

1xx xxxx x110)

CW = Control word

SW = Status word n = Speed f

I = Input current

RFG = Ramp function generator

= Frequency

READY TO

SWITCH ON

(SW Bit0=1)

(CW=xxxx x

1xx xxxx x111) from any state

Fault

READY TO

OPERATE

(SW Bit1=1)

FAULT

(SW Bit3=1)

OFF1

ACTIVE

OFF1

(CW Bit0=0)

(SW Bit1=0) n(f)=0 / I=0

B C D

(CW Bit3=1 and

SW Bit12=1)

(CW=xxxx x 1xx xxxx 1111 and SW Bit12=1)

(CW Bit7=1) from any state from any state

Emergency stop

OFF3

(CW Bit2=0)

Emergency OFF

OFF2

(CW Bit1=0)

OFF3

ACTIVE (SW Bit5=0)

OFF2

ACTIVE (SW Bit4=0)

(CW Bit4=0) n(f)=0 / I=0

(CW Bit5=0)

(CW Bit6=0)

C D

D

A

OPERATION

ENABLED

(SW Bit2=1)

(CW=xxxx x 1xx xxx1 1111)

RFG: OUTPUT

ENABLED

B

(CW=xxxx x 1xx xx11 1111)

C

RFG: ACCELERATOR

ENABLED

(CW=xxxx x 1xx x111 1111)

OPERATION

(SW Bit8=1)

D state condition rising edge of the bit




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 fieldbus adapter module (for example, FENA). To have the drive controlled through the fieldbus, you must select the module 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, ACS880 and ACS580, the speed reference (REFx) in decimal (0…20000) corresponds to 0…100% of the speed scaling value (as defined with a drive parameter).

In ACS355, drive parameter REFx MIN may limit the actual minimum reference.

Fieldbus Drive

REF2: 10000

REF1: 20000

REFx MAX / Speed scale

0 0

REF2: -10000

REF1: -20000

-(REFx MAX) / Speed scale




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.


Drive Fieldbus

ACT2: 10000

ACT1: 20000

REFx MAX

0 0

ACT2: -10000

ACT1: -20000

-(REFx MAX)


Modbus/TCP – Communication protocol 95

6

Modbus/TCP –

Communication protocol


This chapter describes the Modbus/TCP communication protocol for the adapter module.

Modbus/TCP

Modbus/TCP is a variant of the Modbus family of simple, vendor neutral communication protocols intended for supervision and control of automation equipment. Specifically, it covers the use of

Modbus messaging over TCP connection on an IP network.

The FENA adapter module acts as a Modbus/TCP server with support for the ABB Drives and Transparent profiles. The adapter module also supports Modbus over UDP. The only difference between Modbus/TCP and Modbus/UDP is that in Modbus/UDP the transport layer protocol is UDP instead of TCP.

The supported Modbus commands are listed in section

Function codes

on page

96

. Two simultaneous Modbus/TCP connections are supported, that is, two clients can be connected to the adapter module at a time.

Further information on the Modbus/TCP protocol is available at www.modbus.org

.

96 Modbus/TCP – Communication protocol

Register addressing

The address field of Modbus Requests for accessing Holding registers is 16 bits. This allows the Modbus protocol to support addressing of 65536 Holding registers.

Historically, Modbus client devices used 5-digit decimal addresses from 40001 to 49999 to represent Holding register addresses.

5-digit decimal addressing limited to 9999 the number of holding registers that could be addressed.

Modern Modbus client devices typically provide a means to access the full range of 65536 Modbus Holding registers. One of these methods is to use 6-digit decimal addresses from 400001 to

465536. This manual uses 6-digit decimal addressing to represent

Modbus Holding register addresses.

Modbus client devices that are limited to 5-digit decimal addressing may still access registers 400001 to 409999 by using

5-digit decimal addresses 40001 to 49999. Registers 410000-

465536 are inaccessible to these clients.

Function codes

The adapter module supports the Modbus function codes shown below.

Function code

03h

Name Description

06h

10h

17h

Read Holding Registers Reads the contents of a contiguous block of holding registers in a server device.

Write Single Register Writes a single holding register in a server device.

Write Multiple Registers Writes the contents of a contiguous block of holding registers in a server device.

Read/Write Multiple

Registers

Writes the contents of a contiguous block of holding registers in a server device, then reads the contents of a contiguous block of holding registers (same or different than those written) in a server device.


Function code

Name

2Bh/0Eh Encapsulated Interface

Transport / Read Device

Identification

Description

Allows reading identification and other information of the server.

Parameter "Read Device ID code" allows one to define three access types:

• 01: Request to get the basic device identification (stream access)

• 02: Request to get the regular device identification (stream access)

• 04: Request to get one specific identification object (individual access).

Encapsulated Interface Transport / Read Device

Identification

The adapter module supports the Modbus EIT/RDI objects shown below.

Name Object ID

00h

01h

02h

03h

04h

Vendor Name

Product Code

Major/Minor Revision

Vendor URL

Product Name


Exception codes

The adapter module supports the Modbus exception codes shown below.

Exception

Code

01h

02h

03h

04h

06h


ILLEGAL FUNCTION The function code received in the query is not an allowable action for the server.

ILLEGAL DATA

ADDRESSS

The data address received in the query is to an allowable address for the server.

ILLEGAL DATA VALUE A value contained in the query data field is not an allowable value for the server.

SLAVE DEVICE

FAILURE

An unrecoverable error occurred while the server was attempting to perform the requested action.

SLAVE DEVICE BUSY The server is engaged in processing a long-duration command. The client should retransmit the message later when the server is free.


Modbus is an application layer messaging protocol. It describes how data is transferred between the client and a server, but not the meaning of that data. Communication profiles are used to define the meaning of the data.




ABB Drives profile - Classic

The ABB Drives profile - Classic communication profile provides register mapped access to the control, status, reference and actual values of the ABB Drives profile in the classic format for backward compatibility.

Register Address

1)

Register Data (16-bit)

(4)00001

(4)00002

(4)00003

ABB Drives Profile Control

ABB Drives Profile Reference 1


(4)00004

(4)00005

(4)00006

(4)00101…(4)09999

ABB Drives Profile Status

ABB Drive Profile Actual 1


Drive Parameter Access (16-bit)

(4)20000…(4)29999

Register Address = (4)00000 + 100 × Group +

Index

Example for Drive Parameter 3.18:

(4)00000 + 100 × 3 + 18 = 400318


(not supported with ACS355):


2 × Index


(4)20000 + 200 × 1 + 2 × 27 = 420254

1)

6-digit register addressing ([4]00001) is used instead of 5-digit register

addressing ([4]0001) to describe the register map. See section

Register addressing

on page

96

for additional information.




ABB Drives profile - Enhanced

The ABB Drives profile - Enhanced communication profile provides register mapped access to the control, status, reference and actual values of the ABB Drives profile. The mapping of the registers has been enhanced to allow writing of control and reading of status in a single Read/Write Multiple Register request.


1), 2)


(4)00012

(4)00013

(4)00014

(4)00015

(4)00051

(4)00052

(4)00053

(4)00054

(4)00055

(4)00056

(4)00057

(4)00058

(4)00059

(4)00001

(4)00002

(4)00003

(4)00004

(4)00005

(4)00006

(4)00007

(4)00008

(4)00009

(4)00010

(4)00011

ABB Drives Profile Control



DATA OUT 1

DATA OUT 2

DATA OUT 3

DATA OUT 4

DATA OUT 5

DATA OUT 6

DATA OUT 7

DATA OUT 8

DATA OUT 9

DATA OUT 10

DATA OUT 11

DATA OUT 12

ABB Drives Profile Status



DATA IN 1

DATA IN 2

DATA IN 3

DATA IN 4

DATA IN 5

DATA IN 6



1), 2)

(4)00060

(4)00061

(4)00062

(4)00063

(4)00064

(4)00065

(4)00101…(4)09999


DATA IN 7

DATA IN 8

DATA IN 9

DATA IN 10

DATA IN 11

DATA IN 12


(4)20000…(4)29999


Index


(4)00000 + 100 × 3 + 18 = 400318




2 × Index


(4)20000 + 200 × 1 + 2 × 27 = 420254

1)

6-digit register addressing ([4]00001) is used instead of 5-digit register addressing ([4]0001) to describe register map. See section


on page

96


2)

Register addresses of the 32-bit parameters cannot be accessed by using 5-digit register numbers.




Transparent 16-bit

The Transparent 16-bit communication profile provides unaltered

16-bit access to the configured drive profile.


1), 2)


(4)00001

(4)00002

Native Drive Profile Control

Native Drive Profile Reference 1

(4)00014

(4)00015

(4)00051

(4)00052

(4)00053

(4)00054

(4)00055

(4)00056

(4)00057

(4)00058

(4)00059

(4)00060

(4)00061

(4)00003

(4)00004

(4)00005

(4)00006

(4)00007

(4)00008

(4)00009

(4)00010

(4)00011

(4)00012

(4)00013

Native Drive Profile Reference 2

DATA OUT 1

DATA OUT 2

DATA OUT 3

DATA OUT 4

DATA OUT 5

DATA OUT 6

DATA OUT 7

DATA OUT 8

DATA OUT 9

DATA OUT 10

DATA OUT 11

DATA OUT 12

Native Drive Profile Status

Native Drive Profile Actual 1

Native Drive Profile Actual 2

DATA IN 1

DATA IN 2

DATA IN 3

DATA IN 4

DATA IN 5

DATA IN 6

DATA IN 7

DATA IN 8



1), 2)

(4)00062

(4)00063

DATA IN 9

DATA IN 10


(4)00064

(4)00065

DATA IN 11

DATA IN 12

(4)00101…(4)09999 Drive Parameter Access (16-bit)

Register Address = 400000 + 100 × Group +

Index


(4)00000 + 100 × 3 + 18 = 400318




2 × Index


(4)20000 + 200 × 1 + 2 × 27 = 420254

1)



on page

96


2)




Transparent 32-bit

The Transparent 32-bit communication profile provides unaltered

32-bit access to the configured drive profile.


1), 2)


(4)00001 Native Drive Profile Control - Least Significant

16-bits

(4)00002

(4)00003

Native Drive Profile Control - Most Significant

16-bits

Native Drive Profile Reference 1 - Least

Significant 16-bits



1), 2)

(4)00004

(4)00005

(4)00006

(4)00007

(4)00008

(4)00009

(4)00010

(4)00011

(4)00012

(4)00013

(4)00014

(4)00015

(4)00016

(4)00017

(4)00018

(4)00051

(4)00052

(4)00053

(4)00054

(4)00055

(4)00056

(4)00057

(4)00058


Native Drive Profile Reference 1 - Most

Significant 16-bits

Native Drive Profile Reference 2 - Least

Significant 16-bits

Native Drive Profile Reference 2 - Most

Significant 16-bits

DATA OUT 1

DATA OUT 2

DATA OUT 3

DATA OUT 4

DATA OUT 5

DATA OUT 6

DATA OUT 7

DATA OUT 8

DATA OUT 9

DATA OUT 10

DATA OUT 11

DATA OUT 12

Native Drive Profile Status - Least Significant 16bits

Native Drive Profile Status - Most Significant 16bits

Native Drive Profile Actual 1 - Least Significant

16-bits

Native Drive Profile Actual 1 - Most Significant

16-bits

Native Drive Profile Actual 2 - Least Significant

16-bits

Native Drive Profile Actual 2 - Most Significant

16-bits

DATA IN 1

DATA IN 2



1), 2)

(4)00059

(4)00060

(4)00061

(4)00062

DATA IN 3

DATA IN 4

DATA IN 5

DATA IN 6


(4)00063

(4)00064

(4)00065

(4)00066

(4)00067

(4)00068

DATA IN 7

DATA IN 8

DATA IN 9

DATA IN 10

DATA IN 11

DATA IN 12



Index


(4)00000 + 100 × 3 + 18 = 400318




2 × Index


(4)20000 + 200 × 1 + 2 × 27 = 420254

1)



on page

96


2)



Modbus/TCP – Diagnostics 107

9

Modbus/TCP – Diagnostics


This chapter explains how to trace faults with the status LEDs on the adapter module when the module is used for Modbus/TCP communication.

Fault and warning messages

For the fault and warning messages concerning the adapter module, see the drive firmware manual.

108 Modbus/TCP – Diagnostics

LEDs

The adapter module is equipped with three bicolor diagnostic

LEDs. The LEDs are described below.

Name

HOST

Color

Blinking green

Green

Blinking red

Flashing orange, alternating with the MODULE flashing orange

Function

Establishing communication to host

Connection to host OK

Communication to host lost temporarily

Internal file system error. The error may be cleared by cycling drive power. If the error persists, contact your local ABB representative.


Name

MODULE

NETWORK

/NET

Color

Off

Function

There is no power applied to the device.

Flashing orange Device is attempting to obtain IP configuration from the DHCP server.

Orange

Flashing green

Green

Device is executing Duplicate Address

Detection.

Device is waiting for a Modbus request.

Device has received a Modbus request within the Modbus/TCP Timeout period.

Flashing red

Red

Flashing orange, alternating with the HOST flashing orange

Off

Ethernet link is down.

Ethernet interface is disabled. Duplicate

Address Detection may have detected a duplicate address. Check the IP configuration and either initiate a

Fieldbus Adapter parameter refresh or cycle power to the drive.


Ethernet link is down.

Flashing green Ethernet link is up at 100 Mbps.

Flashing indicates activity on interface.

Flashing orange Ethernet link is up at 10 Mbps.

Flashing indicates activity on interface.


Internal error code registers

A Modbus query can fail in many ways in the drive. The Modbus standard does not specify detailed error descriptions. In addition to the standard error codes, the FENA adapter module provides an internal error register area for more detailed diagnostics.

The internal error register area is used if Modbus error code 0x04 occurs. The registers contain information about the last query. You can figure out the reason of the failure by reading the registers.

The internal error register is cleared when a query has finished successfully.

Address

(4)00090

(4)00091

(4)00092

(4)00093

(4)00094

(4)00095

Registers (16-bit word)

Reset internal error registers (0 = Do nothing, 1 = Reset)

Function code of the failed query

Internal error code; see the error number.

Failed register

Last register that was written successfully

Last register that was read successfully

Error code

0x00

0x02

0x03

0x05

0x65

0x66

0x70

Description

No error

Low or high limit exceeded

Faulty subindex

Incorrect data type

General error in drive communication

Timeout

Read-only

Situation

Used when a Modbus query was successful

Change access with a value outside the value limits

Access to an unavailable subindex of an array parameter

Change access with a value that does not match the data type of the parameter

Undefined error when handling a

Modbus query

Timeout in drive communication when handling a Modbus query

An attempt to write a non-zero value to a read-only drive parameter

Error code

0x71

0x72

Description

Parameter group ended

MSB is not zero

0x73

0x74

LSB query start

MSB query end


Situation

An attempt to write to multiple parameter groups

An attempt to write a 16-bit parameter with a 32-register address and the MSB bytes are not zero

An attempt to access only the

LSB register of the 32-bit parameter

An attempt to access only the

MSB register of the 32-bit parameter


EtherNet/IP protocol

EtherNet/IP – Start-up

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

115


. . . . . . . . . . . . . . . . . . .

159


. . . . . . . . . . . . . . . . . . .

181


. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

241

EtherNet/IP – Start-up

EtherNet/IP – Start-up 115

6





• examples of configuring the client for communication with the adapter module.

Warnings


116 EtherNet/IP – Start-up





EtherNet/IP connection configuration



and




The detailed procedure of activating the module for EtherNet/IP communication with the drive depends on the drive type. Normally, you must adjust a parameter to activate the communication. See the drive-specific start-up sections starting on page

133

.



.

Note:

•

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 gray boxes in the tables.

•



FENA-01/-11/-21 configuration parameters – group A (group 1)



ACQ810


Default

128 =

ETHER-

NET

No.

01

Name/Value

FBA TYPE

Description



02 PROTOCOL/

PROFILE

ACS355:

FB PAR 2

ACSM1:

FBA PAR2

ACS850/ACQ810:

FBA par2

ACS880/ACS580:

Protocol/Profile

100 = EIP AC/DC


The selections available for EtherNet/IP communication are listed below.

1)

0 = Modbus/TCP: ABB Drives profile -

Classic

EtherNet/IP protocol: ODVA AC/DC drive profile

101 = EIP ABB Pro EtherNet/IP protocol: ABB Drives profile

102 = EIP T16 EtherNet/IP protocol: Transparent 16-bit profile

103 = EIP T32 EtherNet/IP protocol: Transparent 32-bit profile

0

1)


No.

Name/Value

03 COMM RATE

ACS355:

FB PAR 3

ACSM1:

FBA PAR3

ACS850/ACQ810:

FBA par3

ACS880/ACS580:

Commrate

0 = Auto

1 = 100 Mbps FD

2 = 100 Mbps HD

3 = 10 Mbps FD

4 = 10 Mbps HD

04 IP

CONFIGURATION

ACS355:

FB PAR 4

ACSM1:

FBA PAR4

ACS850/ACQ810:

FBA par4

ACS880/ACS580:

IP configuration

0 = Static IP

Description


Autonegotiate





Sets the method for configuring the IP address, subnet mask and gateway address for the adapter module.

Default

0 = Auto

1 = Dyn

IP DHCP

1 = Dyn IP DHCP

05 IP ADDRESS 1

ACS355:

FB PAR 5

ACSM1:

FBA PAR5

ACS850/ACQ810:

FBA par5

ACS880/ACS580:

IP address 1

0…255

… …


05

…

13

.



05

…

08


IP address

…

0

…


No.

Name/Value

08 IP ADDRESS 4

ACS355:

FB PAR 8

ACSM1:

FBA PAR8

ACS850/ACQ810:

FBA par8

ACS880/ACS580:

IP address 4

0…255

09 SUBNET CIDR

ACS355:

FB PAR 9

ACSM1:

FBA PAR9

ACS850/ACQ810:

FBA par9

ACS880/ACS580:

Subnet CIDR

Description

See parameter

05 IP ADDRESS 1

.

IP address

Subnet masks are used for splitting networks into smaller networks called subnets. A subnet mask is a 32-bit binary number that splits the IP address into a network address and host address.


0

Default

0

Dotted decimal

255.255.255.254

255.255.255.252

255.255.255.248

255.255.255.240

255.255.255.224

255.255.255.192

255.255.255.128

255.255.255.0

255.255.254.0

255.255.252.0

255.255.248.0

255.255.240.0

255.255.224.0

255.255.192.0

255.255.128.0

255.255.0.0

1…31


31 255.254.0.0

30 255.252.0.0

29 255.248.0.0

28 255.240.0.0

27 255.224.0.0

26 255.224.0.0

25 255.128.0.0

24 255.0.0.0

23 254.0.0.0

22 252.0.0.0

21 248.0.0.0

20 240.0.0.0

19 224.0.0.0

18 192.0.0.0

17 128.0.0.0

16


CIDR

15

14

13

12

11

4

3

6

5

10

9

8

7

2

1


No.

Name/Value

10 GW ADDRESS 1

ACS355:

FB PAR 10

ACSM1:

FBA PAR10

ACS850/ACQ810:

FBA par10

ACS880/ACS580:

GW address 1

0…255

… …

13 GW ADDRESS 4

ACS355:

FB PAR 13

ACSM1:

FBA PAR13

ACS850/ACQ810:

FBA par13

ACS880/ACS580:

GW address 4

14

…

18

0…255

Reserved

Description


10

…

13


GW address

…

See parameter

10 GW ADDRESS 1

.

GW address


EtherNet/IP.

Default

0

…

0

N/A


No.

Name/Value

19 T16 SCALE

ACS355:

FB PAR 19

ACSM1:

FBA PAR19

ACS850/ACQ810:

FBA par19

ACS880/ACS580:

T16 scale

0…65535

Description

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 (eg, DCU or FBA) and a 16-bit 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.




Default

99


No.

Name/Value

20 CONTROL

TIMEOUT

ACS355:

FB PAR 20

ACSM1:

FBA PAR20

ACS850/ACQ810:

FBA par20

ACS880/ACS580:

Control timeout

Description

Defines the control timeout value.

The EtherNet/IP protocol specifies connection timeout for I/O messaging (Class 1) and

Connected explicit messaging (Class 3), but not Unconnected explicit messaging.

This parameter provides a timeout for

Unconnected explicit messaging and for instances of Connected explicit messaging

(Class 3), where the client breaks the connection in between requests.

Default

0

Connection type Control timeout

I/O messaging

(Class 1)

0…65535

Timeout source

(Requested Packet Interval) X

(Connection Timeout Multiplier)

Note: Timeout behavior may be modified by

Watchdog Timeout Action attribute of

Connection object.

Connected explicit messaging

(Class 3)

0 (Requested Packet Interval) X

(Connection Timeout Multiplier)

Note: Timeout behavior may be modified by

Watchdog Timeout Action attribute of

Connection object.

Unconnected explicit messaging

1…65534 100ms X (Control Timeout Value) since last

Control Event

65535

0

Never Timeout

Always Timeout

Note: Control Timeout must be greater than zero to control drive with Unconnected

Explicit Messaging.

1…65534 100ms X (Control Timeout Value) since last

Control Event

65535 Never Timeout


No.

Name/Value Description

Control timeout events:

• Write of an output assembly object instance

• Write of control bits (Run1, Run2, NetCtrl,

NetRef and FaultReset)

• Write Speed Reference

• Write Torque Reference

• Reset Control Supervisor object

• Write Force Fault via Control Supervisor object

If a timeout occurs, the adapter module signals the drive that communication with the client has been lost. The drive configuration then determines how to respond.

Example: If the timeout is 250 ms and the drive is configured to fault on a communication failure with a delay of 500 ms, then the drive will fault 750 ms after communications is lost.

Control timeout value

I/O connections may include a Run/Idle notification. This parameter determines the action the drive takes in response to an Idle notification.

Default

0 =

Off-line

0…65535

21 IDLE ACTION

ACS355:

FB PAR 21

ACSM1:

FBA PAR21

ACS850/ACQ810:

FBA par21

ACS880/ACS580:

Idle action

0 = Off-line

1 = On-line

In the event of an Idle notification, the adapter module signals the drive that communication with the client has been lost. The drive configuration then determines how to respond.

Example: If the timeout is 250 ms and the drive is configured to fault on a communication failure with a delay of 500 ms, then the drive will fault 750 ms after communications is lost.

In the event of an Idle notification, the drive will continue to operate using the last command and references received.


No.

Name/Value

22 ODVA STOP

FUNCTION

ACS355:

FB PAR 22

ACSM1:

FBA PAR22

ACS850/ACQ810:

FBA par22

ACS880/ACS580:

Stop function

0 = Ramp

1 = Coast

Description

Determines how the motor is to be stopped when a stop command is received via

EtherNet/IP.

This parameter only applies to the ODVA

AC/DC drive profile.

The motor decelerates along the active deceleration ramp.

The motor comes to a stop by coasting.

Default

0 =

Ramp


No.

Name/Value

23 ODVA SPEED

SCALE

ACS355:

FB PAR 23

ACSM1:

FBA PAR23

ACS850/ACQ810:

FBA par23

ACS880/ACS580:

Speed scale

Description


AC/DC drive profile. The units of reference and actual speeds for the ODVA AC/DC drive profile are given by the formula below.

Speed unit = RPM × 2

(-1 × ODVA speed scale value)

Note: While a wide range of resolutions may be configured, the actual performance is limited to the performance capabilities of the drive.

The table below shows the how the drive ODVA speed scale parameter values correspond to the ODVA speed scale units.

Default

128

ODVA speed scale value

1)

Speed scale value of drive parameter

2)

Unit

-5

-4

-3

-2

1

2

-1

0 (default)

123

124

125

126

127

128

129

130

32 RPM

16 RPM

8 RPM

4 RPM

2 RPM

1 RPM

0.5 RPM

0.25 RPM

3

4

131

132

0.125 RPM

0.0625 RPM

5 133 0.03125 RPM

1)

Use the ODVA speed scale value when reading/writing parameter

ODVA

SPEED SCALE

via

AC/DC-drive object, class 2Ah

. When written via the

AC/DC drive object, the new value takes effect immediately.

2)

Use the speed scale value of the drive parameter when reading/writing parameter

ODVA SPEED SCALE

via the drive control panel,

Drive parameter object, class 90h

and

Fieldbus configuration object, class 91h

.

When written via these methods, the new value takes effect after the drive is repowered or a “Fieldbus Adapter Parameter refresh” is given.

0…255 Speed scale value of drive parameter


No.

Name/Value

24 ODVA TORQUE

SCALE

ACS355:

FB PAR 24

ACSM1:

FBA PAR4

ACS850/ACQ810:

FBA par24

ACS880/ACS580:

Torque scale

Description


AC/DC drive profile. The units of reference and actual torques for the ODVA AC/DC drive profile are given by the formula below.

Default

128

Torque unit = N·m × 2

(-1 × ODVA torque scale) where:

(N·m = Newton × Meter)

Note: While a wide range of resolutions may be configured, the actual performance is limited to the performance capabilities of the drive.

The table below shows the how the drive ODVA torque scale parameter values correspond to the ODVA torque scale units.

25

…

26

ODVA torque scale value

-5

-4

-3

-2

1

2

-1

0 (default)

3

1)

Torque scale value of drive parameter

2)

123

124

125

126

127

128

129

130

131

Unit

32 N·m

16 N·m

8 N·m

4 N·m

2 N·m

1 N·m

0.5 N·m

0.25 N·m

0.125 N·m

4 132 0.0625 N·m

5 133 0.03125 N·m

1)

Use the ODVA torque scale value when reading/writing parameter

ODVA

TORQUE SCALE

via


. When written via the AC/DC drive object, the new value takes effect immediately.

2)

Use the torque scale value of the drive parameter when reading/writing parameter

ODVA TORQUE SCALE

via the drive control panel,

Drive parameter object, class 90h

and

Fieldbus configuration object, class 91h

.

When written via these methods, the new value takes effect after the drive is repowered or a “Fieldbus Adapter Parameter refresh” is given.

0…255

Reserved

Torque scale value of drive parameter


EtherNet/IP.

N/A


No.

Name/Value

27 FBA PAR

REFRESH

28

ACS355/ACSM1:

FBA PAR

REFRESH

ACS850/ACQ810:

FBA par refresh

ACS880/ACS580:

FBA A/B par refresh

0 = Done

1 = Refresh

PAR TABLE VER

ACS355:

FILE CPI FW REV

ACSM1:

PAR TABLE VER

ACS850/ACQ810:

Par table ver

ACS880/ACS580:


29 DRIVE TYPE

CODE

ACS355:

FILE CONFIG ID

ACSM1:

DRIVE TYPE

CODE

ACS850/ACQ810:

Drive type code

ACS880/ACS580:


Description


0 = Done.


Default

0 = Done

Refreshing done

Refreshing












N/A

N/A



No.

Name/Value

30 MAPPING FILE

VER

ACS355:

FILE CONFIG REV

ACSM1:

MAPPING FILE

VER

ACS850/ACQ810:

Mapping file ver

ACS880/ACS580:


Description



Read-only. Displays the status of the fieldbus adapter module communication.


31 D2FBA COMM

STA

ACS355:

FBA STATUS

ACSM1:

D2FBA COMM

STA

ACS850/ACQ810:

D2FBA comm sta

ACS880/ACS580:


0 = Idle

1 = Exec.init

2 = Time out

3 = Conf.err

4 = Off-line

5 = On-line

6 = Reset



A timeout has occurred in the communication between the adapter and the drive.



Adapter is on-line.


Default

N/A

0 = Idle

OR

4 = Offline


No.

Name/Value

32 FBA COMM SW

VER

ACS355:

FBA CPI FW REV

ACSM1:

FBA COMM SW

VER

ACS850/ACQ810:

FBA comm sw ver

ACS880/ACS580:

FBA A/B comm SW ver

Description





33 FBA APPL SW

VER

ACS355:

FBA APPL FW

REV

ACSM1:

FBA APPL SW

VER

ACS850/ACQ810:

FBA appl sw ver

ACS880/ACS580:

FBA A/B appl SW ver







Default

N/A

N/A






• 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)


01 0 = None DATA OUT 1

(client to drive)

ACS355:

FBA DATA OUT 1

ACSM1:

FBA DATA OUT1

ACS850/ACQ810:

FBA data out1

ACS880/ACS580:

FBA A/B data out1

In output assembly instances that include drive parameters, this parameter specifies which parameter’s value will be placed in location

DATA OUT 1 value received by the drive from the EtherNet/IP client.


0

101…

9999

Not used


Not used when the EtherNet/IP protocol is used

.


0 = None

101…9999

Not used





02…

10

DATA OUT 2 …

DATA OUT 10

See parameter

01 DATA OUT 1

.

0 = None

1)







• 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)


01 0 = None DATA IN 1

(drive to client)

ACS355:

FBA DATA IN 1

ACSM1:

FBA DATA IN1

ACS850/ACQ810:

FBA data in1

ACS880/ACS580:

FBA A/B data in1

In input assembly instances that include drive parameters, this parameter specifies which parameter’s value will be placed in location

DATA IN 1 value sent by the drive to the

EtherNet/IP client.


0

101…

9999

Not used


Not used when the EtherNet/IP protocol is used

.


0 = None

101…9999

Not used





02…

10

DATA IN 2 …

DATA IN 10

See parameter

01 DATA IN 1

.

0 = None

1)








To give the fieldbus client the most complete control over the drive, you must select the adapter module as the source of this information. The drive-specific parameter setting examples below contain the drive control parameters relevant in the examples. For a complete parameter list, see the drive documentation.






At the minimum, select the communication protocol and profile with parameter 5102 and configure the network settings with parameters 5103…5113.




Note: The adapter module assigns the Control word, Status word, references 1…2 and actual values 1…2 automatically to cyclical communication according to the selected assembly instances.








Speed control using the ODVA AC/DC drive profile,

Extended speed control assembly

This example shows how to configure a speed control application that uses the ODVA AC/DC drive profile, Extended speed control assembly. In addition, some application-specific data is added to the communication.

The start/stop commands and reference scaling are according to the ODVA AC/DC drive profile. For more information, see section

ODVA AC/DC drive profile

on page

161

.

When Reference 1 (REF1) is used for speed control and the parameter 5123 value is 128, an ODVA speed reference value of

±30000 (decimal) corresponds to an equal amount of rpm in the drive. The reference value sent from the PLC is limited by parameter 1105 REF1 MAX in the forward and reverse directions.


Bytes

0

…

1

2

…

3

4

…

5

6

…

7

1)

Example

Instance 121

Control word

Speed reference

Constant speed 1

1)

Constat speed 2

1)

Instance 171

Status word

Speed actual value

Power

1)

DC bus voltage

1)



9802 COMM PROT SEL 4 = EXT FBA

Description



1)

5102 FB PAR 2

(PROTOCOL/PROFILE)

100 (= EIP AC/DC)


Selects the EtherNet/IP protocol and the ODVA AC/DC drive profile.


Drive parameter

5103 FB PAR 3

(COMMRATE)

5104 FB PAR 4

(IP CONFIGURATION)

5105 FB PAR 5

(IP ADDRESS 1)

5106 FB PAR 6

(IP ADDRESS 2)

5107 FB PAR 7

(IP ADDRESS 3)

5108 FB PAR 8

(IP ADDRESS 4)

5123 FB PAR 23

(ODVA SPEED SCALE)

3018 COMM FAULT

FUNC

3019 COMM FAULT

TIME


0 (= Auto)

2)

Description

0 (= Static IP)

192

168

2)

0

2)

16

2)

2)

128

2)

1 = FAULT

3.0 s

2)

2)

2)



05

...

13

.





Sets the scaling for the ODVA speed reference.



5401 FBA DATA IN 1 106

2)

5402 FBA DATA IN 2 107

2)

5501 FBA DATA OUT 1 1202

2)


2)

Power

DC bus voltage

Constant speed 1

Constant speed 2

5127 FBA PAR

REFRESH

9904 MOTOR CTRL

MODE

1001 EXT1

COMMANDS

1103 REF1 SELECT

1 = REFRESH Validates the FENA-01/-11/-21 configuration parameter settings.

1 = VECTOR: SPEED Selects the speed control mode as the motor control mode.

10 = COMM

8 = COMM




Drive parameter

1601 RUN ENABLE

1604 FAULT RESET

SEL


7 = COMM

Description

8 = COMM



1)


2)

Example


Control word:

•


•

Enter 0h (0 decimal) –> READY.

•

Enter 1h (1 decimal) –> ENABLED (Running forward)

OR

Enter 2h (2 decimal) –> ENABLED (Running reverse).









50.04…50.11.



At the minimum, select the communication protocol and profile with parameter 51.02 and configure the network settings with parameters 51.03…51.13.















on page

161

.

When Reference 1 (REF1) is used for speed control and the value of parameter 51.23 is 128, an ODVA speed reference value of

±30000 (decimal) corresponds to an equal amount of rpm in the drive. The speed reference value sent by the PLC is limited by parameter 20.01 MAXIMUM SPEED in the forward direction and

20.02 MINIMUM SPEED in the reverse direction.


Bytes

0…1

2…3

4…7

8…11

Instance 121

Control word

Speed reference

Constant speed 1

1)


1)

Instance 171

Status word

Speed actual value

Power

1)

DC bus voltage

1)

1)

Example



Drive parameter

50.01 FBA ENABLE


Enable

Description

50.02 COMM LOSS

FUNC

50.03 COMM LOSS T

OUT

50.04 FBA REF1

MODESEL

Fault

2)

3.0 s

2)

Speed





51.01 FBA TYPE ETHERNET

1)

51.02 FBA PAR2

(PROTOCOL/PROFILE)

51.03 FBA PAR3

(COMMRATE)

100 (= EIP AC/DC)

0 (= Auto

2)

0 (= Static IP)

2)

192

2)





05

…

13

.


51.04 FBA PAR4

(IP CONFIGURATION)

51.05 FBA PAR5

(IP ADDRESS 1)

51.06 FBA PAR6

(IP ADDRESS 2)

51.07 FBA PAR7

(IP ADDRESS 3)

51.08 FBA PAR8

(IP ADDRESS 4)

51.09 FBA PAR9

(SUBNET CIDR)

51.23 FBA PAR23

(ODVA SPEED SCALE)

168

2)

0

2)

16

2)

24

2)

128

2)







52.01 FBA DATA IN1

52.03 FBA DATA IN3

53.01 FBA DATA OUT1

122

2)

107

2)

2408

2)

Power

DC bus voltage

Constant speed


Drive parameter

53.03 FBA DATA OUT3

51.27 FBA PAR

REFRESH

10.01 EXT1 START

FUNC


34.01 EXT1/EXT2 SEL

34.03 EXT1 CTRL

MODE1


2410

2)

Description

REFRESH

FBA

FBA REF1

C.FALSE

Speed





1.

Selects that the external control location is always EXT1.


1)


2)

Example


Control word:

•


•


•

Enter 1h (1 decimal) –> ENABLED (Running forward).

•







Notes:

•


•


(EXT1 and EXT2).



50.04…50.11.


















on page

161

.


±30000 (decimal) corresponds to an equal amount of rpm in the drive. The speed reference value sent from the PLC is limited by parameter 20.01 Maximum speed in the forward direction and

20.02 Minimum speed in the reverse direction.



Bytes

0

…

1

2

…

3

4

…

7

8

…

11

1)

Example

Instance 121

Control word

Speed reference

Constant speed 1

1)

Constant speed 2

1)

Instance 171

Status word

Speed actual value

Power

1)

DC bus voltage

1)


Drive parameter

50.01 Fba enable

Setting for


Enable

Description




Fault

2)

3.0 s

2)

Speed





51.01 FBA type Ethernet

1)

51.02 FBA par2

(PROTOCOL/PROFILE)

51.03 FBA par3

(COMMRATE)

51.04 FBA par4

(IP CONFIGURATION)

51.05 FBA par5

(IP ADDRESS 1)

51.06 FBA par6

(IP ADDRESS 2)

100 (= EIP AC/DC)

0 (= Auto)

2)

0 (= Static IP)

2)

192

2)

168

2)





05

…

13

.




Drive parameter

51.07 FBA par7

(IP ADDRESS 3)

51.08 FBA par8

(IP ADDRESS 4)

51.09 FBA par9

(SUBNET CIDR)

Setting for


0

2)

16

24

2)

2)

51.23 FBA par23

(ODVA SPEED SCALE)

52.01 FBA data in1

52.03 FBA data in3

53.01 FBA data out1

53.03 FBA data out3

51.27 FBA par refresh

128

2)

122

2)

107

2)

2606

2)

2607

2)

Refresh

10.01 Ext1 start func FB

Description






Power

DC bus voltage

Constant speed 1

Constant speed 2




1.


(ACS850)

21.01 Speed ref sel

(ACQ810)

FBA ref1

FBA ref1

1)


2)

Example


Control word:

•


•


•


•






50.01 FBA A enable.


















Parameter setting examples – ACS880 and ACS580






on page

161

.


±30000 (decimal) corresponds to an equal amount of rpm in the drive. The speed reference value sent from the PLC is limited by parameter 30.12 Maximum speed in the forward direction and

30.11 Minimum speed in the reverse direction.


Bytes

0

…

1

2

…

3

4

…

7

8

…

11

1)

Example

Instance 121

Control word

Speed reference

Constant speed 1

1)

Constant speed 2

1)

Instance 171

Status word

Speed actual value

Power

1)

DC bus voltage

1)



Drive parameter

50.01 FBA A enable

Setting for ACS880

/ACS580 drives

1 = Option slot 1

2)

Description




1 = Fault

2)

3.0 s

2)

4 = Speed





51.01 FBA A type 128 = ETHERNET

1)


51.03 Commrate


51.05 IP address 1

51.06 IP address 2

51.07 IP address 3

51.08 IP address 4

51.09 Subnet CIDR

100 = EIP AC/DC

0 = Auto

2)

0 = Static IP

2)

192

2)

168

2)

0

2)

16

2)

24

2)

51.23 ODVA speed scale 128

2)




Configuration will be obtained from configuration parameters

05

…

13

.








52.01 FBA data in1

52.03 FBA data in3

53.01 FBA data out1

53.03 FBA data out3

01.14

2)

01.11

2)

22.26

2)

22.27

2)

Output power

DC voltage

Constant speed 1

Constant speed 2


Drive parameter

51.27 FBA A par refresh

20.01 Ext1 commands


Setting for ACS880

/ACS580 drives

1 = Refresh

Description


12 = Fieldbus A

4 = FB A ref1



1.

1)


2)

Example


Control word:

•


•


•


•



Configuring the client

After the adapter module has been initialized by the drive, you must prepare the client for communication with the module. An example of an Allen-Bradley® PLC is given below. If you are using another client system, refer to its documentation for more information.

The example applies to all drive types compatible with the module.



Before you start

Decide on these points before you start the client configuration.

Select protocol/profile

During the configuration of the drive and the client, it is necessary to select a communication protocol, in this case EtherNet/IP, and a communication profile. The communication profile determines which I/O assemblies and objects are available. See chapter


for more information.

Select output and input assembly instances

EtherNet/IP devices implement multiple objects each with many attributes. While it is possible to write or read each attribute separately to control the drive, this is inefficient. Assembly object instances provide a means to group writes or reads of attributes.

The selection of assembly objects is limited by the choice of the communication profile. This table gives a listing of the output and input assemblies.

Name Profile

Basic Speed Control

Output instance

20

Input instance

70

Size

(bytes)

4

Enhanced Speed Control

Basic Speed and Torque

Control

Enhanced Speed and

Torque Control

Basic Speed Control plus

Drive Parameters

21

22

23

120

71

72

73

170

4

6

6

24

ODVA AC/DC drive

ODVA AC/DC drive

ODVA AC/DC drive

ODVA AC/DC drive

ODVA AC/DC drive


Name

Enhanced Speed Control plus Drive Parameters

Basic Speed and Torque

Control plus Drive

Parameters

Enhanced Speed and

Torque Control plus Drive Parameters

ABB Drives Profile w/ Set

Speed

ABB Drives Profile w/

Set Speed and Set Torque


Set Speed plus Drive

Parameters


Set Speed and Set Torque plus Drive Parameters

Transparent16 w/One

Output instance

121

122

123

1

2

101

102

11

Transparent16 w/Two

Transparent16 w/One plus

Drive Parameters

Transparent16 w/Two plus

Drive Parameters

Transparent32 w/One

Transparent32 w/Two

12

111

112

21

22

121 Transparent32 w/One plus

Drive Parameters

Transparent32 w/Two plus

Drive Parameters

122

71

72

171

172

61

62

161

162

Input instance

171

172

173

51

52

151

152

24

26

4

6

28

32

8

12

Size

(bytes)

24

26

Profile

ODVA AC/DC drive

ODVA AC/DC drive

26

4

6

24

26

ODVA AC/DC drive

ABB Drives profile

ABB Drives profile

ABB Drives profile

ABB Drives profile

Transparent16 profile









Select connection method

EtherNet/IP provides a variety of connection methods to communicate between devices. Not all methods are supported by all devices. Refer to the client documentation to determine which method(s) are supported by the client.

Note: The choice of the connection method has a significant impact on the timeout behavior. Refer to configuration parameters

20 CONTROL TIMEOUT

and

21 IDLE ACTION

for more information.

The FENA adapter module supports the following connection methods:

I/O connections

The adapter module supports Class 1 I/O connections. I/O connections are often also referred to as “Implicit Messaging”. I/O connections are typically established by configuring an I/O scanner to write and read assembly object instances.

Connected explicit messaging

The adapter module supports Class 3 connected explicit messaging. Class 3 connected explicit messages are typically established by using a “message instruction” to write or read an attribute.

Note: When using Class 3 explicit messaging, some EtherNet/IP clients may close the connection after the MSG instruction is done.

This will cause the module to behave as if it were controlled via unconnected explicit messaging.

Unconnected explicit messaging

The adapter module supports unconnected explicit messaging.

Unconnected explicit messages are typically established by using a “message instruction” to write or read an attribute.

Note: EtherNet/IP does not provide a timeout means for unconnected explicit messaging. To use unconnected explicit messaging for control, refer to configuration parameter

20

CONTROL TIMEOUT

.




EDS files

Electronic Data Sheet (EDS) files specify the properties of the device for the EtherNet/IP client. The client identifies the device by means of the product code, device type and major revision attributes.

To enable the use of different ABB drive types on the same

EtherNet/IP network, a unique product code has been given to each drive type and application combination.

EDS files are available from the Document library

( www.abb.com/drives) .

Note: Only one EDS file with the same EtherNet/IP product code can be installed in the PLC at a time.




Configuring an Allen-Bradley

®

PLC

This example shows how to prepare an Allen-Bradley® Control-

Logix5555™ PLC for communication with the adapter module by using the RSLogix 5000® software as the configuration tool.

1. Start the RSLogix software and open/create an RSLogix project.

Note: It is assumed that the PLC configuration has already been established in the RSLogix project.

2. In the RSLogix I/O, right-click the EtherNet/IP communication module and select New Module.


3. In the Select Module window, select ETHERNET-MODULE.


4. Select the input and output assembly instances and the PLC

I/O memory size to be used.

The table below shows the available combinations. The example below uses the ODVA AC/DC assembly instances

121 and 171.

PLC word settings Input assembly instances

70

71

72

73

170

171

172

173

51

52

151

152

61

62

161

162

Output assembly instances

20

21

22

23

120

121

122

123

1

2

101

102

11

12

111

112

3

12

13

12

13

13

2

12

13

2

3

2

3

12

2

3

For more information on the input/output assembly instances, see chapter


.


5. Enter the following information.

The example below uses ODVA AC/DC assembly instances

121 and 171. The PLC will transmit and receive 12 words.

Type a name for the adapter module.

Type the Input and Output

Assembly Instance numbers.

Select the sizes of the

Input and Output words for the adapter module.

FENA uses 16-bit words.

Change Comm Format to

Data - INT (16 bits).

Type the IP address of the adapter module.

Set Configuration as 1 and Size as 0.


6. Click OK.

The adapter module is now added to the PLC I/O.

7. Click the FENA module to open the Module Properties window.


8. On the Connection tab, select the Requested Packet Interval

(RPI) for the adapter module I/O communication.

9. Download the new configuration to the PLC.

The PLC is now ready for communication with the adapter module.

EtherNet/IP – Communication profiles 159

11

EtherNet/IP – Communication profiles


This chapter describes the communication profiles used in the communication between the EtherNet/IP client, the adapter module and the drive.



(Control word, Status word, references and actual values) between the master station and the drive.

With the FENA adapter module, the EtherNet/IP network may employ either the ODVA AC/DC drive 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.

160 EtherNet/IP – Communication profiles


EtherNet/IP network

FENA


ODVA AC/DC profile

ODVA AC/DC

Data conversion

ABB Drives profile

ABB Drives

Data conversion

Native profile (eg,

DCU, FBA)

Native profile (eg,

DCU, FBA)

Drive


1)

(with 16-bit words)

Transparent16

Optional reference/ actual value scaling


1)

(with 32-bit words)

Transparent32

1)

Can be used if the native profile is supported by the drive.

The following sections describe the Control word, the Status word, references and actual values for the ODVA AC/DC drive and ABB

Drives communication profiles. Refer to the drive manuals for details on the native profiles.


ODVA AC/DC drive profile

This section briefly describes the ODVA AC/DC drive profile.

Additional information is available at www.odva.org

.

An EtherNet/IP node is modeled as a collection of abstract objects.

Each object represents the interface to and behavior of a component within the product. The ODVA AC/DC drive profile defines a collection of objects suitable for the control of AC and DC drives. The objects supported by the adapter module are listed in

section

Class objects

on page

217

.

Objects are defined by:

•

Service

•

Class

•

Instance

•

Attribute

•

Behavior.

For example, to set the drive speed reference, the

Set_Attribute_Single service can be requested for the SpeedRef attribute of the AC/DC drive object class. The resulting behavior is that the reference speed of the drive is set to the requested value.

This is an example of explicit messaging, where each attribute of a class is set individually. While this is allowed, it is inefficient.

Instead, implicit messaging using input and output assembly

Instances is recommended. Implicit messaging allows the

EtherNet/IP client to set or get predefined groups of attributes in a single message exchange. The assembly instances supported by the adapter module are listed and defined in section

Assembly objects

on page

182

.




ODVA output attributes

This section briefly describes the instances found in the output assemblies of the ODVA AC/DC drive profile. Note that all output assembly instances do not support all attributes listed here.

Run Forward & Run Reverse (Control supervisor object)

These attributes are used to assert run and stop commands to the

Control supervisor object state machine according to the following

Run/Stop event matrix. See

State (Control supervisor object)

on page

167

.

RunFwd

0

0

→

1

0

0

→

1

1

1

0

→

1

RunRev

0

1

0

0

0

→

1

→

1

1

1

→

0

Trigger event

Stop

Run

Run

No Action

No Action

Run

Run

Run type

N/A

RunFwd

RunRev

N/A

N/A

RunRev

RunFwd

Fault Reset (Control supervisor object)

This attribute resets a drive fault on a transition from zero to one if the condition that caused the fault has been cleared.

Net Ctrl (Control supervisor object)

This attribute requests that the drive Run/Stop command be supplied locally (Net Ctrl = 0) or by the network (Net Ctrl = 1).

Net Ref (AC/DC drive object)

This attribute requests that the drive speed and torque references be supplied locally (Net Ref = 0) or by the network (Net Ref = 1).


Speed Reference (AC/DC drive object)

This attribute is the speed reference for the drive. The units are scaled by the Speed Scale attribute of the AC/DC drive object. See

parameter

23 ODVA SPEED SCALE

for details.

Scalar mode

When the drive is operating in the scalar mode, the adapter module provides the drive with a frequency reference. The ODVA

AC/DC drive profile uses rpm units for the speed reference. The drive frequency reference is calculated as follows:

Dfr

=

Osr

×

Us

×

Mf

Mss where

Dfr = Drive Frequency Reference in Hz

Osr = ODVA Speed Reference

Us = ODVA Speed Unit (see


on page

125

)

Mf = Motor Nominal Frequency in Hz

Mss = Motor Synchronous Speed in rpm (not Motor Nominal Speed).

For example, for a 4-pole 60 Hz motor (Mss = 1800 rpm) with a unit of 1 rpm and an ODVA Speed Reference of 900, the drive frequency reference is:

Dfr

=

Osr

×

Us

×

Mf

Mss

=

900

×

1 rpm

×

60

1800 rpm

Hz

=

30 Hz


Vector mode

When the drive is operating in the vector mode, the adapter module provides the drive with a speed reference. The ODVA

AC/DC drive profile uses rpm units for the speed reference. The drive speed reference is calculated as follows:

Dsr

=

Osr

×

Us where

Dsr = Drive Speed Reference in rpm

Osr = ODVA Speed Reference



on page

125

).

For example, for an ODVA Speed Reference of 900 rpm with a unit of 0.5 rpm, the drive speed reference is:

Dsr

=

Osr

×

Us

=

900

×

0.5rpm

=

450rpm


Torque Reference (AC/DC drive object)

This attribute is the torque reference for the drive. The units are scaled by the Torque Scale attribute of the AC/DC drive object.

See parameter

24 ODVA TORQUE SCALE

for details.

The adapter module provides the drive with a torque reference in percent of the motor nominal torque. The ODVA AC/DC drive profile uses Newton-meter (N·m) units for the torque reference.

The drive torque reference is calculated as follows:

Dtr

=

100

×

Otr

×

Ut

Mt where

Dtr = Drive Torque Reference in Percent of Motor Nominal Torque

Otr = ODVA Torque Reference

Ut = ODVA Torque Unit (see


on page

126

)

Mt = Motor Nominal Torque in N

· m.

For example, for a 1000 N·m Motor Nominal Torque with a unit of

1 N·m and an ODVA Torque Reference of 500, the drive torque reference is:

Dtr

=

100

×

Otr

Mt

×

Ut

=

100

×

500

×

1 Nm

1000 Nm

=

50




ODVA input attributes

This section briefly describes the instances found in the ODVA

AC/DC drive profile’s input assemblies. Note that all input assembly instances do not support all attributes listed here.

Faulted (Control supervisor object)

This attribute indicates that the drive has experienced a fault. The fault code may be read from the FaultCode attribute of the Control supervisor object.

Warning (Control supervisor object)

This attribute indicates that the drive is experiencing a warning condition. The warning code may be read from the WarnCode attribute of the Control supervisor object.

Running Forward (Control supervisor object)

This attribute indicates that the drive is running in the forward direction.

Running Reverse (Control supervisor object)

This attribute indicates that the drive is running in the reverse direction.

Ready (Control supervisor object)

This attribute indicates that the Control supervisor object state

machine is in the Ready, Running or Stopping state. See

State

(Control supervisor object)

on page

167

.

Ctrl From Net (Control supervisor object)

This attribute indicates if the Run/Stop command is being supplied locally (Ctrl From Net = 0) or by the network (Ctrl From Net = 1).

Ref From Net (AC/DC drive object)

This attribute indicates if the speed and torque references are being supplied locally (Ref From Net = 0) or by the network (Ref

From Net = 1).


At Reference (AC/DC drive object)

This attribute indicates that the drive is operating at the specified speed or torque reference.

State (Control supervisor object)

This attribute indicates the current state of the Control supervisor object.

State

2

3

0

1

Description

Vendor Specific

Startup

Not Ready

Ready

State

6

7

4

5

Description

Enabled

Stopping

Fault Stop

Faulted


The ODVA state transition diagram is shown below:

Non Existent

Power off

ALM = Alarm

DEC = Deceleration

FWD = Forward

REV = Reverse

RDY = Ready

Power on

Startup

ALM=1

Faulted

Power on

Power-on

AND RDY

Not Ready

FaultRst

ALM=1

Power-on AND not RDY

Ready

DEC=0

FWD OR REV

FWD OR REV

Stopping

ALM=1

DEC=0

Fault stop

Enabled

DEC=1

ALM=1


Speed Actual (AC/DC drive object)

This attribute indicates the actual speed at which the drive is operating. The units are scaled by the SpeedScale attribute of the

AC/DC drive object. See parameter


for details.

Scalar mode

When the drive is operating in the scalar mode, the drive provides the adapter module with a frequency actual. The ODVA AC/DC drive profile uses rpm units for the speed actual. The ODVA Speed

Actual is calculated as follows:

Osa

=

Dfa

×

Mss

Mf

×

Us

where

Osa = ODVA Speed Actual

Dfa = Drive Frequency Actual in Hz



on page

125

)

Mf = Motor Nominal Frequency in Hz

Mss = Motor Synchronous Speed in rpm (not Motor Nominal Speed).

For example, for a 4-pole 60 Hz motor (Mss = 1800 rpm) with a unit of 1 rpm and a Drive Frequency Actual of 30 Hz, the ODVA

Speed Actual is:

Osa

=

Dfa

Mf

×

×

Mss

Us

=

30Hz

×

1800rpm

60Hz

×

1rpm

=

900


Vector mode

When the drive is operating in the vector mode, the drive provides the adapter module with a speed actual. The ODVA AC/DC drive profile uses rpm units for the speed actual. The ODVA Speed

Actual is calculated as follows:

Osa

=

Dsa

Us where

Dsa = Drive Speed Actual in rpm

Osa = ODVA Speed Actual



on page

125

).

For example, for a Drive Speed Actual of 900 rpm with a unit of

0.5 rpm, the ODVA Speed Actual is:

Osa

=

Dsa

Us

=

450 rpm

0.5

rpm

=

900


Torque Actual (AC/DC drive object)

This attribute indicates the actual torque at which the drive is operating. The units are scaled by the Torque Scale attribute of the

AC/DC drive object. See

parameter


for

details.

The drive provides the adapter module with a torque actual in percent of the Motor Nominal Torque. The ODVA AC/DC drive profile uses Newton-meter (N·m) units for the torque actual. The

ODVA Torque Actual is calculated as follows:

Ota

=

Dta

×

100

×

Mt

Ut

where

Dta = Drive Torque Actual in Percent of Motor Nominal Torque

Ota = ODVA Torque Actual

Ut = ODVA Torque Unit (see


on page

126

)

Mt = Motor Nominal Torque in N

· m.

For example, for a 1000 N·m Motor Nominal Torque with a unit of

1 N·m and a drive torque actual of 50%, the ODVA Torque Actual is:

Ota

=

Dta ×

100

×

Mt

Ut

=

50 × 1000

100

×

1

Nm

Nm

=

500






The Control word is the principal means for controlling the drive from a fieldbus system. It is sent by the fieldbus client 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 client in the Status word.

The contents of the Control word and the Status word are detailed

below. The drive states are presented on page

177

.



ABB Drives communication profile. The upper case boldface text refers to the states shown in the state machine on page

177

.

Bit Name

0 OFF1_

CONTROL

1 OFF2_

CONTROL

2 OFF3_

CONTROL

Value

1

0

1

0

1

0











INHIBITED.



Bit Name

3 INHIBIT_

OPERATION

4 RAMP_OUT_

ZERO

5 RAMP_HOLD

6 RAMP_IN_

ZERO

7 RESET

Value

1

0

1

0

1

0

1





INHIBITED.



ENABLED.





ENABLED.


Normal operation. Proceed to

OPERATION.



0

–

> 1 Fault reset if an active fault exists. Proceed to SWITCH-ON INHIBITED.



8…9 Reserved


Bit Name

10 REMOTE_

CMD

11 EXT_CTRL_

LOC

Value

1

0

1

0









12…

15

Reserved




Drives communication profile. The upper case boldface text refers to the states shown in the state machine on page

177

.

Bit Name

0 RDY_ON

1 RDY_RUN

2 RDY_REF

3 TRIPPED

4 OFF_2_STA

5 OFF_3_STA

6 SWC_ON_

INHIB

7 ALARM

8 AT_

SETPOINT

9 REMOTE

1

0

1

0

1

0

Value

1

0

1

0

1

0

1

0

1

0

1

0

1

0





OFF1 ACTIVE



FAULT

No fault

OFF2 inactive

OFF2 ACTIVE

OFF3 inactive

OFF3 ACTIVE


–

Warning/Alarm

No warning/alarm

OPERATION. Actual value equals reference

(= is within tolerance limits, ie, in speed control, speed error is 10% max. of nominal motor speed).

Actual value differs from reference (= is outside tolerance limits).

Drive control location: REMOTE (EXT1 or

EXT2)

Drive control location: LOCAL


Bit Name

10 ABOVE_

LIMIT

11 EXT_CTRL_

LOC

12 EXT_RUN_

ENABLE

Value

1

0

1

0

1

0


Actual frequency or speed equals or exceeds supervision limit (set by drive parameter). Valid in both directions of rotation.

Actual frequency or speed within supervision limit

External Control Location EXT2 selected.

Note concerning ACS880: This bit is effective only if the fieldbus interface is set as the target for this signal by drive parameters. User bit 0 selection (06.33)

External Control Location EXT1 selected

External Run Enable signal received.


No External Run Enable signal received

13…

14

Reserved

15 FBA_

ERROR

1

0

Communication error detected by fieldbus adapter module

Fieldbus adapter communication OK


State machine


MAINS OFF

Power ON

SWITCH-ON

INHIBITED

(SW Bit6=1)

(CW Bit0=0)


A B C D

(CW Bit3=0)

OPERATION


(SW Bit2=0) from any state

NOT READY TO

SWITCH ON

(CW=xxxx x

(SW Bit0=0)

1xx xxxx x110)

CW = Control word

SW = Status word n = Speed f

I = Input current

RFG = Ramp function generator

= Frequency

READY TO

SWITCH ON

(SW Bit0=1)

(CW=xxxx x

1xx xxxx x111) from any state

Fault

READY TO

OPERATE

(SW Bit1=1)

FAULT

(SW Bit3=1)

OFF1

ACTIVE

OFF1

(CW Bit0=0)

(SW Bit1=0) n(f)=0 / I=0

B C D

(CW Bit3=1 and

SW Bit12=1)

(CW=xxxx x 1xx xxxx 1111 and SW Bit12=1)


Emergency stop

OFF3

(CW Bit2=0)

Emergency OFF

OFF2

(CW Bit1=0)

OFF3

ACTIVE (SW Bit5=0)

OFF2

ACTIVE (SW Bit4=0)

(CW Bit4=0) n(f)=0 / I=0

(CW Bit5=0)

(CW Bit6=0)

C D

D

A

OPERATION

ENABLED

(SW Bit2=1)

(CW=xxxx x 1xx xxx1 1111)

RFG: OUTPUT

ENABLED

B

(CW=xxxx x 1xx xx11 1111)

C

RFG: ACCELERATOR

ENABLED

(CW=xxxx x 1xx x111 1111)

OPERATION

(SW Bit8=1)





References



Scaling





Fieldbus Drive

REF2: 10000

REF1: 20000


0

REFx MIN

-(REFx MIN)

REF2: -10000

REF1: -20000





Actual values


Scaling



Fieldbus Drive

ACT2: 10000

ACT1: 20000

REFx MAX

0 0

ACT2: -10000

ACT1: -20000

-(REFx MAX)


EtherNet/IP – Communication protocol 181

12

EtherNet/IP – Communication protocol


This chapter describes the EtherNet/IP communication protocol for the adapter module.

EtherNet/IP

EtherNet/IP is a variant of the Common Industrial Protocol (CIP) family of communication protocols intended for supervision and control of automation equipment. Specifically, it covers the use of

CIP messaging over an IP network, typically using Ethernet as the media.

The FENA adapter module acts as a server on an EtherNet/IP network with support for the ODVA AC/DC drive, ABB Drives and

Transparent profiles.

Two simultaneous EtherNet/IP connections are supported, that is, two clients can be connected to the adapter module at a time.

Further information on the EtherNet/IP protocol is available at www.odva.org

.

182 EtherNet/IP – Communication protocol

Object modeling and functional profiles

One of the main features of EtherNet/IP is object modeling. A group of objects can be described with a Functional Profile. The

FENA adapter module realizes the ODVA AC/DC drive Functional

Profile with additional features.

Assembly objects

I/O assembly instances may also be referred to as Block Transfer of data. Intelligent devices realizing a Functional Profile, such as

FENA, have several objects. Since it is not possible to transmit more than one object data through a single connection, it is practical and more efficient to group attributes from different objects into a single I/O connection using the assembly object. The assembly object acts as a tool for grouping these attributes.

The assembly selections described above are, in fact, instances of the assembly object class. The adapter module uses static assemblies (in other words, fixed groupings of different object data only). The following tables describe the assembly instances supported by the adapter module.



Basic speed control assembly

The Basic speed control assembly is defined by the ODVA AC/DC drive profile. The format of the output assembly is:

Instance 20 (ODVA AC/DC profile)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2

0

Fault

Reset

1

2

3

Speed Reference (Low Byte)

Speed Reference (High Byte)

Bit 1 Bit 0

Run Fwd


The format of the input assembly is:



0

Running1

(Fwd)

1

2

3

Speed Actual (Low Byte)

Speed Actual (High Byte)

Bit 1 Bit 0

Faulted



Basic speed control plus drive parameters assembly

The Basic speed control plus drive parameters assembly, defined by ABB, adds configurable drive parameters to the Basic speed control assembly of the ODVA AC/DC drive profile.

The format of the output assembly is:

5

6

7

8

9

2

3

4



0

Fault

Reset

1



DATA OUT 1 Value (Low Byte)

DATA OUT 1 Value (High Byte)





10


11


12


Bit 1 Bit 0

Run

Fwd




13


14


15


16


17


18


19


20


21


22


23


Bit 1 Bit 0


5

6

7

2

3

4



0

Running1

(Fwd)

1



DATA IN 1 Value (Low Byte)

DATA IN 1 Value (High Byte)



8

9



10


11


Bit 1 Bit 0

Faulted




12


13


14


15


16


17


18


19


20


21


22


23


Bit 1 Bit 0




The Extended speed control assembly is defined by the ODVA

AC/DC drive profile. The format of the output assembly is:


Byte Bit 7 Bit 6

0

Bit 5

NetRef NetCtrl

Bit 4 Bit 3 Bit 2

Fault

Reset

1

2


3


Bit 1

Run

Rev

Bit 0

Run

Fwd




Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0

At

Reference

Ref

From

Net

Ctrl

From

Net

Ready Running2

(Rev)

Warning

1

Drive State.

See section


on page

167.

2


Running1

(Fwd)

Faulted

3




Extended speed control plus drive parameters assembly

The Extended speed control plus drive parameters assembly, defined by ABB, adds configurable drive parameters to the

Extended speed control assembly of the ODVA AC/DC drive profile.


4

5

2

3



0

Net

Ref

Net

Ctrl

Fault

Reset

1





8

9

6

7





10


Bit 1

Run

Rev

Bit 0

Run

Fwd




11


12


13


14


15


16


17


18


19


20


21


22


23


Bit 1 Bit 0




0

At

Reference

Ref

From

Net

Ctrl

From

Net

Ready Running2

(Rev)

Warning

1

Drive State

See section


on page

167.

2


Running1

(Fwd)

Faulted

3


4


5


6


7


8




Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3

9


10


11


12


13


14


15


16


17


18


19


20


21


22


23






Basic speed and torque control assembly

The Basic speed and torque control assembly is defined by the

ODVA AC/DC drive profile. The format of the output assembly is:



0

Fault

Reset

1

2


3


4

Torque Reference (Low Byte)

5

Torque Reference (High Byte)

Bit 1 Bit 0

Run

Fwd




0

Running1

(Fwd)

1

Bit 1 Bit 0

Faulted

2


3


4

Torque Actual (Low Byte)

5

Torque Actual (High Byte)




Basic speed and torque control plus drive parameters assembly

The Basic speed and torque control plus drive parameters assembly, defined by ABB, adds configurable drive parameters to the Basic speed and torque control assembly of the ODVA AC/DC drive profile.


5

6

7

2

3

4



0

Fault

Reset

Run

Fwd

1







8

9



10


11


12


13


14


15


16


17


18


19


20





21


22


23


24


25





0

Running1

(Fwd)

1

2


3


4


5


6


7


8


9


10


11


12


13


14


15


16


17


Bit 1 Bit 0

Faulted




18


19


20


21


22


23


24


25


Bit 1 Bit 0



Extended speed and torque control assembly

The Extended speed and torque control assembly is defined by the

ODVA AC/DC drive profile. The format of the output assembly is:



0

Net

Ref

Net

Ctrl

Fault

Reset

1

2


3

4

5




Bit 1

Run

Rev

Bit 0

Run

Fwd





0

At

Reference

Ref

From

Net

Ctrl

From

Net

Ready Running2

(Rev)

Warning

1

Drive State

See section


on page

167.

2


Running1

(Fwd)

Faulted

3


4


5




Extended speed and torque control plus drive parameters assembly

The Extended speed and torque control plus drive parameters assembly, defined by ABB, adds configurable drive parameters to the Extended speed and torque control assembly of the ODVA

AC/DC drive profile.




0

NetRef NetCtl Fault

Reset

1

2


3


4


5


6


7


8


Bit 1

Run

Rev

Bit 0

Run

Fwd




9


10


11


12


13


14


15


16


17


18


19


20


21


22


23


24


25


Bit 1 Bit 0



Byte Bit 7

0

At

Reference

Bit 6

Ref

From

Net

Bit 5 Bit 4

Ctrl

From

Net


Ready Running2

(Rev)

Running1

(Fwd)

Warning

1

Drive State

See section


on page

167.

Bit 0

Faulted

2


3


4




Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1

5


6


7


8


9


10


11


12


13


14


15


16


17


18


19


20


21


22


23


24


25


Bit 0




ABB Drives profile with set speed assembly

The ABB Drives profile with set speed assembly is defined by

ABB. The format of the output assembly is:

Instance 1 (ABB Drives profile)


0

1

Reset Ramp in

Zero

Ramp

Hold

Ramp

Out

Zero

Inhibit

Operation

Ext

Ctrl

Loc

Off 3

Control

Remote

Cmd

2

Set Speed (Low Byte)

3

Set Speed (High Byte)

Bit 1

Off 2

Control

Bit 0

Off 1

Control



Byte Bit 7 Bit 6 Bit 5 Bit 4

0

Alarm Swc

On

Inhib

1

Fieldbus

Error

Off 3

Sta

2

Actual Speed (Low Byte)

Off 2

Sta

Ext

Run

Enable

3

Actual Speed (High Byte)

Bit 3 Bit 2

Tripped Rdy

Ref

Ext Ctrl

Loc

Above

Limit

Bit 1 Bit 0

Rdy

Run

Rdy

On

Remote

At Setpoint




ABB Drives profile with set speed plus drive parameters assembly

The ABB Drives profile with set speed plus drive parameters assembly, defined by ABB, adds configurable drive parameters to the ABB Drives profile with set speed of the ABB Drives profile.




0

Reset Ramp in

Zero

Ramp

Hold

Ramp

Out

Zero

Inhibit

Operation

Off 3

Control

1

Ext

Ctrl

Loc

Remote

Cmd

Bit 1

Off 2

Control

5

6

7

8

9

2

3

4









10


11


12


13


14


15


16


17


18


Bit 0

Off 1

Control




19


20


21


22


23


Bit 1 Bit 0


6

7

8

4

5



0

1

2

3

Alarm Swc

On

Inhib

Fieldbus

Error

Off 3

Sta

Off 2

Sta



Ext

Run

Enable






9


10


11


12


13


14


15



Tripped Rdy

Ref

Rdy

Run

Ext Ctrl

Loc

Bit 0

Rdy

On

Above

Limit

Remote At

Setpoint




16


17


18


19


20


21


22


23


Bit 3 Bit 2 Bit 1 Bit 0



ABB Drives profile with set speed and set torque assembly

The ABB Drives profile with set speed and set torque assembly is defined by ABB. The format of the output assembly is:



0

1

Reset Ramp in

Zero

Ramp

Hold

Ramp

Out

Zero

Inhibit

Operation

Ext

Ctrl

Loc

Off 3

Control

Remote

Cmd

2


3


4

Set Torque (Low Byte)

5

Set Torque (High Byte)

Bit 1

Off 2

Control

Bit 0

Off 1

Control





0

Alarm Swc

On

Inhib

1

Fieldbus

Error

Off 3

Sta

Off 2

Sta

2


3


Ext

Run

Enable

4

Actual Torque (Low Byte)

5

Actual Torque (High Byte)


Tripped Rdy

Ref

Rdy

Run

Ext Ctrl

Loc

Bit 0

Rdy

On

Above

Limit

Remote At

Setpoint



ABB Drives profile with set speed and set torque plus drive parameters assembly

The ABB Drives profile with set speed and set torque plus drive parameters assembly, defined by ABB, adds configurable drive parameters to the ABB Drives profile with set speed and set torque of the ABB Drives profile.




0

1

Reset Ramp in

Zero

Ramp

Hold

Ramp

Out

Zero


Inhibit

Operation

Off 3

Control

Off 2

Control

Off 1

Control

Ext

Ctrl

Loc

Remote

Cmd

2


3


4

Set Torque (Low Byte)

5

Set Torque (High Byte)




6


7


8


9


10


11


12


13


14


15


16


17


18


19


20


21


22


23


24


25







0

Alarm Swc

On

Inhib

1

Fieldbus

Error

Off 3

Sta

Off 2

Sta

2


3


Ext

Run

Enable

4

Actual Torque (Low Byte)

5

Actual Torque (High Byte)

6


7


8


9


10


11


12


13


14


15


16


17


18


19


20


21


22


23



Tripped Rdy

Ref

Rdy

Run

Ext Ctrl

Loc

Bit 0

Rdy

On

Above

Limit

Remote At

Setpoint




24


25





Transparent 16 with one assembly

The Transparent 16 with one assembly, defined by ABB, provides unaltered 16-bit access to the configured drive profile.


Instance 11 (Transparent 16 profile)


0

Drive Profile 16-bit Control Word (Low Byte)

1

Drive Profile 16-bit Control Word (High Byte)

2

Drive Profile 16-bit Reference 1 Word (Low Byte)

3

Drive Profile 16-bit Reference 1 Word (High Byte)

Bit 1 Bit 0




0

Drive Profile 16-bit Status Word (Low Byte)

1

Drive Profile 16-bit Status Word (High Byte)

2

Drive Profile 16-bit Actual 1 Word (Low Byte)

3

Drive Profile 16-bit Actual 1 Word (High Byte)

Bit 1 Bit 0




Transparent 16 with one assembly plus drive parameters

The Transparent 16 with one assembly plus drive parameters, defined by ABB, adds configurable drive parameters to the

Transparent 16 with one assembly.




0


1


2

3



Bit 1 Bit 0

7

8

9

4

5

6







10


11


12


13


14


15


16


17


18


19


20


21





22


23


Bit 1 Bit 0


6

7

8

3

4

5



0


1

2









9


10


11


12


13


14


15


16


17


18


19


20


21


Bit 1 Bit 0




22


23


Bit 1 Bit 0



Transparent 16 with two assembly

The Transparent 16 with two assembly, defined by ABB, provides unaltered 16-bit access to the configured drive profile.




0


1


2


3


4

Drive Profile16-bit Reference 2 Word (Low Byte)

5


Bit 1 Bit 0




0


1


2


3


4

Drive Profile16-bit Actual 2 Word (Low Byte)

5


Bit 1 Bit 0




Transparent 16 with two assembly plus drive parameters

The Transparent 16 with two assembly plus drive parameters, defined by ABB, adds configurable drive parameters to the

Transparent 16 with two assembly.




0


1


2


3


4


5


6


7


8


9


10


11


12


13


14


15


16


17


18


19


20


21





22


23


24


25






0


1


2


3


4


5


6


7


8


9


10


11


12


13


14


15


16


17


18


19





20


21


22


23


24


25





Transparent 32 with one assembly

The Transparent 32 with one assembly, defined by ABB, provides unaltered 32-bit access to the configured drive profile.




0


1

Drive Profile 32-bit Control Word

2


3


4


5

Drive Profile 32-bit Reference 1 Word

6


7


Bit 1 Bit 0





0


1

Drive Profile 32-bit Status Word

2


3


4


5

Drive Profile 32-bit Actual 1 Word

6


7


Bit 1 Bit 0



Transparent 32 with one assembly plus drive parameters

The Transparent 32 with one assembly plus drive parameters, defined by ABB, adds configurable drive parameters to the

Transparent 32 with one assembly.




0


1


2


3


4


5


6


7


8


9





10


11


12


13


14


15


16


17


18


19


20


21


22


23


24


25


26


27






0


1


2


3


4


5





6



7


8


9


10


11


12


13


14


15


16


17


18


19


20


21


22


23


24


25


26


27





Transparent 32 with two assembly

The Transparent 32 with two assembly, defined by ABB, provides unaltered 32-bit access to the configured drive profile.




0


1


2


3


4


5


6


7


8


9


10


11


Bit 1 Bit 0




0


1


2


3


4


5


6


7


Bit 1 Bit 0



8


9


10


11




Transparent 32 with two assembly plus drive parameters

The Transparent 32 with two assembly plus drive parameters, defined by ABB, adds configurable drive parameters to the

Transparent 32 with two assembly.




0


1


2


3


4


5


6


7


8


9


10


11


12


13


14


15





16


17


18


19


20


21


22


23


24


25


26


27


28


29


30


31






0


1


2


3


4


5


6


7





8


Bit 1 Bit 0

9


10


11


12


13


14


15


16


17


18


19


20


21


22


23


24


25


26


27


28


29


30


31



Class objects

The following table lists the data types used in the class object descriptions of this manual.

Legend

UINT8

UINT16

SINT16

UINT32

BOOL

Data type

Unsigned Integer 8 bit


Signed Integer 16 bit


Boolean value

Note: The adapter module is designed to provide EtherNet/IP communications for a variety of drives with different capabilities.

Default, minimum and maximum values for attributes necessarily vary based upon the capabilities of the drive to which the module is attached and are not documented herein. Default, minimum and maximum values for attributes may be found in the:

• drive manuals

•

Electronic Data Sheet Files (EDS) for the drive.

Note that the units of the attributes may differ from those of the parameters documented elsewhere, and those differences must be considered when interfacing to the drive via the module.

The table below shows the service names of the class objects.

Service

GET

SET

SET ALL

GET ALL

Name

0x0E Get_Attribute_Single

0x10 Set_Attribute_Single

0x02 Set_Attribute_All

0x01 Get_Attribute_All




Identity object, class 01h

This object provides identification of and general information about the device.

Class attributes (Instance

#0)

# Attribute name

Services

1 Revision Get

Description Data type

Revision of the identity object Array of

UINT8

Instance attributes (Instance

#1)


Services

1 Vendor ID Get

Description

2

3

Device

Type

Product

Code

Get

Get

Identification of the device vendor

Identification of the general product type

Assigned vendor code to describe the device

4 Revision Get

5

6

Status

ODVA

Serial

Number

7 Product

Name

Get

Get

Get

Revision of the item the identity object represents

Summary status of the device

Serial number of the

EtherNet/IP module

Product identification. Max 32 characters.

Data type

UINT16

UINT16

UINT16

Array[UINT8

UINT8]

UINT16

UINT32

Short String

Attribute explanations

Vendor ID

Vendor IDs are managed by the Open DeviceNet Vendor

Association, Inc. (ODVA). The ABB Vendor ID is 46.


Device Type

The list of device types is managed by ODVA. It is used to identify the device profile that a particular product is using.

Drive Type

AC

DC

Profile

ODVA AC/DC Drive

ABB Drives Profile

Transparent 16

Transparent 32

ODVA AC/DC Drive

ABB Drives Profile

Transparent 16

Transparent 32

Device Type

ODVA AC Drive

ABB AC Drive

ABB AC Drive

ABB AC Drive

ODVA DC Drive

ABB DC Drive

ABB DC Drive

ABB DC Drive

Value

02h

64h

64h

64h

13h

65h

65h

65h

Product Code

Every ABB drive type or application of the drive has a dedicated product code. The product code is 100 + the value of parameter

29

DRIVE TYPE CODE

.

Revision

Revision attribute, which consists of Major and Minor Revisions, identifies the revision of the item the identity object represents.

Status

This attribute represents the current status of the entire device. Its value changes as the state of the device changes. The Status attribute is a WORD, with the following bit definitions:

Bit(s)

0

Type/Name

Owned

1

Definition

TRUE indicates the device (or an object within the device) has an owner. Within the

Master/Slave paradigm the setting of this bit means that the Predefined Master/Slave

Connection Set has been allocated to a master. Outside the Master/Slave paradigm the meaning of this bit is to be defined.

Reserved, set to 0


Bit(s)

2

Type/Name

Configured

Definition

TRUE indicates that the application of the device has been configured to do something that differs from the “out–of–box” default. This does not include configuration of the communications.

4, 5, 6, 7

8

9

10

Minor

Recoverable

Fault

Minor

Unrecoverable

Fault

Major

Recoverable

Fault

11 Major

Unrecoverable

Fault

12, 13,

14, 15

Vendor-specific

TRUE indicates the device detected a recoverable problem. The problem does not cause the device fault state.

TRUE indicates the device detected a unrecoverable problem. The problem does not cause the device fault state.

TRUE indicates the device detected a problem which caused the device to transfer into the “Major Recoverable Fault” state.

TRUE indicates the device detected a problem which caused the device to transfer into the “Major Unrecoverable Fault” state.

Reserved, set to 0

ODVA Serial Number

This attribute is a number used in conjunction with the Vendor ID to form a unique identifier for each device on EtherNet/IP. The value of this attribute is 02000000h plus the SERNO value from the device label.

Product Name

This text string should represent a short description of the product/product family represented by the product code in attribute

3.




Motor data object, class 28h

The Motor data object can only be used if the ODVA AC/DC drive profile is in use.

The object serves as a database for motor parameters. Different motor types require different data to describe the motor. For example, AC induction motors do not need field current data like a

DC motor to describe the motor.

Motor class

AC motors

DC motors

Motor types in class

3 - PM synchronous

6 - Wound rotor induction

7 - Squirrel cage induction motor

1 - PM DC motor

2 - FC DC motor


#0)


Services

1 Revision Get

Description

Revision of the CIP Object

Class Definition upon which the implementation is based

Data type

Array of

UINT8


#1)


3 Motor

Type

6 Rated

Current

Services Description

Get

Get, Set

See the table above.

7 Rated

Voltage

8 Rated

Power

Get, Set

Get, Set

Motor type

AC

Data type

UINT16

Rated Stator Current from motor name plate

Units: [100mA]

Rated Base Voltage from motor name plate

Units: [V]

Rated Power at Rated

Frequency

Units: [W]

AC/DC UINT16

AC/DC UINT16

AC/DC UINT32



9 Rated

Frequency

12 Pole

15

Count

Base

Speed


Get, Set

Get

Get, Set

Rated Electrical

Frequency

Units: [Hz]

Number of poles in the motor

Nominal speed at rated frequency from nameplate

Units [RPM]

Motor type

AC

AC

Data type

UINT16

UINT16

AC/DC UINT16



Control supervisor object, class 29h

The Control supervisor object can only be used if the ODVA

AC/DC drive profile is in use.

The object models all the management functions for devices within the ‘Hierarchy of Motor Control Devices’. The behavior of motor control devices is described by:

•


(page

224

) and

•

Run/Stop event matrix under

Run Forward & Run Reverse

(Control supervisor object)

(page

162

).

See also section


on page

167.

Note: If assembly instances are used, they override this object, for example, upon drive power-up.


#0)


Services

1 Revision Get

Description



Data type

Array of

UINT8



#1)


3 Run 1

4 Run 2

5 Net Control

6 State

7 Running 1

8 Running 2

9 Ready

10 Faulted

11 Warning

12 FaultRst

13 Fault Code


Get, Set 0 = Stop, 1 = Run.

See the Run/Stop event matrix

on page

162

.

Get, Set 0 = Stop, 1 = Run.

See the Run/Stop event matrix on page

162

.

Get, Set 0 = Local Control, 1 = Network

Control

Get

Get

State of Object.

See section


on page

167

.

0 = Stopped, 1 = Running

Get

Get

Get

0 = Stopped, 1 = Running

1 = Ready, Enabled or

Stopping; 0 = Other state

0 = Not faulted, 1 = Fault occurred

Get 0 = No Warnings present, 1 =

Warning

Get, Set 0

→ 1 Fault Reset

Get The fault that caused the last transition to the Faulted state.

DRIVECOMM codes are reported. See the drive manual for further information on DRIVECOMM codes.

Data type

BOOL

BOOL

BOOL

UINT8

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

UINT16


#

14

15

16

Attribute name

Warning

Code

CtlFromNet

Services

Get

Get

DNFaultMode Get, Set

17 ForceFault Get, Set


UINT16 Code word indicating the warning present. If multiple warnings are present, the lowest code value is displayed. DRIVECOMM codes are reported. See the drive manual for further information on DRIVECOMM codes.

0 = NetControl disabled

1 = NetControl enabled

BOOL

2 = Vendor specified UINT8

0 → 1 forces the drive to fault BOOL



AC/DC-drive object, class 2Ah

The AC/DC-drive object can only be used if the ODVA AC/DC drive profile is in use.

The object models the functions specific to an AC or DC Drive.


#0)


1 Revision


Get Revision of the CIP Object


Data type

Array of

UINT8



#1)


Services

3 At Reference Get

Description

Frequency arrival

4 NetRef

6 Drive mode

Get, Set Requests torque or speed reference to be local or from the network.

0 = Set Reference not DN

Control

1 = Set Reference at DN

Control

Note that the actual status of torque or speed reference is reflected in attribute 29,

RefFromNet.

Get, Set 0 = Vendor specific

7

8

Speed Actual

SpeedRef

Get Units = See parameter

23

ODVA SPEED SCALE.

Get, Set Units = See parameter

23

ODVA SPEED SCALE.

11 Torque Actual Get Units = See parameter

24

ODVA TORQUE SCALE.

12 TorqueRef

18 AccelTime

19 DecelTime

Get, Set Units = See parameter

24

ODVA TORQUE SCALE.

Get, Set Units = milliseconds

Get, Set Units = milliseconds

22 Speed Scale Get, Set Speed scaling factor. See parameter

23 ODVA SPEED

SCALE.

24 Torque Scale Get, Set Torque scaling factor. See

parameter 24 ODVA TORQUE

SCALE.

29 Ref From Net Get Reflecting attribute 4

Data type

BOOL

BOOL

UINT8

SINT16

SINT16

SINT16

SINT16

UINT16

UINT16

UINT8

UINT8

BOOL




Drive parameter object, class 90h

With the FENA adapter module, drive parameters can also be accessed via Explicit Messaging. Explicit Messaging makes use of objects consisting of three parts: class, instance and attribute.

Note: When you use the drive parameter object to update the fieldbus configuration groups, changes to the fieldbus configuration will only take effect when the module is powered up the next time or when a ‘Fieldbus Adapter parameter refresh’ is given.

Class is always 144 (90h). Instance and attribute correspond to the drive parameter group and index in the following way:

•

Instance

= Parameter group (0…99)

•

Attribute

= Parameter index (01…99)

For example, Parameter 99.01 is accessed as follows:

•

Class

= 144 = 90h

•

Instance

= 99 = 63h

•

Attribute

= 1 = 01h




Fieldbus configuration object, class 91h

The fieldbus configuration object allows you to configure the fieldbus configuration groups without the need to know the drivespecific groups associated with the configuration groups.

Note: When you use the fieldbus configuration object to update the fieldbus configuration groups, changes to the fieldbus configuration will only take effect when a reset service is requested of the

Identity Object, the module is powered up the next time or when a

‘Fieldbus Adapter parameter refresh’ is given.

Class attributes


Services

1 Revision Get

Description

Revision of the Configuration

Object

Data type

Array of

UINT8

Instance #1: FENA-01/-11/-21 configuration parameters group A (group 1)

The actual parameter group number depends on the drive type.

Group A (group 1) corresponds to:


ACQ810


# Attribute name Services Description

Get, Set

See

01 FBA TYPE

on page

117

.

Data type

UINT16 1 Configuration Group

A (Group 1) -

Parameter 1

2 Configuration Group

A (Group 1) -

Parameter 2


A (Group 1) -

Parameter 3

Get, Set

See

02 PROTOCOL/

PROFILE

on page

117

.

Get, Set

See

03 COMM RATE

on page

118

.

UINT16

UINT16




A (Group 1) -

Parameter 4


A (Group 1) -

Parameter 5


A (Group 1) -

Parameter 6


A (Group 1) -

Parameter 7


A (Group 1) -

Parameter 8


A (Group 1) -

Parameter 9


A (Group 1) -

Parameter 10


A (Group 1) -

Parameter 11


A (Group 1) -

Parameter 12


A (Group 1) -

Parameter 13


A (Group 1) -

Parameter 14


A (Group 1) -

Parameter 15


Get, Set See

04 IP

CONFIGURATION

on page

118

.

Get, Set See

05 IP ADDRESS 1

…

08 IP ADDRESS 4

.

Get, Set See

05 IP ADDRESS 1

…

08 IP ADDRESS 4

.

UINT16

Get, Set

Get, Set

Get, Set

Get, Set See

10 GW ADDRESS

1

…

13 GW ADDRESS

4

.

Get, Set See

10 GW ADDRESS

1

…

13 GW ADDRESS

4

.

Get, Set See

10 GW ADDRESS

1

…

13 GW ADDRESS

4

.

Get, Set See

10 GW ADDRESS

1

…

13 GW ADDRESS

4

.

Get, Set See

14… 18 Reserved

on page

120

.

Get, Set

See

…

08

See

…

08

See

on page

See

05 IP ADDRESS 1

IP ADDRESS 4

05

09

119

.

.

IP ADDRESS 1

IP ADDRESS 4

SUBNET CIDR

14… 18

on page

120

.

.

Reserved

Data type

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16



Get, Set

See

14… 18 Reserved

on page

120

.

Data type

UINT16 16 Configuration Group

A (Group 1) -

Parameter 16


A (Group 1) -

Parameter 17


A (Group 1) -

Parameter 18


A (Group 1) -

Parameter 19


A (Group 1) -

Parameter 20


A (Group 1) -

Parameter 21


A (Group 1) -

Parameter 22


A (Group 1) -

Parameter 23


A (Group 1) -

Parameter 24


A (Group 1) -

Parameter 25


A (Group 1) -

Parameter 26


A (Group 1) -

Parameter 27

Get, Set

Get, Set

Get, Set

Get, Set

Get, Set

See

21 IDLE ACTION

on page

123

.

Get, Set

See

22 ODVA STOP

FUNCTION

on page

124

.

Get, Set

See

23 ODVA SPEED

SCALE

on page

125

.

Get, Set

See

24 ODVA

TORQUE SCALE

on

Get, Set

See

14… 18

on page

See

on page

See

See

TIMEOUT

page

126

.

on page

126

.

See

14… 18

19

page

20

25 … 26

on page

120

120

.

.

Reserved

Reserved

T16 SCALE

121

.

CONTROL

on page

126

.

Get, Set

See

27 FBA PAR

REFRESH

on page

127

.

on

122

.

Get, Set

See

25 … 26 Reserved

Reserved

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16




A (Group 1) -

Parameter 28


A (Group 1) -

Parameter 29


A (Group 1) -

Parameter 30


A (Group 1) -

Parameter 31


A (Group 1) -

Parameter 32


A (Group 1) -

Parameter 33


Get

Get

Get

Get

Get

Get

See

28 PAR TABLE

VER

on page

127

.

See

CODE

See

VER

See

STA

See

VER

See

VER

29

30

on page

31

32

33

on page

DRIVE TYPE

on page

127

129

.

.

MAPPING FILE

128

.

D2FBA COMM

on page

FBA COMM SW

on page

128

129

.

.

FBA APPL SW

Data type

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16


Instance #2: FENA-01/-11/-21 configuration parameters group B (group 2)


Group B (group 2) corresponds to:




# Attribute name Services Description Data type

UINT16 1 Configuration Group B

(Group 2) - Parameter 1

2 Configuration Group B

















(Group 2) - Parameter

10

Get, Set

See

01 DATA OUT 1

on page

130

.

Get, Set

See

01 DATA OUT 1

on page

130

.

Get, Set

See

01 DATA OUT 1

on page

130

.

Get, Set

See

01 DATA OUT 1

on page

130

.

Get, Set

See

01 DATA OUT 1

on page

130

.

Get, Set

See

01 DATA OUT 1

on page

130

.

Get, Set

See

01 DATA OUT 1

on page

130

.

Get, Set

See

01 DATA OUT 1

on page

130

.

Get, Set

See

01 DATA OUT 1

on page

130

.

Get, Set

See

01 DATA OUT 1

on page

130

.

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16


Instance #3: FENA-01/-11/-21 configuration parameters group C (group 3)


Group C (group 3) corresponds to:





Get, Set

Data type

UINT16 1 Configuration Group C


2 Configuration Group C

















(Group 3) - Parameter

10

Get, Set

Get, Set

Get, Set

Get, Set

Get, Set

Get, Set

Get, Set

Get, Set

Get, Set

See

01 DATA IN 1

on page

131

.

See

01 DATA IN 1

on page

131

.

See

01 DATA IN 1

on page

131

.

See

01 DATA IN 1

on page

131

.

See

01 DATA IN 1

on page

131

.

See

01 DATA IN 1

on page

131

.

See

01 DATA IN 1

on page

131

.

See

01 DATA IN 1

on page

131

.

See

01 DATA IN 1

on page

131

.

See

01 DATA IN 1

on page

131

.

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16



TCP/IP interface object, class F5h

This object provides the mechanism to configure the TCP/IP network interface of the device.


#0)


1 Revision Get


Revision of the TCP/IP

Interface Object Class

Definition upon which the implementation is based

Data type

Array of

UINT8


#1)

#

1

2

3

4

Attribute name Services

Interface Status

Configuration

Capability

Configuration

Control

Physical Link

Object

Path Size

Path

Get

Get

Get

Get


DWORD See

Interface Status attribute (#1) bits

on page

234

.

See

Configuration

Capability attribute (#2) bits

on page

235

.

DWORD

See

Configuration Control attribute (#3) bits

on page

236

.

DWORD

Path to physical link object STRUCT of:

Path size UINT

Logical segments identifying the physical link object

Padded

EPATH



5 Interface

Configuration

IP Address

Network Mask

Gateway

Address

Unused

Unused

Default Domain

Name

6 Host Name

Get

Get

IP Address

Network Mask

Gateway Address

Data type

STRUCT of:

UDINT

UDINT

UDINT

UDINT

UDINT

STRING Default Domain Name for unqualified host names.

Host name STRING

Attribute explanations

Interface Status attribute (#1) bits

Bit Name

0…3 Interface configuration status

Description

Indicates the status of the Interface Configuration attribute.

Value Description

0 The Interface Configuration attribute has not been configured.

1

2

The Interface Configuration attribute contains valid configuration obtained from BOOTP, DHCP or non-volatile storage.

The IP address member of the Interface

Configuration attribute contains valid configuration obtained from hardware settings (eg, pushwheel, thumbwheel).

3…15 Reserved


Bit

4

5…31


Mcast pending Indicates a pending configuration change in the

TTL Value and/or Mcast Config attributes.

This bit is set when either the TTL Value or Mcast

Config attribute is set, and cleared the next time the device starts.

Reserved, set to 0

Configuration Capability attribute (#2) bits

Bit

0

1

2

3

4

5

6…31


BOOTP client 1 (True) = The device is capable of obtaining its network configuration via BOOTP.

DNS client

DHCP client

1 (True) = The device is capable of resolving host names by querying a DNS server.

1 (True) = The device is capable of obtaining its network configuration via DHCP.

DCHP-DNS update

Configuration settable

Hardware configurable

1 (True) = The device is capable of sending its host name in the DHCP request as documented in Internet draft <draft-ietf-dhc-dhcp-dnc-12.txt>

1 (True) = The Interface Configuration attribute is settable. Some devices, eg, a PC or workstation, may not allow interface configuration to be set via the TCP/IP interface object.

1 (True) = The IP address member of the

Interface Configuration attribute can be obtained from hardware settings (eg, pushwheel, thumbwheel).

0 (False) = The Status instance attribute (1)

Interface configuration status field value shall never be 2. (The Interface configuration attribute contains valid configuration obtained from hardware settings.)

Reserved, set to 0


Configuration Control attribute (#3) bits

Bit

4

5…31

Name

0…3 Start-up configuration

Description

Determines how the device obtains its initial configuration and start-up.


0 The device uses the interface configuration values previously stored (eg, in non-volatile memory or via hardware switches).

1

2

The device obtains its interface configuration values via BOOTP.

The device obtains its interface configuration values via DHCP upon startup.

3…15 Reserved

DNS enable 1 (True) = The device resolves host names by querying a DNS server.

Reserved, set to 0.



Ethernet link object, class F6h

This object maintains link-specific counters and status information for the Ethernet communication interface.


#0)


Services

1 Revision Get

Description

Revision of the Ethernet Link

Object Class Definition upon which the implementation is based

Data type

Array of

UINT8



#1)


1 Interface

Speed

2 Interface

Flags


Get, Set

Get, Set

10 or 100 Mbps

3 Physical

Address

Get

Interface status flags:

Bit Description

0

1

2…4

Link status

Half/Full duplex

Negotiation status

5 Manual setting requires reset

6 Local hardware fault

7…31 Reserved

Ethernet MAC address of the module

Data type

UDINT

DWORD

ARRAY

6XUSINT



Connection object, class 05h

Do not modify this object. This object is only used while establishing the connection between the adapter module and the

PLC.

The connection class allocates and manages the internal resources associated with both I/O and explicit messaging connections. The specific instance generated by the connection class is referred to as connection instance or connection object.

The table below shows the connection object states.

State Description

00 Non-Existent

01 Configuring

02 Waiting for Connection

ID

State Description

03 Established

04 Timed Out

05 Deferred Delete


Class attributes


Services

1 Revision Get

Description

Revision of the connection object

Instance attributes

Instance number

1

2

4

Description

Explicit messaging connection

Polled I/O connection

Change-of-State/Cyclic I/O connection

Data type

Array of

UINT8

#

1

2 Instance

Type

3 Transport

Class

Trigger

4 Produced

Cnxn Id

5 Consumed

Cnxn Id

6 Comm

Characteristics

Get

Get

Get

7

Attribute name

State

Produced

Connection Size

Services

Get

Get

Get

Description

State of the object.

See the state table on page

237

.

Indicates either I/O (1) or messaging connection (0).

Defines the behavior of the connection.

Data type

UINT8

UINT8

UINT8

Get

Placed in CAN Identifier Field when the connection transmits.

CAN Identifier Field value that denotes the message to be received

Defines the Message Group(s) across which productions and consumptions are associated in this connection.

Maximum number of bytes transmitted across this connection

UINT16

UINT16

UINT8

UINT16



8 Consumed

Connection size

9 Expected

Packet

Rate

Services

Get

Get, Set

Description

Maximum number of bytes received across this connection

Defines the timing associated with this connection in milliseconds. A value of 0 deactivates the associated timers.

Defines how to handle

Inactivity/Watchdog timeouts.

Data type

UINT16

UINT16

UINT8 12 Watchdog

Timeout

Action

13 Produced

Connection Path

Length

14 Produced

Connection Path

15 Consumed

Connection Path

Length

16 Consumed

Connection Path

17 Production Inhibit

Time

Get, Set

Get

Get

Get

Get

Get

Number of bytes in the produced_connection_path length attribute

Application object producing data on this connection

Number of bytes in the consumed_connection_path length attribute

Specifies the application object(s) that are to receive the data consumed by this connection object.

Defines the minimum time between new data production in milliseconds.

UINT16

Array of

UINT8

UINT16

Array of

UINT8

UINT16




Acknowledge handler object, class 2Bh

The acknowledge handler object is used to manage the reception of message acknowledgements. This object communicates with a message producing application object within the device. The acknowledge handler object notifies the producing application of acknowledge reception, acknowledge timeouts and production retry limit.


#0)


Services

1 Revision Get

Description



Data type

Array of

UINT8


#1)


1 Acknowledge

Timer

2 Retry

Limit


Get, Set

Get, Set

Time in milliseconds to wait for acknowledge before resending

3 COS Producing

Connection

Instance

Get

Data type

UINT16

Number of Acknowledge

Timeouts to wait before informing the producing application of a Retry-

Limit_Reached event

Connection Instance Id which contains the path of the producing I/O application object which will be notified of

Acknowledge Handler events

UINT8

UINT16

EtherNet/IP – Diagnostics 241

13

EtherNet/IP – Diagnostics


This chapter explains how to trace faults with the status LEDs on the adapter module when the module is used for EtherNet/IP communication.



242 EtherNet/IP – Diagnostics

LEDs



Name

HOST

Color

Blinking green

Green

Blinking red

Flashing orange, alternating with the MODULE

Flashing orange

Function





EtherNet/IP – Diagnostics 243

Name

MODULE

Color

Off

Green

Flashing green

Flashing red

Function


Device is operating in a normal condition.

Device needs commissioning due to configuration missing, incomplete or incorrect. The device may be in the

Standby state. This may be caused by the adapter waiting for a response from a

DHCP server or Duplicate Address

Detection to complete.




Device is in Self Test.

Flashing redgreen

Flashing orange, alternating with the HOST

Flashing orange


244 EtherNet/IP – Diagnostics

Name

NETWORK

/NET

Color

Off

Function

Device is not on-line.

• The device has not completed the

Duplicate Address Detection yet.

• The device may not be powered; look at the MODULE status LED.

Flashing green Device is on-line but has no connections in the established state.

• The device has passed Duplicate

Address Detection, is on-line, but has no established connections to other nodes.

Green Device is on-line and has connections in the established state.

Flashing red

Red

One or more I/O connections are in the

Timed-out state.

Failed communication device. The device has detected an error that has rendered it incapable of communicating on the network (Duplicate MAC ID or IP address detected).

PROFINET IO protocol

PROFINET IO – Start-up

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

247

PROFINET IO – Communication profiles

. . . . . . . . . . . . . . . . .

305


. . . . . . . . . . . . . . . .

323


. . . . . . . . . . . . . . . . . . . . . . . . . .

357

PROFINET IO – Start-up 247

14

PROFINET IO – Start-up





• examples of configuring the master station for communication with the adapter module.

Warnings


248 PROFINET IO – Start-up





PROFINET IO connection configuration



and




The detailed procedure of activating the module for PROFINET IO communication with the drive depends on the drive type. Normally, you must activate a parameter to activate the communication. See

the drive-specific start-up instructions starting on page

263

.



.

Note:

•

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 gray boxes in the tables below.

•



FENA-01/-11/-21 configuration parameters – group A (group 1)



ACQ810


Default

128 =

ETHER-

NET

No.

01

Name/Value

FBA TYPE

02 PROTOCOL/

PROFILE

ACS355:

FB PAR 2

ACSM1:

FBA PAR2

ACS850/ACQ810:

FBA par2

ACS880/ACS580:

Protocol/Profile

10 = PNIO Pdrive

Description




The selections available for PROFINET IO communication are listed below.

1)

0 = Modbus/TCP: ABB Drives profile -

Classic

PROFINET IO protocol: PROFIdrive profile

11 = PNIO ABB Pro PROFINET IO protocol: ABB Drives profile

12 = PNIO T16 PROFINET IO protocol: Transparent 16-bit profile

13 = PNIO T32 PROFINET IO protocol: Transparent 32-bit profile

14 = PNIO PdriveM PROFINET IO protocol: PROFIdrive positioning mode

0

1)


No.

Name/Value

03 COMM RATE

ACS355:

FB PAR 3

ACSM1:

FBA PAR3

ACS850/ACQ810:

FBA par3

ACS880/ACS580:

Commrate

0 = Auto

1 = 100 Mbps FD

2 = 100 Mbps HD

3 = 10 Mbps FD

4 = 10 Mbps HD

04 IP

CONFIGURATION

ACS355:

FB PAR 4

ACSM1:

FBA PAR4

ACS850/ACQ810:

FBA par4

ACS880/ACS580:

IP configuration

0 = Static IP

1 = Dyn IP DHCP

Description


Autonegotiate





Sets the method for configuring the IP address, subnet mask and gateway address for the module.

In a PROFINET IO network, the master controller has a Duplicate Address Detection mechanism.


05

…

13

or from the PLC via DCP.

The DCP protocol allows the master controller to find every PROFINET IO device on a subnet. When the adapter module is configured for the PROFINET IO protocol, the

IP address is transferred to the PROFINET IO communication stack.

If there is a need to change the IP address configured via DCP, it should be done with a

DCP tool, such as Siemens Step7. If some of the other methods are used to change the IP address, the module must be restarted to enable any changes.


Default

0 = Auto

1 = Dyn

IP DHCP


No.

Name/Value

05 IP ADDRESS 1

ACS355:

FB PAR 5

ACSM1:

FBA PAR5

ACS850/ACQ810:

FBA par5

ACS880/ACS580:

IP address 1

0…255

… …

08 IP ADDRESS 4

ACS355:

FB PAR 8

ACSM1:

FBA PAR8

ACS850/ACQ810:

FBA par8

ACS880/ACS580:

IP address 4

0…255

Description


05

…

08


IP address

…

See parameter

05 IP ADDRESS 1

.

IP address

Default

0

…

0


No.

Name/Value

09 SUBNET CIDR

ACS355:

FB PAR 9

ACSM1:

FBA PAR9

ACS850/ACQ810:

FBA par9

ACS880/ACS580:

Subnet CIDR

Description

Subnet masks are used for splitting networks into smaller networks called subnets. A subnet mask is a 32-bit binary number that splits the

IP address into a network address and host address.


Default

0

Dotted decimal

255.255.255.254

255.255.255.252

255.255.255.248

255.255.255.240

255.255.255.224

255.255.255.192

255.255.255.128

255.255.255.0

255.255.254.0

255.255.252.0

255.255.248.0

255.255.240.0

255.255.224.0

255.255.192.0

255.255.128.0

255.255.0.0


31 255.254.0.0

30 255.252.0.0

29 255.248.0.0

28 255.240.0.0

27 255.224.0.0

26 255.224.0.0

25 255.128.0.0

24 255.0.0.0

23 254.0.0.0

22 252.0.0.0

21 248.0.0.0

20 240.0.0.0

19 224.0.0.0

18 192.0.0.0

17 128.0.0.0

16

1…31

10 GW ADDRESS 1

ACS355:

FB PAR 10

ACSM1:

FBA PAR10

ACS850/ACQ810:

FBA par10

ACS880/ACS580:

GW address 1

0…255



10

…

13


GW address

0

2

1

4

3

8

7

6

5

CIDR

15

14

13

12

11

10

9


No.

Name/Value

… …

13 GW ADDRESS 4

ACS355:

FB PAR 13

ACSM1:

FBA PAR13

ACS850/ACQ810:

FBA par13

ACS880/ACS580:

GW address 4

14

…

18

0…255

Reserved

19 T16 SCALE

ACS355:

FB PAR 19

ACSM1:

FBA PAR19

ACS850/ACQ810:

FBA par19

ACS880/ACS580:

T16 scale

0…65535

Description

…

See parameter

10 GW ADDRESS 1

.

GW address


PROFINET IO.

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 (eg, DCU or

FBA) and a 16-bit 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.




Default

…

0

N/A

99


No.

Name/Value

20 TELEGRAM TYPE Read-only. Indicates the telegram type

ACS355:

FB PAR 20 selected for PROFINET IO communication.

The adapter module automatically detects the

ACSM1:

FBA PAR20

ACS850/ACQ810:

FBA par20 telegram type defined in the PLC.

For more information on the supported PPO

message types, see section page

326

.

PPO types

on

ACS880/ACS580:

Telegram type

0 = Unknown

Description

1 = PPO1

Cyclical communication between the master and the module has not been established yet.

Not supported

2 = PPO2

3 = PPO3

4 = PPO4

Not supported

PPO3 selected

PPO4 selected

5 = PPO5

6 = PPO6

7 = PPO7

8 = ST1

9 = ST2

21 ALARM DISABLE

ACS355:

FB PAR 21

ACSM1:

FBA PAR21

ACS850/ACQ810:

FBA par21

ACS880/ACS580:

Alarm disable

0 = Enabled

1 = Disabled

Not supported

PPO6 selected

PPO7 selected. Not supported with ACS355.

ST1 selected

ST2 selected. Not supported with ACS355.

Disables PROFINET IO alarms.

For more information on the diagnostics and alarm mechanism for PROFINET IO, see section

Diagnostic and alarm mechanism

on page

351

.

PROFINET IO alarms are enabled.

PROFINET IO alarms are disabled.

Default

0 =

Unknown

0 =

Enabled


No.

Name/Value Description

22 MAP SELECTION Defines the preferred data type of mapped

ACS355:

FB PAR 22 parameters when mapping is done through

PROFIdrive parameters. Supported with

ACS880 and ACS580 drives.

ACSM1:

FBA PAR22

ACS850/ACQ810:

FBA par22

ACS880/ACS580:

Map selection

0 = 32bit 32 bits

23

…

26

1 = 16bit

Reserved

27 FBA PAR

REFRESH

ACS355/ACSM1:

FBA PAR

REFRESH

ACS850/ACQ810:

FBA par refresh

ACS880/ACS580:

FBA A/B par refresh

0 = Done

16 bits


PROFINET IO.


0 = Done.


28

1 = Refresh

PAR TABLE VER

ACS355:

FILE CPI FW REV

ACSM1:

PAR TABLE VER

ACS850/ACQ810:

Par table ver

ACS880/ACS580:


Refreshing done

Refreshing











Default

1 = 16bit

N/A

0 = Done

N/A


No.

Name/Value

29 DRIVE TYPE

CODE

ACS355:

FILE CONFIG ID

ACSM1:

DRIVE TYPE

CODE

ACS850/ACQ810:

Drive type code

ACS880/ACS580:


Description


30 MAPPING FILE

VER

ACS355:

FILE CONFIG REV

ACSM1:

MAPPING FILE

VER

ACS850/ACQ810:

Mapping file ver

ACS880/ACS580:





31 D2FBA COMM STA Read-only. Displays the status of the fieldbus

ACS355:

FBA STATUS adapter module communication.


ACSM1:

D2FBA COMM STA

ACS850/ACQ810:

D2FBA comm sta

ACS880/ACS580:


0 = Idle

1 = Exec.init



2 = Time out A timeout has occurred in the communication between the adapter and the drive.

Default

N/A

N/A

0 = Idle

OR

4 = Offline


No.

Name/Value

3 = Conf.err

4 = Off-line

5 = On-line

6 = Reset

32 FBA COMM SW

VER

ACS355:

FBA CPI FW REV

ACSM1:

FBA COMM SW

VER

ACS850/ACQ810:

FBA comm sw ver

ACS880/ACS580:

FBA A/B comm SW ver

Description



Adapter is on-line.






Default

N/A

33 FBA APPL SW

VER

ACS355:

FBA APPL FW REV

ACSM1:

FBA APPL SW

VER

ACS850/ACQ810:

FBA appl sw ver

ACS880/ACS580:

FBA A/B appl SW ver






N/A








No.

1)

01

Name/Value

DATA OUT 1

(master to drive)

Description

Selects data word 1 received by the drive over the PROFINET network. The content is defined by a decimal number in the range of 0 to 9999 as follows:

Default

1 or 11

2)

ACS355:

FBA DATA OUT 1

ACSM1:

FBA DATA OUT1

ACS850/ACQ810:

FBA data out1

ACS880/ACS580:

FBA A/B data out1

0

101…

9999

Not used

1…99 Virtual address area of drive control


See also

Virtual address area allocation with

ACSM1

on page

261

.

0 = None

1 = CW 16bit

2 = Ref1 16bit

3 = Ref2 16bit

11 = CW 32bit

Not used

Control word (16 bits)

3)

Reference REF1 (16 bits)

3)


3)

Control word (32 bits)

12 = Ref1 32bit

13 = Ref2 32bit

21 = CW2 16bit

101…9999

Reference REF1(32 bits)


Control word 2 (16 bits)






No.

02

1)

Name/Value

DATA OUT 2

Description

See parameter

01 DATA OUT 1

.

Default

0 or 2

4)

03…

10

DATA OUT 3…

DATA OUT 10

See parameter

01 DATA OUT 1

.

0

1)


2)

11 (CW 32bit) is the default setting if the Transparent 32 profile is used.

3)

With an ACS355 drive, Control word and REF1 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.







No.

1)

01

Name/Value

DATA IN 1

(drive to master)

Description

Selects data word 1 sent by the drive over the

PROFINET network. The content is defined by a decimal number in the range of 0 to 9999 as follows:

Default

4 or 14

2)

ACS355:

FBA DATA IN 1

ACSM1:

FBA DATA IN1

ACS850/ACQ810:

FBA data in1

ACS880/ACS580:

FBA A/B data in1

0

101…

9999

Not used

1…99 Virtual address area of drive control


See also

Virtual address area allocation with

ACSM1

on page

261

.

0 = None

4 = SW 16bit

Not used

Status word (16 bits)

5 = Act1 16bit

6 = Act2 16bit

14 = SW 32bit

15 = Act1 32bit

16 = Act2 32bit

24 = SW2 16bit

101…9999

Actual value ACT1 (16 bits)


Status word (32 bits)



Status word 2 (16 bits)






No.

02

1)

Name/Value

DATA IN 2

Description

See parameter

01

DATA IN 1

.

Default

0 or 5

3)

03…

10

DATA IN 3…

DATA IN 10

See parameter

01

DATA IN 1

.

0

1)


2)

14 (SW 32bit) is the default setting if the Transparent 32 profile is used.

3)

5 (Act1 16bit) is a fixed setting with an ACS355 drive.

Virtual address area 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

20 TELEGRAM TYPE

). If standard telegrams

(STx) are used, virtual addresses for standard telegrams (ST1 and

ST2) are updated automatically.

Abbreviation Description Data length

STW1

NSOLL_A

NSOLL_B

STW2

XSOLL_A

VELOCITY_A

ZSW2

NIST_A

NIST_B

ZSW1

XIST_A

Control word 1

Speed set point A

Speed set point B

Control word 2

Position set point A

Velocity

Status word 2

Speed actual value A

Speed actual value B

Status word 1

Position actual value A

16-bit

16-bit

32-bit

16-bit

32-bit

16-bit

16-bit

32-bit

16-bit

32-bit

32-bit

Recommended virtual address with ACSM1

FBA REFx modes

Speed mode

1

Position mode

1

2 or 3

12 or 13

21 21

12 or 13

13

24 24

5 or 6

15 or 16

4 4

15 or 16







To give the fieldbus master the most complete control over the drive, you must select the adapter module as the source of this information. The drive-specific parameter setting examples below contain the drive control parameters relevant in the examples. For a complete parameter list, see the drive documentation.






At the minimum, select the communication protocol and profile with parameter 5102 and configure the network settings with parameters 5103…5113.




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.








Speed control using the PROFIdrive communication profile with PPO Type 4

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

312

.

The reference value ±16384 (4000h) corresponds to parameter

1105 REF1 MAX in the forward and reverse directions.

Direction

Out

In

PZD1

Control word

Status word

PZD2

Speed reference

Speed actual value

PZD3

Constant speed 1

1)

Power

1)

PZD4

Constant speed 2

DC bus voltage

PZD5 PZD6

N/A N/A

N/A N/A

1)

Example


Drive parameter

9802 COMM PROT

SEL


4 = EXT FBA

Description



1)

5102 FB PAR 2

(PROTOCOL/

PROFILE)

5210 FB PAR 3

(COMMRATE)

10 (= PNIO Pdrive)

0 (= Auto)

2)


Selects the PROFINET IO protocol and PROFIdrive profile.

5104 FB PAR 4

(IP CONFIGURATION)

5105 FB PAR 5

(IP ADDRESS 1)

0 (= Static IP)

2)

192

2)



05

…

13

or from the PLC via the DCP protocol.



Drive parameter

5106 FB PAR 6

(IP ADDRESS 2)

5107 FB PAR 7

(IP ADDRESS 3)

5108 FB PAR 8

(IP ADDRESS 4)

5109 FB PAR 9

(SUBNET CIDR)

1103 REF1 SELECT

1601 RUN ENABLE


168

2)

Description


0

2)

16

2)

24

2)



3018 COMM FAULT

FUNC

3019 COMM FAULT

TIME

3 = LAST SPEED

3.0 s

2)

5401 FBA DATA IN 1

5402 FBA DATA IN 2

5403 FBA DATA IN 3

5404 FBA DATA IN 4

4 (= SW 16bit)

1)

5 (= Act1 16bit)

1)

106

2)

107

2)

5501 FBA DATA OUT 1 1 (= CW 16bit)

1)

5502 FBA DATA OUT 2 2 (= Ref1 16bit)

1)


2)


2)

2)

5127 FBA PAR

REFRESH

1001 EXT1

COMMANDS

1 = REFRESH

10 = COMM

8 = COMM

7 = COMM





Status word

Actual value 1 (speed)

Power

DC bus voltage

Control word

Reference 1 (speed)

Constant speed 1

Constant speed 2

Validates the FENA-01/-11/-21 configuration parameter settings.






1604 FAULT RESET

SEL

8 = COMM

1)


2)

Example

Description



Control word:

•


•


•


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.




on page

316

.


(decimal) corresponds to the reference set by parameter 1105



(decimal) corresponds to the reference set by parameter 1108



Direction PZD1

Out Control word

In

PZD2

Speed reference

Status word Speed actual value

PZD3

Torque reference

Torque actual

PZD4 PZD5 PZD6

N/A N/A N/A

N/A N/A N/A



Drive parameter

9802 COMM PROT SEL


4 = EXT FBA

Description


5101 FBA TYPE

5102 FBAPAR 2

(PROTOCOL/PROFILE)

5103 FB PAR 3

(COMMRATE)

5104 FB PAR 4

(IP CONFIGURATION)

ETHERNET

1)

11 (= PNIO ABB Pro) Selects the PROFINET IO protocol and ABB Drives profile.

0 (= Auto)

2)


0 (= Static IP)



05

…

13


3018 COMM FAULT

FUNC

3 = LAST SPEED

3019 COMM FAULT TIME 3.0 s

2)

2)



5401 FBA DATA IN 1

5402 FBA DATA IN 2

5403 FBA DATA IN 3

5501 FBA DATA OUT 1

5502 FBA DATA OUT 2

5503 FBA DATA OUT 3

4 (= SW 16bit)

1)

5 (= Act1 16bit)

1)

6 (= Act2 16bit)

2)

1 (= CW 16bit)

1)

2 (= Ref1 16bit)

1)

2 (= Ref2 16bit)

2)

Status word


Actual value 2 (torque)

Control word

Reference 1 (speed)

Reference 2 (torque)

5127 FBA PAR REFRESH 1 = REFRESH Validates the FENA-01/-11 configuration parameter settings.

9904 MOTOR CTRL

MODE

2 = VECTOR: TORQ


Selects the vector control mode as the motor control mode.





Description

1102 EXT1/EXT2 SEL

1103 REF1 SELECT

1106 REF2 SELECT

1601 RUN ENABLE

1604 FAULT RESET SEL

8 = COMM

8 = COMM

8 = COMM

7 = COMM

8 = COMM



1/2 selection through the fieldbus.


1.


1.



1)


2)

Example


Control word:

•


•


•











50.04…50.11.





Note: The adapter module automatically sets the communication profile-specific virtual address for the Status word in parameter 52.01 and for the Control word in parameter

53.01.











PROFIdrive profile, speed control mode. For more information, see the PROFIdrive state machine on page

312

.


25.02 SPEED SCALING in the forward and reverse directions.

Direction

Out

In

PZD1

Control word

Status word

PZD2

Speed reference

Speed actual value

PZD3 PZD4

Constant speed 1

1)

Power

1)

PZD5 PZD6


1)

DC bus voltage

1)

1)

Example


Drive parameter

50.01 FBA ENABLE


Enable

Description

50.02 COMM LOSS FUNC Last speed


50.04 FBA REF1

MODESEL

Speed






Drive parameter

51.01 FBA TYPE

51.02 FBA PAR2

(PROTOCOL/PROFILE)

51.03 FBA PAR3

(COMMRATE)

51.04 FBA PAR4

(IP CONFIGURATION)

52.01 FBA DATA IN1

52.02 FBA DATA IN2

52.03 FBA DATA IN3

52.05 FBA DATA IN5

53.01 FBA DATA OUT1

53.02 FBA DATA OUT2

53.03 FBA DATA OUT3

53.05 FBA DATA OUT5

51.27 FBA PAR REFRESH



34.03 EXT1 CTRL MODE1


ETHERNET

1)

10 (= PNIO Pdrive)

0 (= Auto)

FBA

Speed

2)

0 (= Static IP)

4 (= SW 16bit)

5 (= Act1 16bit)

122

2)

107

2)

1 (= CW 16bit)

1)

2 (= Ref1 16bit)

2408

2)

2410

2)

REFRESH

FBA REF1

1)

Description


Selects the PROFINET IO protocol and PROFIdrive profile.



05

…

13


Status word


Power

DC bus voltage

Control word

Reference 1 (speed)

Constant speed






1)


2)

Example



Control word:

•


•


•


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

313

.

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 in the drive parameter settings.

Direction PZD1

Out Control word

(STW1)

In Status word

(ZSW1)

PZD2 PZD3

Position set point

Position actual value

PZD4 PZD5

Velocity reference

Velocity actual value

PZD6

N/A

N/A


Drive parameter

50.01 FBA ENABLE


Enable

Description

50.02 COMM LOSS

FUNC

50.03 COMM LOSS T

OUT

50.04 FBA REF1

MODESEL

Fault

3.0 s

Position






Drive parameter

50.05 FBA REF2

MODESEL


Velocity

Description


51.01 FBA TYPE

51.02 FBA PAR2

(PROTOCOL/PROFILE)

51.03 FBA PAR3

(COMMRATE)

51.04 FBA PAR4

(IP CONFIGURATION)

ETHERNET

1)


14 (= PNIO PdriveM) Selects the PROFINET IO protocol and PROFIdrive positioning mode.

0 (= Auto

2)


0 (= Static IP) Configuration will be obtained from parameters

05

...

13


52.01 FBA DATA IN1 4 (= SW 16bit)

1)

52.02 FBA DATA IN2 15 (= Act1 32bit)

52.04 FBA DATA IN4 16 (= Act2 32bit)

53.01 FBA DATA OUT1 1 (= CW 16bit)

1)

53.02 FBA DATA OUT2 12 (= Ref1 32bit)

53.04 FBA DATA OUT4 13 (= Ref2 32bit)

Status word

Actual value 1

Actual value 2

Control word

Reference 1

Reference 2

51.27 FBA PAR

REFRESH

10.01 EXT1 START

FUNC

10.05 JOG ENABLE

22.01 SPEED FB SEL

34.02 EXT1 MODE

1/2SEL

34.03 EXT1 CTRL

MODE1

REFRESH Validates the FENA-11/-21 configuration parameter settings.

FBA

C.FALSE

Enc1 speed

2)


Disables the jogging functions.

Selects the actual speed measured by encoder 1 as the speed feedback.

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

Position Selects position control as the control mode 1 for external control location 1.


Drive parameter

34.04 EXT1 CTRL

MODE2

62.01 HOMING

METHOD

65.01 POS

REFSOURCE

65.03 POS START 1

65.22 PROF VEL REF

SEL

66.05 POS ENABLE

CAN Methodxx

62.03 HOMING START C.False

65.04 POS REF 1 SEL

65.11 POS START 2

70.03 POS REF ENA


Homing

Description

Fieldbus

C.False

FBA REF 1

C.False

FBA REF2

C.False

C.False

Selects homing control as the control mode 2 for external control location 1.

Selects the homing mode. Select the appropriate CAN Method.

Selects the fieldbus as the homing start source.

Position reference and speed are read from the fieldbus.

Selects the fieldbus as the position start1source.

Selects the FBA reference 1 as the position reference source.

Selects the fieldbus as the position start2 source.

Selects the FBA reference 2 as the velocity reference source.

Selects the fieldbus as the source for enabling the position reference generator.

Selects the fieldbus as the source for the position reference enable command.

1)

Read only or automatically detected/set

2)

Example

The position set point is scaled as follows:

Drive parameter

60.05 POS UNIT (Position unit)

60.08 POS2INT SCALE

1)

Example

Setting

m

1)

100

1)


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

60.10

60.11

Name Value

POS SPEED UNIT u/s

1)

POS SPEED2INT 100

1)

Description

Unit/s (in this case m/s)

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 parameters:

Group

90

91/92/93

Description

Encoder selection

Settings of the encoder


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

Control word:

•


•

Enter 406h (1030 decimal) –> READY TO SWITCH ON.

•

Enter 40Fh (1039 decimal) –> OPERATING.

•

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

•

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

•

Enter C0Fh (3087 decimal) –> OPERATING (Start Homing procedure).

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.




on page

316

.


(4E20h) corresponds to the reference set by parameter 25.02

SPEED SCALING in the forward and reverse directions.


(2710h) corresponds to the reference set by parameter 32.04

TORQUE REF 1 MAX in the forward and reverse directions.

Direction PZD1

Out Control word

In Status word

PZD2

Speed reference

Speed actual value

PZD3

Torque reference

Torque actual

PZD4 PZD5 PZD6

N/A N/A N/A

N/A N/A N/A



Drive parameter

50.01 FBA ENABLE


Enable

Description

50.02 COMM LOSS FUNC Fault


50.04 FBA REF1

MODESEL

50.05 FBA REF2

MODESEL

Speed

Torque






51.01 FBA TYPE

51.02 FBA PAR2

(PROTOCOL/PROFILE)

51.03 FBA PAR3

(COMMRATE)

51.04 FBA PAR4

(IP CONFIGURATION)

52.01 FBA DATA IN1

52.02 FBA DATA IN2

52.03 FBA DATA IN3

53.01 FBA DATA OUT1

53.02 FBA DATA OUT2

53.03 FBA DATA OUT3

ETHERNET

1)

11 (= PNIO ABB Pro) Selects the PROFINET IO protocol and the ABB Drives profile.

0 (= Auto)

2)


0 (= Static IP)



05

…

13


4 (= SW 16bit)

1)

5 (= Act1 16bit)

6 (= Act2 16bit)

1 (= CW 16bit)

1)

2 (= Ref1 16bit)

3 (= Ref2 16bit)

Status word (PZD 1)

Actual value 1

Actual value 2

Control word

Reference 1

Reference 2

51.27 FBA PAR REFRESH REFRESH Validates the FENA-11/-21 configuration parameter settings.


Drive parameter Setting for ACSM1 drives

10.01 EXT1 START FUNC FBA

Description

10.04 EXT2 START FUNC FBA



24.01 SPEED REF1 SEL FBA REF 1

32.02 TORQ REF ADD SEL FBA REF 2


Selects the fieldbus reference 2 as the source for torque reference 1.

34.01 EXT1/EXT2 SEL P.FBA MAIN CW.15


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)


2)

Example


Control word:

•


•


•








Notes:

•


•


(EXT1 and EXT2).



50.04…50.11.






Note: The adapter module automatically sets the communication profile-specific virtual address for the Status word in parameter 52.01 and for the Control word in parameter

53.01.











312

.


19.01 Speed scaling in the forward and reverse directions.

Direction

Out

In

PZD1

Control word

Status word

PZD2

Speed reference

Speed Actual value

PZD3 PZD4

Constant speed 1

1)

Power

1)

PZD5 PZD6

Constant speed 2

1)

DC bus voltage

1)

1)

Example



Drive parameter

50.01 Fba enable

Setting for


Enable

Description




Fault

2)

3.0 s

2)

Speed





51.01 FBA type Ethernet

1)

51.02 FBA par2

(PROTOCOL/PROFILE)

51.03 FBA par3

(COMMRATE)

10 (= PNIO Pdrive)

0 (= Auto

2)

51.04 FBA par4

(IP CONFIGURATION)

0 (= Static IP)


Selects the PROFINET IO protocol and the PROFIdrive profile.



05

…

13


52.01 FBA data in1

52.02 FBA data in2

52.03 FBA data in3

52.05 FBA data in5

53.01 FBA data out1

53.02 FBA data out2

53.03 FBA data out3

53.05 FBA data out5

4 (= SW 16bit)

1)

5 (= Act1 16bit)

122

2)

107

2)

1 (= CW 16bit)

1)

2 (= Ref1 16bit)

2606

2)

2607

2)

Status word


Power

DC bus voltage

Control word

Reference 1 (speed)

Constant speed 1

Constant speed 2

51.27 FBA par refresh Refresh

10.01 Ext1 start func FB




Drive parameter Setting for



(ACS850)

21.01 Speed ref sel

(ACQ810)

FBA ref1

FBA ref1

1)


2)

Example

Description



Control word:

•


•


•






50.01 FBA A enable.








At the minimum, select the communication protocol and profile with parameter 51.02 Protocol/Profile and configure the network settings with parameters 51.03…51.13.



Note: The adapter module automatically sets the communication profile-specific virtual address for the Status word in parameter 52.01 and for the Control word in parameter

53.01.








Speed control using PROFIdrive communication profile with PPO Type 4




312

.


46.01 Speed scaling in the forward and reverse directions.

Direction

Out

In

PZD1

Control word

Status word

PZD2

Speed reference

Speed actual value

PZD3 PZD4

Constant speed 1

1)

Power

1)

PZD5 PZD6

Constant speed 2

1)

DC bus voltage

1)

1)

Example



Drive parameter

50.01 FBA A enable


1 = Option slot 1

2)

Description


50.07 FBA A act1 type

4 = Speed

0 = Auto



Selects the actual value type and scaling according to the currently active Ref1 mode defined in parameter 50.04.


1)


51.03 Commrate


10 = PNIO Pdrive

0 = Auto

2)

0 = Static IP





05

…

13


52.01 FBA data in1

52.02 FBA data in2

52.03 FBA data in3

52.05 FBA data in5

53.01 FBA data out1

53.02 FBA data out2

53.03 FBA data out3

53.05 FBA data out5

4 = SW 16bit

1)

5 = Act1 16bit

01.14

01.11

1 = CW 16bit

1)

2 = Ref1 16bit

22.26

22.27

Status word

Actual value 1

Output power

DC voltage

Control word

Reference 1 (speed)

Constant speed 1

Constant speed 2


19.12 Ext1 control mode 2 = Speed




Drive parameter

20.01 Ext1 commands



12 = Fieldbus A

Description

4 = FB A ref1



1.

1)


2)

Example


Control word:

•


•


•




Parameter setting examples

–

ACS580

Frequency control using PROFIdrive communication profile with PPO Type 4

This example shows how to configure a basic frequency control application that uses the PROFIdrive profile. In addition, some application-specific data is added to the communication.



312

.


46.02 Frequency scaling in the forward and reverse directions.

Direction

Out

In

PZD1

Control word

Status word

PZD2

Frequency reference

Frequency actual value

PZD3 PZD4

Constant frequency

1

1)

Power

1)

PZD5 PZD6

Constant frequency

2

1)

DC bus voltage

1)

1)

Example



Drive parameter

50.01 FBA A enable


1 = Option slot 1

2)

Description


50.07 FBA A act1 type

0 = Speed or frequency

0 = Auto



Selects the actual value type and scaling according to the currently active Ref1 mode defined in parameter 50.04.


1)


51.03 Commrate


10 = PNIO Pdrive

0 = Auto

2)

0 = Static IP





05

…

13


52.01 FBA data in1

52.02 FBA data in2

52.03 FBA data in3

52.05 FBA data in5

53.01 FBA data out1

53.02 FBA data out2

53.03 FBA data out3

53.05 FBA data out5

4 = SW 16bit

1)

5 = Act1 16bit

01.14

01.11

1 = CW 16bit

1)

2 = Ref1 16bit

28.26

28.27

Status word

Actual value 1

Output power

DC voltage

Control word

Reference 1 (frequency)




19.12 Ext1 control mode 2 = Speed




Drive parameter

20.01 Ext1 commands



12 = Fieldbus A

Description

4 = FB A ref1



1.

1)


2)

Example


Control word:

•


•


•

Enter 47Fh (1151 decimal) –> OPERATING (Scalar motor control mode).


Configuring the master station

After the adapter module has been initialized by the drive, you must prepare the master station 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 apply to all drive types compatible with the module.



Downloading the GSD file

Configuration of the master station requires a type definition (GSD) file. In PROFINET IO, the GSD file is written in XML-based language called GSDML.

Download the FENA GSD file from the Document library

( www.abb.com/drives ). The file name format is GSDML-Vx.x-

ABB-FENA-yyyymmdd.xml.

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 communication between an

ABB AC500 PLC and the adapter module using Control Builder

Plus PS501, software version 2.1.0 and later.

Before you start, make sure that you have downloaded the FENA

GSD file from the Document library.

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 CM579-PNIO PROFINET master device to the PLC project, if necessary.

6. Add the adapter module to the PROFINET IO network.

7. Add the I/O module, for example, PPO Type 4 to the adapter module to define cyclical communication between the module and the PLC.


8. Define the CM579-PNIO master properties, such as the IP address and address settings for slaves.

9. Define the adapter module properties:

On the PNIO identification tab, select the IP address and

Subnet mask, and type the Station name. Note: Use only small letters for the Station name.


10. Open the PLC program.

11. Compile the project and download it to the PLC.

This is necessary for you to be able to configure the CM579-

PNIO master device and allow it to scan the network.

12. Return to the CM579-PNIO master properties. On the Assign

station name tab, do the following tasks:

•

Click Connect to PLC (Login) and select the communication link used between Control Builder and the

PLC. Then, click Scan slaves to find all PROFINET slaves connected to the network.

•

In the Configure station name box, select the station name defined for the module in step 9, and then click

Assign station name.

•

In the IP address and Network mask boxes, select/type the IP address and subnet mask defined in step 9, and then click Assign IP configuration.


13. Define the I/O module properties:

•

On the PNIO parameters tab, configure the Stop mode and Control-zero mode functionalities, and define fail safe values for the PLC output process data (PZDs).

•

On the PNIO Module I/O Mapping tab, type names for the variables that refer to the drive's signals in the PLC program.


14. Open the PLC program and create a program that controls the drive.

15. 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.




Configuring a Siemens SIMATIC S7 PLC

This example shows how to configure 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 FENA

GSD file from the Document library.

1. Start the SIMATIC manager and open/create a SIMATIC program.

2. Open the hardware configuration of the project.


3. Install the FENA GSD file:

•

On the Options menu, select Install GSD Files.

•

Browse for the GSD file downloaded from the Document library and click Install.


4. Click and drag the FENA object from the device catalog to the

Ethernet (1): PROFINET-IO-System.


5. Click and drag the PP0 Type 7 object to Slot 1.

Then, double-click FENA to open the Properties window.


6. On the General tab, type a name for the adapter module in the

Device name box.

This is the IP address that will be assigned to the adapter module.

You can modify the IP address by clicking the

Ethernet button.

The IP address will be assigned by the IO controller.


7. In the hardware configuration, double-click PPO Type 7 in

Slot 1 to open the Properties window.

8. On the Parameters tab, configure the stop mode and controlzero mode functionality, and define fail safe values for the PLC output process data (PZDs).


9. Assign the device name (defined in step 6) to the adapter module:

•

In the hardware configuration, click FENA.

•

On the PLC menu, select Ethernet, and then select

Assign Device Name.


•

Click the available device with the correct MAC address to which the device name is to be assigned. This will assign the name to the FENA adapter module. Then click Assign

name.


10. Download the hardware configuration to the PLC.

The PLC is now ready for communication with the adapter module.


PROFINET IO – Communication profiles 305

15

PROFINET IO –



This chapter describes the communication profiles used in the communication between the PROFINET IO master, the adapter module and the drive.



(Control word, Status word, references and actual values) between the master station and the drive.

With the FENA adapter module, the PROFINET 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.

306 PROFINET IO – Communication profiles


FENA


PROFINET

CW

REF1

REF2

SW

ACT1

ACT2

16/32

-bit

PROFINET

•

•

PZDx

•

•

PZD10

16/32

-bit

Select

Group A

Par. 02

PROFIdrive

Data conversion

1)

ABB Drives

Data conversion

Transparent16

Optional reference/actual value scaling

1)

PROFIdrive positioning

Data conversion

1)

Transparent32

Select

Group A

Par. 02

Drive

1)

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.


PROFIdrive communication profile




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 are presented on page

312

. The

drive states for the positioning mode are presented on page

313

.



PROFIdrive communication profile (PROFIdrive parameter 967).

The upper case boldface text refers to the states shown in the


312

.

Bit Name

0

1

ON

OFF1

OFF2

Value

1

0

1

0


Speed control mode Positioning mode


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.



Proceed to OFF2 ACTIVE; proceed further to SWITCH-ON INHIBIT.


Bit

2

3

4

5

Name

OFF3

OPERATION_

ENABLE

ENABLE_

RAMP_

GENERATOR or

TRAVERSING

_TASK

Value

1

0

1

0

1

0

1

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.

Proceed to ENABLE OPERATION.


INHIBIT.

Normal operation.

Proceed to RAMP

FUNCTION

GENERATOR:

ENABLE OUTPUT.

Normal operation.

Do not reject traversing task.

Stop according to selected stop type.

Normal operation.

Proceed to RAMP

FUNCTION

GENERATOR:

ENABLE

ACCELERATION.

Halt ramping (Ramp

Function Generator output held).

Reject traversing task.

Normal operation.

No intermediate stop.

Intermediate stop


Bit

6

7

11

12

13

14

Name

RESET

8

9

JOGGING_1

JOGGING_2

10 REMOTE_

CMD

Value

1



Normal operation.

Proceed to

OPERATING.


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.

0 –> 1 Fault reset if an active fault exists. Proceed to SWITCH-ON INHIBIT.


0 (Continue normal operation)

1

0

1

0

Jogging 1 (Not supported by all drive types)

Jogging 2 (Not supported by all drive types)

Fieldbus control enabled

Control word <> 0 or reference <> 0: Retain last Control word and reference.

Control word = 0 and reference = 0:


Vendor-specific bit as defined by

PROFIdrive parameter 933

Start homing procedure.

Stop homing procedure.








Bit

15

Name Value






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


312

.

Bit Name

0

1

2

3

4

5

6

7

RDY_ON

RDY_RUN

RDY_REF

TRIPPED

OFF_2_STA

OFF_3_STA

SWC_ON_

INHIB

ALARM

Value

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1






OFF1 ACTIVE

ENABLE OPERATION

OPERATION INHIBIT

FAULT

No fault

OFF2 inactive

OFF2 ACTIVE

OFF3 inactive

OFF3 ACTIVE

SWITCH-ON INHIBIT ACTIVE

SWITCH-ON INHIBIT NOT ACTIVE

Warning/Alarm

No Warning/Alarm


Bit

8

9

10

11

12

13

14

15

Name

AT_SETPOINT

REMOTE

Value

1

0

1

0

1

0

1

0

1

0

1

0



OPERATING. Actual value equals reference value (= is within tolerance limits).

Actual value differs from reference value

(= is outside tolerance limits).

Drive control location: REMOTE


Target position reached.

Actual frequency or speed value equals or is greater than supervision limit.

Actual frequency or speed value is within supervision limit.





Not at target position

Homing procedure was executed and is valid.

No valid home position available.

Traversing task acknowledgement

(0 –> 1)



Drive stopped.

Drive moving.

Traversing task is executed (n <> 0).






State machine for all operating modes

The general PROFIdrive state machine for all operating modes is shown below.

MAINS OFF

SWITCH-ON

INHIBIT

(SW Bit6=1)

OFF1 (CW Bit0=0)

PROFIdrive

State machine

Power ON

A B C D

NOT READY

TO SWITCH ON

(SW Bit0=0)

(CW=xxxx x1xx xxxx x110)

(CW Bit3=0)

OPERATION

INHIBIT operation inhibited

(SW Bit2=0)

READY TO

SWITCH ON

(SW Bit0=1)

ON (CW=xxxx x1xx xxxx x111)

CW = Control word

SW = Status word n = Speed

I = Input current

RFG = Ramp function generator f = Frequency from any state

Fault from any state

READY TO

OPERATE


OFF1

ACTIVE

(SW Bit1=0) n(f)=0 / I=0

Enable operation

(CW Bit3=1)

B C D

F

Main contactor ON

(SW Bit1=1)

FAULT

(SW Bit3=1)


Emergency stop


Emergency stop


OFF3

ACTIVE (SW Bit5=0)

OFF2

ACTIVE (SW Bit4=0) n(f)=0 / I=0 Main contactor OFF

(CW Bit4=0)

ENABLE

OPERATION

(SW Bit2=1)

C D state

(CW Bit5=0)

(CW Bit6=0) condition rising edge of the bit

D

A

B

C

D

(CW Bit4=1)

RFG: ENABLE

OUTPUT

(CW Bit5=1)

RFG: ENABLE

ACCELERATION

(CW Bit6=1)

OPERATING

(SW Bit8=1)

F

(CW Bit4,5,6=0)

E

Jogging 1 or 2 ON

(CW Bit8=1 or Bit9=1)

JOGGING 1 or 2

ACTIVE

Jogging 1 or 2 OFF

(CW Bit8=0 or Bit9=0)

Jogging pause

‘n=0 or f =0’ and ‘I=0’ and pause expired


State machine for the positioning mode

The PROFIdrive state machine for the positioning mode is shown below.

F

E

BASIC STATE:

Operating

1)

(SW Bit10,13=1)

(CW Bit4,5=1 and

CW Bit6 edge 0

1)

(CW Bit11=1)

HOMING

RUNNING

HOMING

READY

(SW Bit10,11,13=0)

(SW Bit10,11,13=1)

(CW Bit11=0)

F F

(CW Bit6 edge

0

1)

Traversing task active

(SW Bit10,13=0)

F

(CW Bit5=0)

Braking with ramp

(SW Bit10,13=0)

Intermediate stop

E

(CW Bit5=0)

(CW Bit4=0)

Braking with ramp

(SW Bit10,13=0)

PROFIdrive

State machine for PROFIdrive positioning mode

CW= Control word

SW = Status word

State condition

1)

In the “Operating” state of the general state machine:

SW bits 0, 1 and 2 = 1

SW bit 6 = 0.

F




References

ABB drives can receive control information from multiple sources including analog and digital inputs, the drive control panel and a fieldbus adapter module (for example, FENA). To have the drive controlled through PROFINET, you must select the module 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).




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 the maximum reference (as defined with a drive parameter, for example, speed scaling in ACSM1, ACS850, ACQ810, ACS880 and ACS580, and external reference in ACS355).

The scaling of 32-bit actual speed values (NIST_B) in hexadecimal

(0…4000 0000h) corresponds to 0…100% of the maximum reference (as defined with a drive parameter, for example, speed scaling in ACSM1, ACS850, ACQ810, ACS880 and ACS580, and external reference in ACS355).

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).






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

320

.



ABB Drives communication profile. The upper case boldface text refers to the states shown on page

320

.

Bit Name

0 OFF1_

CONTROL

Value

1



1

2

OFF2_

CONTROL

OFF3_

CONTROL

0

1

0

1

0









INHIBITED.



Bit

3

4

5

6

7

Name

INHIBIT_

OPERATION

RAMP_OUT_

ZERO

RAMP_HOLD

RAMP_IN_

ZERO

RESET

Value

1

0

1

0




Inhibit operation. Proceed to

OPERATION INHIBITED.



ENABLED.


1

0

1




ENABLED.


Normal operation. Proceed to

OPERATION.



0 –> 1 Fault reset if an active fault exists.

Proceed to SWITCH-ON INHIBITED.



8…9 Reserved


Bit Name

10 REMOTE_

CMD

Value

1

0


Fieldbus control enabled



11

12…

15

EXT_CTRL_

LOC

1

0





Drive-specific (For information, see the drive documentation.)



Drives communication profile. The upper case boldface text refers to the states shown on page

320

.

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

1

0

1

0


1

0



0

1

0

1

0

1

0

1


OFF1 ACTIVE



FAULT

No fault

OFF2 inactive

OFF2 ACTIVE

OFF3 inactive

OFF3 ACTIVE


–


Bit

7

8

9

10

11

Name

ALARM

AT_SETPOINT

REMOTE

ABOVE_

LIMIT

EXT_CTRL_

LOC


1

0

Warning/Alarm

No warning/alarm

1

0

1

0

1

OPERATION. Actual value equals reference (= is within tolerance limits, ie, in speed control, speed error is 10% max. of nominal motor speed).

Actual value differs from reference (= is outside tolerance limits).

Drive control location: REMOTE (EXT1 or EXT2)


0

1

0

Actual frequency or speed equals or exceeds supervision limit (set by drive parameter). Valid in both directions of rotation.

Actual frequency or speed within supervision limit

External Control Location EXT2 selected.


External Control Location EXT1 selected

12

13…

14

EXT_RUN_

ENABLE

1 External Run Enable signal received.


0 No External Run Enable signal received

Drive-specific (For information, see the drive documentation.)

15 FBA_ERROR 1

0

Communication error detected by fieldbus adapter module

Fieldbus adapter communication OK


State machine


MAINS OFF

Power ON

SWITCH-ON

INHIBITED

(CW Bit0=0)

(SW Bit6=1)


A B C D

(CW Bit3=0)

OPERATION


(SW Bit2=0)

NOT READY TO

SWITCH ON


READY TO

SWITCH ON

(SW Bit0=0)

(SW Bit0=1)


CW = Control word

SW = Status word n = Speed

I = Input current

RFG = Ramp function generator f = Frequency from any state

Fault from any state

READY TO

OPERATE

(SW Bit1=1)

FAULT

(SW Bit3=1)


OFF1

ACTIVE

(SW Bit1=0) n(f)=0 / I=0

B C D

(CW Bit3=1 and

SW Bit12=1)

(CW=xxxx x1xx xxxx 1111 and SW Bit12=1)

(CW Bit7=1) from any state

Emergency stop

OFF3 (CW Bit2=0) from any state

Emergency OFF


OFF3

ACTIVE

(SW Bit5=0)

OFF2

ACTIVE

(SW Bit4=0)

(CW Bit4=0) n(f)=0 / I=0

(CW Bit5=0)

(CW Bit6=0)

C D

D

A

OPERATION

ENABLED

(SW Bit2=1)

(CW=xxxx x1xx xxx1 1111)

RFG: OUTPUT

ENABLED

B

(CW=xxxx x1xx xx11 1111)

C

RFG: ACCELERATOR

ENABLED

(CW=xxxx x1xx x111 1111)

OPERATION

(SW Bit8=1)





References



Scaling





Fieldbus

REF2: 10000

REF1: 20000

Drive


0

REFx MIN

-(REFx MIN)

REF2: -10000

REF1: -20000





Actual values


Scaling



Fieldbus Drive

ACT2: 10000

ACT1: 20000

REFx MAX

0 0

ACT2: -10000

ACT1: -20000

-(REFx MAX)

PROFINET IO – Communication protocol 323

16

PROFINET IO –

Communication protocol


This chapter describes the PROFINET IO communication protocol for the adapter module. For detailed information on PROFINET IO communication, refer to PROFINET specification Application Layer

protocol for decentralized periphery and distributed automation

v2.0.

PROFINET IO

PROFINET IO is a fieldbus protocol that enables communication between programmable controllers and distributed field devices in an Ethernet network. The protocol classifies devices into I/O controllers, I/O supervisors and I/O devices, which have a specific collection of services.

324 PROFINET IO – Communication protocol

PROFINET IO uses three different communication channels to exchange data:

•

The standard UDP/IP and TCP/IP channel is used for parameterization and configuration of devices and for acyclic operations.

•

The real time (RT) channel is used for cyclic data transfer and alarms.

•

The isochronous real time (IRT) channel is used, for example, in motion control applications (not implemented in FENA).

PROFINET IO devices are structured in slots and sub-slots, which can contain modules and sub-modules correspondingly. A device can have almost any number of slots and sub-slots, and they can be virtual or real. Device-specific data is represented in slot 0; module-specific and sub-module-specific data in subsequent slots and sub-slots.

One of the benefits of PROFINET IO is the diagnostics and alarm mechanism. Every module and sub-module provide alarm data to the I/O controller using the cyclic channel. Diagnostic data can be read non-cyclically from the device by using record data.

The properties and services of a PROFINET IO device are described in a GSD file written in GSDML (General Station

Description Markup Language). The GSD file describes the device-specific modules and the method of assigning modules and sub-modules to predefined slots and sub-slots. For more information,

see section

Downloading the GSD file

on page

289

.


PROFINET IO in FENA

When PROFINET IO is selected as the communication protocol, the FENA adapter module can employ the ABB Drives,

Transparent 16 and Transparent 32 communication profiles or the

PROFIdrive profile. You can select the profile with a GSD file in a

PROFINET IO hardware configuration tool. You can select the appropriate device access point (DAP) and functional module with the tool as well.

The adapter module uses slots 0 and 1. Slot 0 does not have any sub-slots, and the DAP module attached to it represents the device itself. Other functional modules and sub-modules described in the

GSD file can be assigned to slot 1 and its sub-slots.

In the ABB Drives and Transparent profiles:

•

Slot 0 = Device access point (DAP)

•

Slot 1, sub-slot 1 = Vendor object (PPO types)

•

Slot 1, sub-slot 1 = Acyclic parameter access (MAP/PAP)

In the PROFIdrive profile:

•

Slot 0 = Device access point

•

Slot 1 = Drive object

•

Slot 1, sub-slot 1 = Acyclic parameter access (MAP/PAP)

•

Slot 1, sub-slot 2 = Standard telegram 1

•

Slot 1, sub-slots 3

…

18 = Freely configurable inputs and outputs

The adapter module provides the following services:

•

Cyclic messaging

•

Acyclic parameter access mechanism

•

Identification & Maintenance functions (I&M)

•

PROFIdrive parameters (limited in the ABB Drives and

Transparent profiles)

•

Diagnostic and alarm mechanism (only with the PROFIdrive profile)

•

Fault buffer mechanism (limited in the ABB Drives and

Transparent profiles).


Cyclic message types



PPO types

Parameter identification

Fixed area

OUT area

IN area ID

Process data

Freely mappable area

IND

IND

VALUE

VALUE

PKW

CW

SW

REF

PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9

PZD10

ACT

PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10

PZD11

PZD11

PZD12

PZD12

PZD

Type 3

DP-V1

Type 4

DP-V1

Type 6

Type 7

1)

DP-V1

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

1)

Not supported by ACS355 drives




Standard telegram (ST) types (DP-V1)

ST1 PZD1

OUT area STW1

Control word 1

IN area ZSW1

Status word 1

PZD2

NSOLL_A

Speed set point A

NIST_A

Speed actual value A

ST2 PZD1

OUT area STW1

Control word 1

IN area ZSW1

Status word 1

PZD2…3

NSOLL_B

Speed set point B

NIST_B

Speed actual value B

PZD4

STW2

Control word 2

ZSW2

Status word 2

Note: For the contents of the Control word, the Status word, references and actual values, see chapter

PROFINET IO –

Communication profiles

.

Parameter handling using acyclic parameter access mechanism (DP-V1)

PROFINET IO offers record read and write services for the acyclic parameter access mechanism. When the drive parameters or

FENA parameters are accessed, the corresponding slot, sub-slot and index are set, and a PROFIdrive DP-V1 message is placed on the data block of the record read or write frame.




Header and frame structures

PROFINET IO uses the DCE RPC (Distributed Computing

Environment Remote Procedure Call) protocol for acyclic read and write services. I/O controllers and supervisors take care of formulating most of the request frames. However, it is possible that handling the PROFIdrive request and response headers must be performed in the application logic. The acyclic frame structure, headers and error codes are described further below.

Frames Dest addr.

Bytes 6

Src addr.

6

Ether type

IP

UDP

2 28

RPC NDR Read or

Write

80 20 64

Data

…

Dest addr. and Src addr. are the destination and the source of the communication relationship. The addresses are in hexadecimal format, for example, 00-30-11-02-57-AD.

Ether type is 0x800 for non-real-time communication.

IP and UDP fields contain the IP address of the source and the destination as well as the communication ports and length of the message.

RPC contains, for example, the read or write service ID, interface description and selected objects.

NDR request block describes the length of the following data block.

The response block also contains bytes ErrorCode, ErrorDecode,

ErrorCode1 and ErrorCode2 for presenting the status of the request. The response error codes are listed in the table below.

Byte

ErrorCode

Value and meaning

0xDF (Error Write)

0xDE (Error Read)

ErrorDecode 0x80 (PNIORW) ErrorCode1 decoded as shown in section

ErrorCode1

on page

329

. ErrorCode2 is 0

.

0x81 (PNIO) ErrorCode1 and ErrorCode2 decoded as shown in section

ErrorCode1

on page

329

.

ErrorCode1

ErrorCode2

Error class and error code. See section

ErrorCode1

on page

329.

Not described here


ErrorCode1

The table below lists the ErrorCode1 with PNIORW decoding.

Error class

0…9

10 (0x0A)

11 (0x0B)

12 (0x0C)

Meaning

(Reserved)

Application

Access

Resource

13…15 User-specific

Error code

0 = Read error

1 = Write error

2 = Module failure

3…7 = Reserved

8 = Version conflict

9 = Feature not supported

10…15 = User-specific

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


0 = Read constraint conflict

1 = Write constraint conflict

2 = Resource busy

3 = Resource unavailable

4…7 = Reserved





DP-V1 read/write request sequence

A read/write service on a drive parameter is illustrated below.

Master

PROFIdrive

Parameter request

DP-V1

Write request DB47

Slave

Parameter request

Write response without data

PROFIdrive

Parameter response

Read request DB47 without data

Read response (–) without data

Read request DB47 without data

Read response with data

Parameter processing

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 is first sent containing the parameter request. If the write request is valid, the adapter module acknowledges it with a

DP-V1 write response 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 master will repeat the read request 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 section

ErrorCode1

on page

329

).


Read and write blocks

A read block is used in read requests and responses, while a write block is used in write requests and responses. A request consists of unique identifiers for the connection, addressing information and the length of the record data. A response also contains two additional fields for transferring information.

The table below shows the structure of the read and write blocks in detail.

Field(s)

Service

Operation

Block length

ARUUID

API

Slot

Subslot

Padding

Index

Data length

Description

Request or Response service

Range

Request (0x00)

Response (0x80)

Read or Write operation Write (0x08)

Read (0x09)

Type

UI8

UI8

Length of the block

Identifier

• time low

• time mid

• time high and version

• clock

• node

0…0xFFFF UI16

Application process identifier

Device access point (0x0000)

PROFIdrive

(0x3A00)

0x01 Slot of the module access point

(MAP/PAP)

Subslot of the module access point

(MAP/PAP)

2 bytes

0x01

UI16

UI16

Index of the record data object

0x2F

0xB02E

0xB02F

UI16

Length of the data block 0…0xFFFFFFFF UI32

UI32

UI16

UI16

Octet[2]

Octet[6]

UI32


Field(s)

Additional value 1

(response only)

Additional value 2

(response only)

Padding

Data block

Description

Field for transferring additional data

Field for transferring additional data

Range Type

UI16

UI16

24 bytes for request, 20 bytes for response.

Used only with write request and read response.

Data block

The data block contains a PROFIdrive-specific request or response header.

The table below shows the contents of the PROFIdrive request.

Field(s) Description Range

Request

Reference

Request ID

Unique identification set by the master. Changed for each new request.

Request type for the issued block

1…255

Byte/

Word

Byte

Byte Request

Parameter (01h)

Change

Parameter (02h)

0…255

1…37

Byte

Byte

Drive Object ID

No. of

Parameters

To be set to 0 or 1.

Number of the parameters that are present in the request

Attribute Type of the object being accessed.

Note: “Description” and

“Text” are not supported.

No. of Elements Number of the array elements accessed or length of the string accessed. Set to 0 if non-array parameters are used.

Value (10h)

Description (20h)

Text (30h)

0, 1…234

Byte

Byte


Field(s) Description Range Byte/

Word

Word Parameter Index Address of the parameter that is being accessed. “0” is allowed by FENA.

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

Format

1)

See the table on page

335

.

1…65535

0…65535 Word


335

.

Byte

Number of

Values

1)

Values

1)

Number of the values following

0…234 Byte

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.


The table below shows the contents of the PROFIdrive response.

Field(s)

Request

Reference

(mirrored)

Response ID

Description

Mirrored from the request.

Response from the slave. In case any requested services fail, a “not acknowledged” (NAK) response will be indicated.

Range

1…255

Request Param OK

(01h)

Request Param NAK

(81h)

Change Param OK

(02h)

Change Param NAK

(82h)

0…255 Drive Object

ID

To be set to 1.

No. of

Parameters

Format

1)

Number of the parameters that are present in the response


335

.

1…37


335

.

Number of

Values

1)

Number of the values following 0…234

Values

1)

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.


The table below shows the data types for the Format field in the

PROFIdrive response.

Code

0x00

0x01…0x36

0x37…0x3F

0x40

0x41

0x42

0x43

0x44

0x45…0xFF

Type

(Reserved)

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)

• • •

(Reserved)

Zero

Byte

Word

Double word

Error

(Reserved)


The table below shows the PROFIdrive parameter request error codes

.

Error # Meaning

00h Impermissible parameter number

01h

02h

03h

04h

05h

06h

07h

09h

0Bh

0Fh

11h

14h

15h

Parameter value cannot be changed

Low or high limit exceeded

Invalid subindex

No array

Used at

Access to an unavailable parameter

Change access to a parameter value that cannot be changed

Change access with a value outside the limits

Access to an unavailable subindex

Access with a subindex to a nonindexed parameter

Incorrect data type

Setting not permitted

(can only be reset)

Description element cannot be changed

No description data available

Change access with a value that does not match the data type of the parameter

Change access with a value unequal to 0 when this is not permitted

Change access to a description element that cannot be changed

Access to an unavailable description

(parameter value is available)

No operation priority Change access rights without rights to change parameters

No text array available Access to a text array that is not available (Parameter value is available.)

Request cannot be executed because of operating mode

Value impermissible

Access is temporarily not possible for reasons that are not specified in detail.

Change access with a value that is within limits but is not permissible for other long-term reasons (parameter with defined single values)

Response too long The length of the current response exceeds the maximum transmittable length.


Error #

16h

17h

18h

6Eh

6Fh

78h

Meaning

Parameter address impermissible

Illegal format

Number of values inconsistent

Non-volatile error

Time-out error

PZD map failure

Used at

Illegal value or value that is not supported for the attribute, number of elements, parameter number or sub-index, or a combination

Write request: Illegal format or format of parameter data that is not supported

Write request: Number of values of the parameter data does not match the number of elements at the parameter address.

– 65h…FF Manufacturer-specific error area

65h

66h

67h

Vendor-specific error Vendor-specific error

Request not supported Request not supported

Communication error Request cannot be completed because of a communication error.

Failure during write to non-volatile memory

Request aborted because of a timeout.

Parameter cannot be mapped to

PZD (size mismatch or nonexistent).

79h PZD memory failure

7Ah

82h

8Ch

90h

Multiple PZD map

Control word bit map

Set torque mode error

Illegal Request ID


PZD (out of memory).


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).

The request ID of the response is illegal.


Error # Meaning

96h

A0h

Internal buffer

Internal communication

Used at

Buffer overflow

Communication error between the module and the drive



Function blocks for sending DP-V1 messages

(Siemens S7)

In IEC 61131-3 compatible systems, function blocks are available for accessing data non-cyclically. In Siemens S7, SFB 52

"RDREC" can be used for reading and SFB53 "WRREC" for writing data records as follows:

•

On INDEX: Connect the value 0xB02F, 0xB02E or 0x2F.

•

On Write record: Set the length of the DP-V1 write request to

MLEN.

•

On Read record: Set the maximum length of the DP-V1 read response.

•

Connect the DP-V1 message to RECORD.

RDREC

BOOL --- REQ

DWORD

INT

INT

ID

INDEX

MLEN

ANY RECORD--

VALID --- BOOL

BUSY --- BOOL

ERROR --- BOOL

STATUS --- DWORD

LEN --- INT

--RECORD

WRREC

BOOL --- REQ

DWORD --- ID

INT --- INDEX

INT --- LEN

ANY --- RECORD--

DONE --- BOOL

BUSY --- BOOL

ERROR --- BOOL

STATUS --- DWORD

--RECORD

For more information on the above function blocks, see document

Communication Function Blocks for PROFIBUS DP and

PROFINET IO v2.0 available at www.profibus.com

.




Parameter data transfer examples

The following examples show how parameter data is transferred using the DP-V1 mechanisms READ and WRITE.

Note: Only the data block part of the request is presented in the examples. See section

Read and write blocks

on page

331

.

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 12.04 (0C.04h).

•

DP-V1 Write request (Read parameter value):

DP header

Slot number

Subslot 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

01 01 B0 2F 0A 05 01 01 01 10 01 00 0C 00 04

DP-V1 Command PROFIdrive V3 Parameter Channel

DP trailer


•

Positive Read response to DP-V1 Read request:

Slot number

Subslot number

Index

Data length

Response reference (mirrored)

Response ID

Drive object ID


Format (42h = Word)

Number of values

Parameter value

DP header

01 01 B0 2F 08 05 01 01 01 42 01 05 64

DP-V1 Response PROFIdrive V3 Parameter Channel

•

Negative response to PROFIdrive Read request:

DP trailer

DP header

Slot number

Subslot number

Index

Data length


Response ID

Drive object ID (mirrored)


Format (44h = Error)

Number of values

PROFIdrive error code

01 01 B0 2F 08 05 01 01 01 42 01 05 64


DP trailer


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):

Slot number

Subslot number

Index

Data length

Request reference

Request ID (01h= Request Parameter

Drive object ID



Number of elements

Parameter number

Subindex

DP header

01 01 B0 2F 16 06 01 01 03 10 01 00 0C 00 04


•••

•••

•••

10 01 00 14 00 08

(Par. Channel continued)

•••

10 01 00 1E 00 13

(Par. Channel continued)

DP trailer


•

Positive Read response to DP-V1 Read request:

Slot number

Subslot number

Index

Data length


Response ID

Drive object ID


Format (42h = Word)

Number of values

Parameter value

DP header

01 01 B0 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


DP trailer

The values 190h (400), 1F4h (500) and 1Eh (30) are returned.


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).

Slot number

Subslot number

Index

Data length

Request reference

Request ID

Drive object ID



Number of elements

Parameter number

Subindex

Format

(42h = Word)

Number of values

Value

01 01 B0 2F 0E 07 02 01 01 10 01 00 0C 00 02 42 01 02 58



DP header

Slot number

Slot number

Index

Data length

Request reference (mirrored)

Response ID



01 01 B0 2F 04 07 02 01 01

DP-V1 Response

PROFIdrive V3

Parameter Channel

DP trailer


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.

Slot number

Subslot number

Index

Data length

Request reference

Request ID (02h= Change Parameter)

Drive object ID



Number of elements

Parameter number

Subindex

DP header

01 01 B0 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


•••

•••

•••

•••

42 01 01 2C


•••

42 01 01 F4


DP trailer

Value

Number of values

Format (42h = Word)


Slot number

Subslot number

Index

Data length


Response ID



DP header

01 01 B0 2F 04 08 02 01 02

DP-V1 Response

PROFIdrive V3

Parameter Channel

DP trailer


Example 3: Reading a PROFIdrive parameter

In this example, PROFIdrive parameter 919 (397h) is used to read the device system number of the slave, which is the product code of the drive.

•

DP-V1 Write request (Reading a PROFIdrive parameter):

Slot number

Subslot number

Index

Data length

Request reference

Request ID (01h= Request Parameter)

Drive object ID



Number of elements

Parameter index

Subindex

DP header

01 01 B0 2F 0A 09 01 01 01 10 00 03 97 00 00


•

DP-V1 Read response:

DP trailer

Slot number

Subslot number

Index

Data length


Response ID

Drive object ID


Format (42h = Word)

Number of values

Value of error values

DP header

01 01 B0 2F 0A 09 01 01 01 07 01 00 00 02 0B


DP trailer

The slave returns the product code of the drive (20Bh in this example).


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

:

Slot number

Subslot number

Index

Data length

Request reference

Request ID (02h = Change

Drive object ID



Number of elements

Parameter number

Subindex

Format (42h =

Word)

Number of values

Value

01 01 B0 2F 0E 0A 02 01 01 10 01 03 93 00 03 42 01 0C 06



•


Slot number

Subslot number

Index

Data length


Response ID



Format (42h = Word)

Number of values


DP header

01 01 B0 2F 08 0A 01 01 01 42 01 00 68


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 the 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.

•

DP-V1 Write request:

DP header

Slot number

Subslot number

Index

Data length

Request reference

Request ID (01h = Read)

Drive object ID



Number of elements

Parameter index

Subindex

01 01 B0 2F 0A 0B 01 01 01 10 01 03 94 00 03


DP trailer


•


DP header

Slot number

Subslot number

Index

Data length


Response ID



Format (42h = Word)

Number of values


01 01 B0 2F 08 0B 01 01 01 42 01 0C 05


DP trailer

Value indicates the source of PZD3 as drive parameter 12.05

(0C.05h).

Diagnostic and alarm mechanism

The FENA adapter module has mechanisms for sending alarms and saving diagnostics data to a fault buffer. An alarm is triggered if the host or drive has faults in communication or operation. The alarm and fault buffer mechanisms are enabled by default and can be disabled with a configuration parameter (

21 ALARM DISABLE

on page

254

).




Alarm mechanism

When a fault situation occurs, the adapter module sends an alarm notification, which the master station has to acknowledge. Alarm notifications can be acknowledged, viewed and handled, for example, with Siemens S7 blocks OB82, OB83, OB86 and OB122.

•

Block OB82 is used to make sure that the drive does not go to the stop mode during a diagnostic alarm.

•

Block OB83 is called if a module is inserted or removed from the system or if the module is modified.

•

BLock OB86 indicates if there is a failure or event in the distributed periphery.

•

BLock OB122 is called if the CPU calls a device that is not accessible.

Fault code mapping

An alarm notification contains a fault code, which is called

ChannelErrorType. For PROFIdrive API, the drive internal

DRIVECOM fault numbers are mapped to PROFIdrive

ChannelErrorTypes according to the table below. The fault numbers that are not listed are mapped to ChannelErrorType

Other.

ChannelErrorType Description

0x9000

0x9001

0x9002

0x9003

Microcontroller hardware or software

Mains supply

Low voltage supply

DC link overvoltage

DRIVECOM fault numbers

4211, 5000, 5401,

5402, 5403, 5484,

5691, 5693, 6100,

6180, 6300, 6306,

6306, 6320, 6481,

6487, 630D, 630F,

64A1, 64A2, 64A3,

64E1, 6581, 65A1,

6682, 6683, 6684,

6881, FF55

3291

3130, 3220

3210

ChannelErrorType

0x9004

0x9005

0x9006

0x9007

0x9008

0x9009

0x900A

0x900B

0x900C

0x900D

0x900E


Description

Power electronics

Overtemperature electronic device


2211, 2281, 2310,

2312, 2340, 2381,

3180, 3181, 3182,

3183, 3184, 3185,

3186, 3187, 3381,

3385, 5400, 5482,

5682, 5692, FF56

4110, 4210, 4212,

4290, 4310, 4313,

4981, 7182, 42F1,

4380

2330

7121

Earth/ground fault

Motor overload

Fieldbus system

Safety channel

Feedback

8182, 8183, 5090,

5091, FA81, FA82,

FF7A, FFA0, FFA1,

FFA2

7301, 7310, 7380,

7381, 7389, 7391,

8480, 8584, 738A,

738B, 738C, 73A0,

73A1

Internal communication 5480, 5681, 5690,

7000, 7080, 7081,

7510, 7520, 7540,

7584

Infeed

Brake resistor 7111, 7112, 7113,

7181, 7183, 7184,

7185, 7186, 7187,

7191, 71A2, 71A3,

71A5

Line filter


ChannelErrorType

0x900F

Description

External


9000, 9001, 9081,

FF81, FF82, FF8E,

FF90

6382 0x9010

0x9011

0x9012

Technology

Engineering

Other 5080, 5093, 5210,

5300, 6200, 7583,

8110, 8500, 8582,

8583, FF61, FF69,

FF6A, FF83, FF84,

FF95



Fault buffer mechanism

The PROFIdrive profile has a mechanism that can store eight fault situations to PROFIdrive parameters. Fault and diagnostic data, like fault number and fault code, can be accessed simultaneously with only one subindex. The mechanism consists of four

PROFIdrive parameters:

•

PNU944: Fault message counter.

•

Incremented each time the fault buffer changes.

•

PNU945: PROFIdrive fault codes presented in section

Fault code mapping

on page

352

.

•

PNU946: Fault code list that converts fault numbers to fault codes.

•

Read using the fault number as a subindex to get the corresponding fault code.

•

PNU947: Fault numbers according to the DRIVECOM profile.


The table below illustrates the structure of a fault buffer. The fault buffer consists of two parameters: fault number (PNU 947) and fault code (PNU 945). The rows of the fault buffer are represented by the parameter subindices. Fault messages are entered into the buffer in the sequence they are detected. Each line in the fault buffer represents a fault message, which is a part of a fault situation. A fault situation lasts from a detection of a fault to its acknowledgement.

Actual fault situation n

Fault situation n-1

…

PNU947

Fault number

0x4210

0

0

0

0

0x7510

0

0

0

0

0

0

0

0

0

0

…

PNU945

Fault code

0x9005

0

0

0

0

0x900B

0

0

0

0

0

0

0

0

0

0

…

Subindex

0

1

2

3

7

8

9

10

11

4

5

6

12

13

14

15

…


Fault situation n-7

PNU947

Fault number

0

0

0

0

0

0

0

0

PNU945

Fault code

0

0

0

0

0

0

0

0

Subindex

56

57

58

59

60

61

62

63

PROFINET IO – Diagnostics 357

17

PROFINET IO – Diagnostics


This chapter explains how to trace faults with the status LEDs on the adapter module when the module is used for PROFINET IO communication.



358 PROFINET IO – Diagnostics

LEDs



Name

HOST

Color

Blinking green

Green

Blinking red

Flashing orange, alternating with the MODULE flashing orange

Function





PROFINET IO – Diagnostics 359

Name

MODULE

Color

Off

Green

Flashing green

Function


Device is operating in a normal condition.

Device needs commissioning due to configuration missing, incomplete or incorrect. The device may be in the

Standby state. This may be caused by the adapter waiting for a response from a

DHCP server or Duplicate Address

Detection to complete.

Flashing red

Red

Recoverable fault




Flashing redgreen

Device is in Self Test.

Flashing orange Device is blinking. Used for identification.

The blinking is started by the PROFINET master.

Flashing orange, alternating with the HOST flashing orange


360 PROFINET IO – Diagnostics

Name

NETWORK

/NET

Color

Off

Flashing green

Function

Device is not on-line.

• The device has not completed the

Duplicate Address Detection yet.

• The device may not be powered; look at the MODULE status LED.

Device is receiving/transmitting on the

Ethernet.

Technical data 361

18

Technical data


This chapter contains the technical specifications of the adapter module and the Ethernet link.

FENA-01/-11/-21

The figure below shows the enclosure of the adapter module from the front and side.

362 Technical data

Installation

Degree of protection

Ambient conditions

Package

Indicators

Connectors

Power supply

General

Into an option slot on the drive control unit

IP20

The applicable ambient conditions specified for the drive in its manuals are in effect.

Cardboard. Plastic wrapping: Antistatic air bubble sheet (PE).

Three bicolor LEDs (HOST, MODULE,

NETWORK/NET)

A 20-pin connector to the drive

RJ-45 connector to Ethernet (X1)

FENA-21 only: RJ-45 connector for chaining another adapter module (X2)

+3.3 V

±

5% max. 400 mA (supplied by the drive)

Complies with EMC standard EN 61800-3:2004

Printed circuit board conformal coated

Ethernet link

Compatible devices

Medium

Topology

Transfer rate

Serial communication type

Protocol

Ethernet Standard IEEE 802.3 and IEEE 802.3u devices

10BASE-TX or 100Base-TX with Autonegotiation and Auto-MDIX (Auto-crossover)

• Wiring: CAT5/6 UTP, CAT5/6 FTP, CAT5/6

STP

• Connector: RJ-45

• Termination: Internal

• Maximum segment length: 100 m / 328 ft

Bus or star.

Max. 50 nodes allowed for FENA-21 in a daisy chain topology.

10 Mbps or 100 Mbps

Half or full duplex

Modbus/TCP, EtherNet/IP, PROFINET IO

Appendix A – PROFIdrive parameters and I&M records of PROFINET IO

19

Appendix A – PROFIdrive parameters and I&M records of

PROFINET IO



•

PROFIdrive parameters of the PROFINET IO communication protocol

• telegram and response structures for the I&M (Identification &

Maintenance) records of the PROFINET IO communication protocol.

364 Appendix A – PROFIdrive parameters and I&M records of PROFINET IO

PROFIdrive parameters

Par. no. R/W

1)

Data type

915 R/W Array [12]

Unsigned16

Description

Assignment PZD1 to PZD12 in PPOwrite

916

919

922

923

R

R

R/W Array [12]

Unsigned16

R

Assignment PZD1 to PZD12 in PPOread

Octet String4 Device system number

Unsigned16

Array [n]

Unsigned16

Telegram selection

List of all parameters for signals.

Mandatory if process data normalization is used and/or parameters

915

and

916

are implemented.

Type

Unsigned16

Signal no. and name

1 – Control word 1

(STW1)

2 – Status word 1

(ZSW1)

3 – Control word 2

(STW2)

4 – Status word 2

(ZSW2)

5 – Speed set point A

(NSOLL_A)

Unsigned16

Unsigned16

Unsigned16

Signed16

Signed16 6 – Speed actual value

A (NIST_A)

7 – Speed set point B

(NSOLL_B)

8 – Speed actual value

B (NIST_B)

27 – Position set point

A (XSOLL_A)

28 – Position actual value A (XIST_A)

Signed32

Signed32

Signed32

Signed32


Par. no. R/W

1)

Data type

927

928

R/W

R/W

Unsigned16

Unsigned16

Description

32 – Traversing block selection (SATZANW)

(not supported)

33 – Actual traversing block (AKTSATZ) (not supported)

34 – Target position

(TARPOS_A) (not supported)

35 – Velocity

(VELOCITY_A)

Unsigned16

Unsigned16

Signed32

Unsigned32

101…9999 – Drivespecific

–

Operator control rights (parameter identification, PKW)

Value

0

Mode

Parameters cannot be

written, only read (

927

can be written).

1 Parameters can be written and read (default).

Control rights (process data, PZD).

Value

0

1

Mode

PZD part is disabled, ie,

Receipt of new PZD data is ignored.

PZD part is enabled

(default).


Par. no. R/W

1)

Data type

929 R Unsigned16

930

933

934

935

R/W

R/W

R/W

R/W

Unsigned16

Unsigned16

Unsigned16

Unsigned16

Description

Selected PPO type

Value

1

2

PPO type

PPO1

PPO2

3

4

5

PPO3

PPO4

PPO5

6

7

PPO6

PPO7

Note: This parameter is not available if

Standard telegram ST1 or ST2 is selected.

Selection switch for communication profile.

Value

1

Mode

PROFIdrive

8001h

8002h

8003h

ABB Drives

Transparent 16

Transparent 32

8004h PROFIdrive positioning mode

Selection switch for Control word, bit

11.

Value Module Control word bit

0

1 to 5

None

Vendor specific 1 to 5

2)


12. (See parameter

933

for coding.)


13. (See parameter

933

for coding.)


Par. no. R/W

1)

Data type

936 R/W Unsigned16

937

939

940

941

942

943

944

945

R/W

R/W

R/W

R/W

R/W

R/W

R

R

Unsigned16

Unsigned16

Unsigned16

Unsigned16

Unsigned16

Unsigned16

Unsigned16

Array[64]

Unsigned16

Description


14. (See parameter

933

for coding.)


15. (See parameter

933

for coding.)

Selection switch for Status word, bit 11.

Value Module Status word bit

0

1 to 4

None

Vendor specific 1 to 4

2)

Selection switch for Status word, bit

12. (See parameter

939

for coding.)


13. (See parameter

939

for coding.)

24

32

40

48

56


14. (See parameter

939

for coding)


15. (See parameter

939

for coding.)

Fault message counter

Fault code (Channel Error Type)

Subindex Contents

0 Last fault

8

16

Second last ackn. fault

Third last ackn. fault

Fourth last ackn. fault

Fifth last ackn. fault

Sixth last ackn. fault

Seventh last ackn. fault

Eighth last ackn. fault


Par. no. R/W

1)

946

947

953

954

955

956

957

964

965

967

968

R

R

R

R

R

R

R

R

R

R

R

Data type

Array [n]

Unsigned16

Array [64]

Unsigned16

Unsigned16

Unsigned16

Unsigned16

Unsigned16

Unsigned16

Array [7]

Unsigned16

Description

Fault code list. Contains the mapping between DRIVECOM fault codes and

Channel Error Types.

If you use a DRIVECOM fault code as an index when reading PNU946, the corresponding Channel Error Type is returned.

Fault number (coded according to the

DRIVECOM profile).


1

2

3

See parameter

945

.

Last alarm

3)

Second last alarm

3)

Third last alarm

3)

Fourth last alarm

3)

Fifth last alarm

3)


0 Manufacturer

Device type

Version

Firmware date (year)

4 Firmware date

(day/month)

Number of Axes 5

Octet String2 Profile number of this device.

Eg: 0302h = Profile 3, Version 2

Unsigned16

Unsigned16

Control word (CW)

Status word (SW)


Par. no. R/W

1)

Data type

970 R/W Unsigned16

971

972

975

980

981

R/W

R/W

R

R

Unsigned16

Unsigned16

Array[n]

Unsigned16

Array[n]

Unsigned16

Description

Load parameter record


0

1

No action

Restore factory settings

The parameter must do a zero-to-one transition and the motor must be stopped.

Save parameter record


0 No action

1 Save the drive parameters to nonvolatile memory


Software reset

Value

0

1

Description

No action

Re-boot PROFIBUS module


DO identification. For subindexes

0…4, see parameter

964

.

Subindex Meaning

5 Value 2 = Axis

Number list of 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.


Par. no. R/W

1000

50000

61000

R/W

R/W

R

1)

Data type

Unsigned16

Unsigned16

Description

Map 16-bit selection

3)

. Used to request the data type for mapped parameters if mapping is done with parameter 915 or

916.


1 Use 16-bit mapping, if available.

Disable alarms.


0 PNIO alarms enabled.

1 PNIO alarms disabled.

VisibleString24 Name of station

61001

61002

R

R

Unsigned32

Array [6]

Unsigned8

Unsigned32

IP of station

MAC of station

61003 R Default gateway of station

61004 R Unsigned32 Subnet mask of station

1)

Read and/or Write

2)

The meaning of vendor-specific bits is defined by the drive control program.

3)

Support depends on the drive type.


I&M records

I&M (Identification & Maintenance) records can be read, for example, with the DTM tool. The FENA adapter module supports the mandatory I&M0 record as well as the optional I&M1, I&M2,

I&M3 and I&M4 records.



Call-REQ-PDU telegram for read/write access to

I&M records

Function

I&M0

I&M1

I&M2

I&M3

I&M4

Record Data Index

0xAFF0

0xAFF1

0xAFF2

0xAFF3

0xAFF4




Response structure for I&M0 (Read-only)

Header

I&M block

Contents

MANUFACTURER_ID

ORDER_ID

SERIAL_NUMBER

Size Coding

10 Octets –

2 Octets 0x1A = ABB Automation

20 Octets For instance,

“68469422” for FENA-

01 kit)

16 Octets Serial number of FENA module

HARDWARE_REVISION 2 Octets Hardware version of

FENA module

SOFTWARE_REVISION 4 Octets Format: V255.255.255

Eg, V1.0.0 = software version 100

REVISION_COUNTER 2 Octets (Marks a change of hardware or its parameters)

PROFILE_ID 2 Octets 3A00 (…3AFF)

PROFIdrive

2 Octets 0 = no specific type PROFILE_SPECIFIC_

TYPE

IM_VERSION

IM_SUPPORTED

2 Octets 0x0101 = version 1.1

2 Octets 30 = I&M0, I&M1, I&M2,

I&M3 and I&M4 supported



Response structure for I&M1 (Read/Write)

Contents

Header

I&M block

TAG_FUNCTION

TAG_LOCATION

Size Coding

10 Octets –

32 Octets Device function or task

22 Octets Device location





Header

I&M block

Contents Size Coding

10 Octets –

INSTALLATION_DATE 16 Octets Installation date.

Eg, 2011-01-01 16:23

RESERVED 38 Octets Reserved

Note: I&M1, I&M2 and I&M3 are blank (0x20) by default.




Header

I&M block

Contents

DESCRIPTOR

Size Coding

10 Octets –

54 Octets Description of the device set by the user




Contents

Header

I&M block

SIGNATURE

Size Coding

10 Octets –

54 Octets Security code for identifying sessions and changes

Note: I&M4 is filled with zeros (0x0) by default.


Appendix B – ABB IP configuration tool for FENA 375

20

Appendix B – ABB IP configuration tool for FENA


This chapter shows how to use the ABB IP configuration tool to:

• find configured and unconfigured FENA adapter modules in the network

• rewrite the IP configuration of the adapter modules.

Installation

The ABB IP configuration tool is part of the Control Builder Plus software. No separate installation is needed.

376 Appendix B – ABB IP configuration tool for FENA

Finding adapter modules in the network

1. Open the ABB IP configuration tool.

2. Click the Scan button.

The FENA adapter modules present in the network appear on the results list.

Appendix B – ABB IP configuration tool for FENA 377

Rewriting the IP configuration of adapter modules

1. Scan the network for adapter modules.

For instructions, see section

Finding adapter modules in the network

on page

376

.

2. On the results list, click to select the adapter module whose IP configuration you want to modify.

3. Below New configuration, define the IP configuration settings according to your network configuration.

4. If you want the adapter module to use a static IP address instead of DHCP, clear the DHCP check box.

378 Appendix B – ABB IP configuration tool for FENA

5. To apply the new settings, click the Send Configuration button.

The new current IP address and configured IP address appear on the results list.

Appendix C – FENA configuration web pages 379

21

Appendix C – FENA configuration web pages


This chapter presents the FENA configuration web pages.

Browser requirements

Any web browser can be used.

Compatibility

The web pages work with all drives compatible with the FENA

adapter module. For a compatibility table, see section

Drives

on

page

21

.

380 Appendix C – FENA configuration web pages

Logging in

1. Open a web browser and type the IP address of the adapter module in the address field.

Example: http://192.168.0.24/

2. Log in with a user name and a password.

Default user name: Admin.

Password: The last six digits of the MAC ID of the adapter module, without hyphens.

The MAC ID is visible on the cover of the adapter module and in the ABB IP configuration tool (see

Appendix B – ABB IP configuration tool for FENA

).

•

Example: If the MAC ID of the adapter module is 00-1C-

01-00-2F-73, the password is 002F73.

The user interface is loaded.


Menu overview

To navigate on the web pages, use the menu items available:

•

Status

•

Configuration

•

Support

•

Password (only visible when Support is clicked).


Status page

The Status page shows various version information, as well as the serial number and MAC address (MAC ID) of the adapter module.


Configuration page

On the Configuration page, you can modify parameter settings in the configuration parameter groups A (1), B (2) and C (3).


After you have changed any setting in any of the groups, you have to click Save and reboot at the bottom of Group A to validate the settings.


Support page

On the Support page, you can access documentation related to the adapter module, and the EDS and GSDML files. The latest files corresponding to the drive firmware are available through the hyperlinks given below WWW documentation and downloads.


Password page

The Password menu item becomes visible only after you have clicked the Support menu item.

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/searchchannels .

Product training

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

Providing feedback on ABB Drives manuals

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

feedback form (LV AC drives).

Document library on the Internet

You can find manuals and other product documents in PDF format on the Internet. Go to www.abb.com/drives and select Document

Library. You can browse the library or enter selection criteria, for example a document code, in the search field.

Contact us

www.abb.com/drives www.abb.com/solar www.abb.com/windpower www.abb.com/drivespartners

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AC Drives

ABB Inc.

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