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EN / FPBA-01 PROFIBUS DP Adapter Module User`s Manual

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1. LSB Communication temporarily lost Communication permanently lost Reserved The FPBA 01 is operated in DP V1 mode The Diagnostics information is according to PROFIdrive 3 1 The FPBA 01 is operated in DP VO DP mode The Diagnostics information is according to PROFIdrive 2 0 Communication 86 Other SAPs for DP V1 communication Master Master Slave 1 Class SAP SAP Short Name Meaning C1 51 51 Server SAP Read Write Alarm C1 51 50 Alarm SAP Alarm C2 50 49 Resource Req PDU Mgmt SAP C2 50 48 0 Communication Abort Read Write SAP Data_ Transfer C2 62 55 Set_Slave_Add Change Station Address C2 Master Communication 87 Cyclical message types OUT area IN area Type 1 Type 2 Type 3 Type 4 Type 5 Type 6 PPO types Parameter Process data identification Fixed area _ Freely mappable area 2 g z IND VALUE CW REF PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PzD10 amp 5 ID IND VALUE SW ACT PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 amp 5 PKW PZD DP VO DESIG DP V1 DP V1 Far a Ae Rage DEVO 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
2. Direction PZD1 PZD2 Out Control Word Speed Reference In Status Word Speed Actual value The table below gives the recommended drive parameter settings Drive parameter Setting 1001 EXT1 COMMANDS COMM 1103 REF1 SELECT COMM 1601 RUN ENABLE COMM 1604 FAULT RESET SEL COMM 9802 COMM PROT SEL EXT FBA 5101 FBA TYPE PROFIBUS DP 5102 NODE ADDRESS 3 5103 BAUDRATE 12000 5104 TELEGRAM TYPE 1 PPO 1 5105 PROFILE 0 PROF Idrive 5127 FBA PAR REFRESH REFRESH Read only or automatically detected set ABB DRIVES communication profile with PPO Type 4 From the PLC programming point the ABB DRIVES profile is similar to the PROFldrive profile as shown in the first example The start stop commands and reference are according to the ABB DRIVES profile For more information see the chapter 7he ABB Drives communication profile starting on page 63 When Reference 1 REF 1 is used a reference value of 20000 decimal corresponds to the reference set by parameter 1105 REF1 MAX in the forward and reverse directions Quick start up guide 25 When Reference 2 REF 2 is used a reference value of 10000 decimal corresponds to the reference set by parameter 1108 REF2 MAX in the forward and reverse directions The minimum and maximum 16 bit integer values that can be given through the fieldbus are 32768 and 32767 respectively Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 Out Control Speed
3. Example 3 Reading a PROFIdrive parameter In this example PROFIBUS parameter No 918 396h is used to read the station number of the slave DP V1 Write request Reading a PROFIdrive parameter Function number Slot number Index Data length Request reference Request ID Drive object ID Number of parameters Attribute Number of elements Parameter index Subindex ms nr a Se NN DP 5F 01 2F OA 09 01 01 01 10 00 03 96 100 00 DP header DP V1 Command PROF ldrive V3 Parameter Channel trailer Communication 117 DP V1 Read response Function number Slot number Index Data length Request reference mirrored Response ID Drive object ID mirrored Number of parameters Format 42h Word Number of values Value or error values an OF he WE ol L te BERN mh aS ee en em DP I 5E 01 2F 0809 01 01 01 42 101 23 00 pp header DP V1 Response PROFIdrive V3 Parameter Channel trailer The slave returns the code of the latest acknowledged fault 2300h The fault codes are according to the DRIVECOM standard See also the User s Manual of the drive for drive specific fault codes The implementation of the PROFldrive profile in the FPBA 01 supports the storage of the active and the five latest occurred different faults in the fault buffer The fault codes can be accessed by PROF Idrive parameters 945 947 and 948 see page 123 The value zero indicates no fault The subindexes of these parameters
4. Direction PZD1 PZD2 PZD3 PZD PZD PZD Out Control Word Speed reference Torque Not used reference In Status Word Speed actual value Torque Not used actual Quick start up guide 32 The table below gives the recommended drive parameter settings Drive Name Setting Description parameter 50 01 FBA ENABLE ENABLE Communication enable between the drive and the fieldbus module 50 04 FBA REF1 SPEED Fieldbus reference 1 mode MODESEL selection 50 05 FBA REF2 TORQUE _ Fieldbus reference 2 mode MODESEL selection 10 01 EXT1 START FBA External 1 control source FUNC selection 10 04 EXT2 START FBA External 2 control source FUNC selection 24 01 SPEED REF1 FBA REF 1 Fieldbus reference 1 is the SEL source for speed reference 1 32 02 TORQ REF 1 FBA REF 2 Fieldbus reference 2 is the SEL source for Torque reference 1 34 01 EXT1 EXT2 C False External 1 External 2 SEL selection from fieldbus only bit 11 in the fieldbus Control Word 34 03 EXT1 CTRL SPEED External 1 control mode 1 MODE 1 Speed 34 05 EXT2 CTRL TORQUE External 2 control mode MODE 1 1 T orque 51 01 FBA TYPE PROFIBUS Displays the type of the DP fieldbus adapter module 51 02 NODE 3 Profibus node address of ADDRESS the fieldbus module 51 03 BAUDRATE 12000 Displays current baud rate on the Profibus network 51 04 TELEGRAM 4 Displays telegram type TYPE PPO4 selected by the
5. 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 Figure 8 PPO message types Communication 88 Standard telegram ST types ST1 PZD1 PZD2 STW1 NSOLL_A an late Control word 1 Speed setpoint A IN area ZSW1 NIST_A Status word 1 Speed actual value A ST2 PZD1 PZD2 3 PZD4 OUT area STW1 NSOLL_B STW2 Control word 1 Speed setpoint B Control word 2 IN area ZSW1 NIST_B ZSW2 Status word 1 Speed actual value B Status word 2 Figure 9 Standard telegram types DP V1 Note For the contents of the Control Word the Status Word References and Actual Values see the chapter Communication profiles Communication 89 Parameter handling in cyclic communication DP In cyclic PROFIBUS DP communication parameter data is transferred in PPO message types 1 2 and 5 see Figure 8 The Parameter Identification part consists of eight bytes see below Parameter Identification Process Data CW REF ID ino VALUE sw he PD1 PD2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 O Request Label Response Label Parameter Number PNU Request Signal Not used 0 The Request Label is used by the master when transmitting data to the slave while the Response Label is used by the
6. CW Bit6 0 B 1 JOGGING 1 or 2 Bein etz CW Bit5 1 ACTIVE ENABLE Jogging 1 or 2 OFF ARTE ENDE CW Bit8 0 or Bit9 0 C 1 _ condition CW Bit6 1 rising edge OPERATING f n 0 or f 0 and 1 0 sf of the bit SW Bit8 1 and pause expired D 1 F lt gt Figure 4 The general PROFIBUS state machine for all operating modes Communication profiles 62 SW Bit10 13 1 CW Bit4 5 1 and CW Bit6 edge 0 gt 1 CW Bit11 1 SW Bit10 11 13 0 SW Bit10 11 13 1 CW Bit11 0 PROFIBUS State Machine for PROF Idrive Positioning Mode CW Bit6 edge 0 gt 1 CW Control Word SW Status Word CW Bit5 0 condition In the Operating state of the General CW Bit4 0 state machine SW bits 0 1 and 2 1 SW bit 6 0 SW Bit10 13 0 Braking with ramp y Figure 5 The PROFIBUS state machine for positioning mode Communication profiles 63 The ABB Drives communication profile The Control Word and the Status Word The Control Word is the principal means for controlling the drive from a fieldbus system It is sent by the fieldbus master station to the drive through the adapter module The drive switches between its states according to the bit coded instructions on the Control Word and returns status information to the master in the Status Word The contents of the Control Word and the Status Word are detailed in Tables 6 and 7 re
7. Diagnostics LED indications 121 The FPBA 01 module is equipped with three bicolour diagnostic LEDs The LEDs are described below Name Colour Function Green Connection to host OK HOST ae Establishing communication to host Blinking red or communication to host lost Green Module status OK Blinking red Configuration mismatch Blinking red in unison with Establishing communication to host HOST blinking red Blinking green in unison with Network connection lost NETWORK blinking red MODULE Blinking green once per second with NETWORK steady green No communication with this node Blinking green 3 times per second with NETWORK steady green Only Class 2 master connection no cyclic communication established Red Module fault Diagnostics 122 Name Colour Function Blinking green Establishing network connection NETWORK Green Network connection OK Blinking red Network connection lost Diagnostics PROF Idrive parameters PROFIdrive profile specific parameters 123 Param rr St r R W Data type Description 915 R W Array 10 Assignment PZD1 to PZD10 in PPO write Unsigned16 916 R W Array 10 Assignment PZD1 to PZD10 in PPO read Unsigned16 918 R W Unsigned16 Node address Writing this parameter will change the node address Module re start required 919 R Octet String4 Device
8. Exercise appropriate care when working on the unit Neglecting these instructions can cause physical injury or death Safety instructions Safety instructions Table of contents Safety instructions uw ee dee Ss Se ee kates ra 5 OVSIMIEW ae ara ee wien a w fel bund Be nee plete ab ee 5 General safety instructions 44 4 20 HR a ewes ea 5 Table of ContentS 2 u 2 rer 7 Intr d ction 2 2 ace et N Eee 11 Intended audience m mn 11 Before you start ran bannen anne ee ea 11 What this manual contains 24 66 lt 22 2 2222 BE IR a I 11 Terms used in this Manual are Hr bee aa na 13 Further information 222 2 oe pw eee et ee eee A ete aa aa 13 Product and service inquiries 00 ccc cee eee ees 13 PlOGUCEITAINING sus 2444 tetas ee Red eed Co OE Ae ewe 13 Providing feedback on ABB Drives manuals 0 000000 ees 14 OvervieW 5 A EOE EER ARE Se 15 OVEVIEW See tee ieee eee ete nn BE A ne A 15 PROFIBUS standard an koew ck wa heey 22 eee ew en ae BE ee ees 15 The FPBA 01 PROFIBUS DP Adapter module 004 16 Compatibility at iets ache wee Segre hee bd Reke E a Be Ved ha a ie 17 Delivery CHECK 22 realen 18 QUICK StarElip guide 2 re EIER III ai 19 OVCIVIEW a os id he ES BAER OS EO SER 19 PEC COMIGUIAION ur rn ERDE RER 19 Mechanical and electrical installation 22 2 22cm 22 Drive configuration rss en SS EL de 22 Cyclic data NanglinG zur 22 2 a He nei 22 Table of contents Param
9. array parameters are used Parameter Address of the parameter that is being 1 65535 Word Index accessed 0 is allowed by FPBA 01 Subindex Addresses the first array element of the 0 65535 Word parameter or the beginning of a string access or the text array or the description element that is being accessed Format See Table 13 See Table 13 Byte Number of Number of values following 0 234 Byte Values Values The values of the request In case of odd See number of bytes a zero byte is appended Format to ensure the word structure of the field telegram Only if Request ID is 02h Change Parameter The Format Number of Values and Values fields are repeated for other parameters Table 12 PROFldrive Response header Field s Description Range Response Mirrored from the request 1 255 Reference Response Response from the slave In case any Request Param OK 01h ID requested services fail a not Request Param NAK 81h acknowledged NAK response will be Change Param OK 02h indicated Change Param NAK 82h Communication 106 Drive To be set to 1 0 255 Object ID No of Number of parameters that are present 1 37 Parameters in the response Format See Table 13 See Table 13 Number of Number of values following 0 234 Values Values The values of the request In case of odd number of bytes a
10. 01 IGNORE Reserved 15 16 0 65536 Cut off time out in milliseconds 0 Cut off disabled 17 18 0 65536 Fail safe PZD1 typically CW 19 20 0 65536 Fail safe PZD2 typically REF 21 22 0 65536 Fail safe PZD3 23 24 0 65536 Fail safe PZD4 25 26 0 65536 Fail safe PZD5 27 28 0 65536 Fail safe PZD6 29 30 0 65536 Fail safe PZD7 Communication 80 31 32 0 65536 Fail safe PZD8 33 34 0 65536 Fail safe PZD9 35 36 0 65536 Fail safe PZD10 The extended Parameter Data bytes are configured via the PROFIBUS network configuration tool The functions are defined in the GSD file Communication SAP 62 Chk_Cfg With this telegram the master will send the selected data exchange Write _Read_Data telegram type code to slave SAP 62 The table below gives the typical hexadecimal values DU Byte 0 n that are sent to the drive in order to select the PPO type or standard telegram ST 81 Default code for Telegram Cyclical telegram message type Supported parameter name length in words see ngure Below channel access mode PPO 1 4 PKW 2 PZD in out F3 F1 DP V0 DP V1 PPO2 4 PKW 6 PZD in out F3 F5 DP VO DP V1 PPO3 0 PKW 2 PZD in out F1 DP V1 PPO4 0 PKW 6 PZD in out F5 DP V1 PPO5 4 PKW 10 PZD in out F3 F9 DP VO DP V1 PPO6 0 PKW 10 PZD in out F9 DP V1 ST1 2PZDin 2PZDout C3 C1 C
11. 3 Mbit s 8 6 Mbit s 9 12 Mbit s 11 45 45 kbit s 255 Invalid baud rate 964 R Array 7 Subindex Contents Unsigned16 o Manufacturer 1 Device type 2 Version 3 Firmware date year 4 Firmware date day month 5 Number of Axes 6 Identification 0959h 965 R Octet String2 Profile number of this device E g 0302h Profile 3 Version 2 967 R Unsigned16 Control word CW 968 R Unsigned16 Status word SW PROF Idrive parameters 127 Param eter Data type Description 970 R W Unsigned16 Load parameter record Value Description 0 No action 1 Restore factory settings The parameter must do a zero to one transition and the motor must be stopped 971 R W Unsigned16 Save parameter record Value Description 0 No action 1 Save the drive parameters to non volatile memory The parameter must do a zero to one transition and the motor must be stopped 972 975 R W Unsigned16 Array n Unsigned16 Software reset Value Description 0 No action 1 Re boot PROFIBUS module The parameter must do a zero to one transition and the motor must be stopped DO identification For subindexes 0 4 see parameter 964 Subindex Meaning 5 Value 2 Axis 6 Bit 0 1 gt Application Class 1 supported Bit 2 1 gt Application Class 3 supported 980 981 Array n Unsigned16 Number list of defined parameters If the subindex is 0 the end of the l
12. Direction PZD1 PZD2 Out Control Word Speed Reference In Status Word Speed Actual value The table below gives the recommended drive parameter settings Drive parameter Setting 50 01 FBA ENABLE ENABLE 50 04 FBA REF1 MODESEL SPEED 10 01 EXT1 START FUNC FBA 24 01 SPEED REF1 SEL FBA REF 1 34 03 EXT1 CTRL MODE 1 SPEED 51 01 FBA TYPE PROFIBUS DP 51 02 NODE ADDRESS 3 Quick start up guide 27 51 03 BAUDRATE 12000 51 04 TELEGRAM TYPE 1 PPO 1 51 05 PROFILE 0 PROFldrive 52 02 FBA DATA IN1 4 52 02 FBA DATA IN2 5 53 01 FBA DATA OUT 1 1 53 02 FBA DATA OUT2 2 51 27 FBA PAR REFRESH REFRESH Read only or automatically detected set PROFIdrive communication profile Positioning Mode with PPO Type 4 The start stop commands and reference are according to the PROFIdrive profile Positioning Mode The Position setpoint and velocity reference are defined as 32 bit integer values both are scaled as defined by drive parameter settings Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD Out Control Word Position setpoint Velocity reference N A STW1 In Status Word Position actual value Velocity actual value N A ZSW1 The table below gives the recommended drive parameter settings Drive Name Value Description parameter 50 01 FBA ENABLE ENABLE Communication enable between the drive and
13. Selection switch for Status word bit 13 See parameter 939 for coding Selection switch for Status word bit 14 See parameter 939 for coding 943 R W Unsigned16 Selection switch for Status word bit 15 See parameter 939 for coding 945 Array 64 Unsigned16 Fault code coded according to DRIVECOM profile Note The drive may limit the actual number of faults recorded Subindex Contents 1 Active fault 9 Last ackn fault 17 Second last ackn fault 25 Third last ackn fault 33 Fourth last ackn fault 41 Fifth last ackn fault 947 Array 64 Unsigned16 Fault number Subindex Contents See parameter 945 PROFldrive parameters 126 Param mare eter R W Data type Description 952 R W Unsigned16 Number of faults occurred Writing a zero clears the value 953 R Unsigned16 Last alarm 954 R Unsigned16 Second last alarm 955 R Unsigned16 Third last alarm 956 R Unsigned16 Fourth last alarm 957 R Unsigned16 Fifth last alarm 958 R Unsigned16 Sixth last alarm not supported 959 R Unsigned16 Seventh last alarm not supported 960 R Unsigned16 Eighth last alarm not supported 961 R Octet String4 Hardware configuration manufacturer specific ID of the drive 963 R Unsigned16 Detected baud rate 0 9 6 kbit s 1 19 2 kbit s 2 93 75 kbit s 3 187 5 kbit s 4 500 kbit s 6 1 5 Mbit s 7
14. are related to each other i e parameter 945 with subindex 1 relates to subindex of parameter 947 and 948 Example 4 Configuring the process data written to the drive PROFIBUS parameter No 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 O6h 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 Communication 118 DP V1 Write request Function number Slot number Index Data length Request reference Request ID 02h Change Drive object ID Number of parameters Attribute 10h Value Number of elements Parameter index Subindex Format 42h Word Number of values Value m m ee er mr rm m oe OT DP 5F 01 2F OE OA 02 01 01 10 01 03 93 00 03 42 01 0C 06 DP header DP V1 Command PROFldrive V3 Parameter Channel trailer DP V1 Read response Function number Slot number Index Data length Request reference mirrored Response ID Drive object ID mirrored Number of parameters Format 42h Word Number of values Mel Value or error values DP oA 01 01 01 42 01 00 68 DP header DP V1 Response PROFldrive V3 Parameter
15. 0 not used 1 99 virtual address area of drive control 101 9999 parameter area of the drive Drive configuration 46 The virtual address area of the drive control is allocated as follows Virtual Description Data DATA address length IN only 1 Control word 16 bit 2 Reference 1 REF1 16 bit 3 Reference 2 REF2 16 bit 4 Status word 16 bit X 5 Actual value 1 ACT1 16 bit x 6 Actual value 2 ACT2 16 bit x 7 10 Reserved 11 Control word 32 bit 12 Reference 1 REF1 32 bit 13 Reference 2 REF2 32 bit 14 Status word 32 bit X 15 Actual value 1 ACT1 32 bit X 16 Actual value 2 ACT2 32 bit X 17 20 Reserved 21 Control word 2 STW2 16 bit 22 23 Reserved 24 Status word 2 ZSW2 16 bit X 25 99 Reserved 99 Reserved With an ACS350 drive Control word and Reference 1 are always fixed to virtual addresses 1 and 2 respectively If REF2 is used its virtual address is always 3 When the PROFIdrive profile or PROFIdrive positioning mode see parameter group A parameter number 5 PROFILE on page 42 is used with an ACSM1 drive the virtual addresses shown Drive configuration 47 below are recommended FBA REFx mode is selected with ACSM 1 drive parameter 50 04 50 05 The information in the table is applicable only if PPO messaging is used see parameter group A parameter number 4 TELEGRAM TYPE on page 42 If sta
16. 100A REVISION_COUNTER 2 Octets marks a change of hardware or its parameters PROFILE_ID 2 Octets 3A00 3AFF PROFIdrive PROFILE_SPECIFIC_TYPE 2 Octets 0 no specific type IM_VERSION 2 Octets 0x0101 version 1 1 IM_SUPPORTED 2 Octets 3 1 amp MO I amp M1 and I amp M2 supported PROF Idrive parameters 129 Response structure for I amp M1 Read Write Contents Size Coding Header Manufacturer specific 10 Octets I amp MO TAG_FUNCTION 32 Octets Device function or task block TaG_ LOCATION 22 Octets Device location Response structure for I amp M2 Read Write Contents Size Coding Header Manufacturer specific 10 Octets I amp MO INSTALLATION_DATE 16 Octets Installation date block E g 2007 01 01 16 23 RESERVED 38 Octets Reserved Note I amp M1 and I amp M2 are blank 0x20 by default PROFldrive parameters 130 PROF Idrive parameters 131 Definitions and abbreviations PROFIBUS definitions Acyclic Communication Array Broadcast Command Word Communication Object Control Word Cyclic Communication Device Class Drivecast Fault GSD File Index Information Report Communication in which messages are sent only once on request Parameter consisting of data fields of equal data type Non acknowledged message from master to all bus participants compare Multicast See Control Word Any ob
17. 2 R W 6 7 8 1 2 Oh 63h 99 Supported with an ACSM1 drive only Drive parameters Par No Example Index Sub index Decimal Request Label No 1 1 101 1 2 102 R W 6 7 8 1 2 63h 63h 9999 Supported with an ACSM1 drive only Communication 92 PROFidrive parameters i Par No Request Example index Sub Index Decimal Label No 2h 2 3h 3 393h 915 R W 6 7 6 9h 9 2h 3h 3 394h 916 R W 6 7 7 9h 9 396h Oh 918 R W 1 2 3 4 Oh 1 9h 9 11h 17 3B3h 947 R 6 5 19h 25 21h 33 29h 41 3CCh Oh 972 R W 1 2 3 4 The complete PROFIdrive parameter list for the FPBA 01 can be found as a separate chapter elsewhere in this manual Note Continuous cyclic writing of PROFIdrive parameters should be avoided as the values of these parameters are stored in the flash memory of the FPBA 01 The estimated lifetime of the flash memory is 100 000 program erase cycles and continuous writing will cause the memory to fail prematurely Communication Parameter data transfer examples 93 Note Only the Data unit part of the telegram is presented in the examples See Figure 7 on page 73 Example 1 Reading a drive parameter or data set To determine the parameter number and subindex for drive parameter reading convert the drive parameter group number and the param
18. 6 DATAIN6 See DATA IN 1 above 0 7 DATAIN 7 See DATA IN 1 above 0 8 DATAIN 8 See DATA IN 1 above 0 9 DATAIN 9 See DATA IN 1 above 0 10 DATA IN 10 See DATA IN 1 above 0 11 DATA IN 11 See DATA IN 1 above 0 12 DATAIN 12 See DATA IN 1 above 0 Default setting if the Transparent 32 profile is used Fixed setting with an ACS350 drive Supported only with an ACSM1 ACS850 drive 1 DATA IN 1 This parameter represents data word 1 sent by the drive over the PROFIBUS network For the contents see configuration parameter group B parameter 1 DATA OUT 1 on page 45 2 to 12 DATA IN 2 to DATA IN 12 See parameter 1 above Drive configuration 49 Control locations ABB drives can receive control information from multiple sources including digital inputs analogue inputs the drive control panel and a communication module e g FPBA 01 ABB drives allow the user to separately determine the source for each type of control information Start Stop Direction Reference Fault Reset etc In order to give the fieldbus master station the most complete control over the drive the communication module must be selected as source for this information See the user documentation of the drive for information on the selection parameters Drive configuration 50 Drive configuration 51 Master configuration Overview This chapter gives information on configuring the PROFIBUS master station for communicati
19. Control Word and returns status information to the master in the Status Word PROFIBUS Parameter 968 The contents of the Control Word and the Status Word are detailed in Tables 4 and 5 respectively see the drive documentation for information on the drive specific bits The drive states are presented in the PROFIBUS State Machine Figure 4 The drive states for positioning mode are presented in Figure 5 References ABB drives can receive control information from multiple sources including analogue and digital inputs the drive control panel and a communication module e g FPBA 01 In order to have the drive controlled through PROFIBUS the communication module must be defined as the source for control information e g Reference References in speed control mode In 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 by a drive parameter A 32 bit speed reference NSOLL_B in hexadecimal 0 4000 0000h corresponds to 0 100 of Maximum Reference as defined by a drive parameter Communication profiles 56 References in positioning mode with an ACSM1 drive only In positio
20. Ete git oe e en tenet I eee ek 63 PCIE VALUES ae ee a a tee Ae ke sea ana wc 65 Table of contents Communication 6 9 3222 74 esa oe sae ea eee nrnna 71 OVERVIEW agi aia eds ee S Sieg ee en alae alee 71 PROFIBUS DP ar 4 2 ero ted tase mans oe eee ee 71 Service Access Points SAPS 0 0000 cee eee eens 71 Communication start up su 2 828342 2222 2er 72 Other SAPs for DP V1 communication 00000 eee 86 Cyclical message types as He 87 PPO types er ae ech n H a a Ci ce ee bona Dp hid wold wna aai 87 Standard telegram ST types 2 20 eee 88 Parameter handling in cyclic communication DP 89 Parameter data transfer examples muessen 93 DP V1 read write request Sequence 00 eee eee eee 100 Parameter data transfer examples 00 cece eee aes 110 Diagnostics 2 wre res yee waren eee ee 121 LED INGICANONS oar cena neta Drainage 121 PROF idrive parameters cc iss whe is 22 0 HESS re ee oe es 123 PROF ldrive profile specific parameters 0 00000 eee eee 123 I amp M Identification amp Maintenance records 02000005 128 Call REQ PDU telegram for read write access to I amp M records 128 Response structure for I amp MO Read only 2 00000s 128 Response structure for I amp M1 Read Write 00 129 Response structure for I amp M2 Read Write 005 129 Definitions and abbreviat
21. Quick start up guide Overview This chapter presents the steps to take during the start up of the FPBA 01 PROFIBUS DP Adapter Module with an ACS350 ACSM1 or ACS850 drive For more detailed information see the chapters Mechanical installation Electrical installation and Drive configuration elsewhere in this manual WARNING Follow the safety instructions given in this manual and the Hardware Manual of the drive PLC configuration e Install the FPBA 01 GSD file e g ABB0959 GSD GHW Config Configuring hardware Station PLC View Options Help D PAR E Customize Ctri Alt E Edit Catalog Profile Update Catalog Install HW Updates Install New GSD Import Station GSD Installs new GSD files in the system and updates the contents of the catalog Quick start up guide 20 e Select the Fail Safe mode and enter a Failsafe Timeout value Properties DP slave Update Alarm E Alarm Mode Prm Structure EI Length of User Data CHE EI Structure Type azo E Slot fo EI Reserved O Use fail safe values Control zero mode Use data Failsafe Timeout 0 No timeout PZD1 Failsafe value 2 PZD2 Failsafe value 2 PZD3 Failsafe value 2 PZD4 Failsafe value 2 PZD5 Failsafe value E P2D6 Failsafe value 2 PZD Failsafe value PZD8 Failsafe value i Quick start up guide 21 e Set the message type baud rate and node number Additional Field D
22. STATE Description 5 RAMP_HOLD 1 Enable ramp function Proceed to RAMP FUNCTION GENERATOR ACCELERATOR ENABLED 0 Halt ramping Ramp Function Generator output held 6 RAMP_IN_ 1 Normal operation Proceed to OPERATING ZERO 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 7 RESET 0 gt 1 Fault reset if an active fault exists Proceed to SWITCH ON INHIBITED Note This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters 0 Continue normal operation 8 to 9 Reserved 10 REMOTE_ 1 Fieldbus control enabled CMD 0 Control Word lt gt 0 or Reference lt gt 0 Retain last Control Word and Reference Control Word 0 and Reference 0 Fieldbus control enabled Reference and deceleration acceleration ramp are locked 11 EXT CTRL_ 1 Select External Control Location EXT2 Effective if LOC control location parameterised to be selected from fieldbus 0 Select External Control Location EXT1 Effective if control location parameterised to be selected from fieldbus 12 to Drive specific For information see the drive documentation 15 Communication profiles 68 Table 7 The Status Word for the ABB Drives communication profile The upper case boldface text refers to the states shown
23. slave as a positive or negative acknowledgement The tables below show the Request Response functions Request labels from Master to Slave Request Function Response labels Ackn Ackn No task Request parameter value Change parameter value word Change parameter value double word Request description element Change description element Request parameter value array Change parameter value array word Change parameter value array double word Request number of array elements N 00 Oo loo 00 oo N B IM O olala A Joo Joo gt gt Jo NIN IN IN IN N IN IN N 1 co Communication 90 Ackn Response label Acknowledgement from Slave to Master Function 0 No response Transfer parameter value word Transfer parameter value double word Transfer description element Transfer parameter value array word Transfer parameter value array double word Transfer number of array elements N OO 01 AI OIN gt Task cannot be executed followed by error number 0 Illegal parameter number 1 Parameter value cannot be changed 2 Lower or upper limit violated 3 Erroneous subindex 4 No array 5 Incorrect data type 6 Setting not allowed can only be reset 7 Descriptive element cannot be changed 9 Descriptive data not available 11 No parameter change
24. system number 923 R Array n List of all parameters for signals Mandatory if process Unsigned16 data normalization is used and or parameters 915 and 916 are implemented Signal no and name Type 1 Control word 1 STW1 Unsigned16 2 Status word 1 ZSW1 Unsigned16 3 Control word 2 STW2 Unsigned16 4 Status word 2 ZSW2 Unsigned16 5 Speed setpoint A NSOLL_A Signed16 6 Speed actual value A NIST_A Signed16 7 Speed setpoint B NSOLL_B Signed32 8 Speed actual value B NIST_B Signed32 27 Position setpoint A XSOLL_A Signed32 28 Position actual value A XIST_A Signed32 32 Traversing block selection SATZANW not supported 33 Actual traversing block AKTSATZ Unsigned16 not supported 34 Target position TARPOS_A not Signed32 supported 35 Velocity VELOCITY_A 101 9999 Drive specific Unsigned16 Unsigned32 PROFldrive parameters 124 ia Si R W Data type Description 927 R W Unsigned16 Operator control rights parameter identification PKW Value Mode 0 Parameters cannot be written only read 927 can be written 1 Parameters can be written and read default 928 R W Unsigned16 Control rights process data PZD Value Mode 0 PZD part is disabled i e Receipt of new PZD data is ignored 1 PZD part is enabled default 929 R Unsigned16 Selected PPO type Value PPO type Configuration 1 PPO1 F3
25. the drive it is connected to Recommended node numbers are 3 to 125 inclusive 3 BAUD RATE This parameter indicates the detected communication speed in kbit s 12000 12 Mbit s 6000 6 Mbit s 3000 3 Mbit s 1500 1 5 Mbit s 500 500 kbit s 187 187 5 kbit s 93 93 75 kbit s 45 45 45 kbit s 19 19 2 kbit s 9 9 6 kbit s 4 TELEGRAM TYPE This parameter indicates the selected telegram type for the PROFIBUS communication The FPBA 01 automatically detects the telegram type used and supports PPO messages 1 to 6 and standard telegrams ST 1 and 2 See Figure 8 in the chapter Communication for more information on the supported PPO message types If STs are used parameter 5 PROFILE is automatically set ST2 is only supported with an ACSM1 drive 5 PROFILE This parameter is used to select which communication profile is used The FPBA 01 supports the PROF Idrive ABB Drives and Transparent 16 profiles With an ACSM1 drive a PROF Idrive positioning mode and the Transparent 32 profile are also supported Drive configuration 44 More information on the communication profiles can be found in the chapter Communication profiles 6 T16 SCALE Reference multiplier actual value divisor for the FPBA 01 The parameter is effective only when the Transparent 16 profile is selected AND the drive is using the DCU communication profile With an ACS350 the speed reference from the PLC is multiplied by the value of th
26. 1 FD 00 01 DP V1 ST2 4PZDin 4PZDout C3 C3 C3 FD 00 02 DP V1 DP V1 mode selected by the user PKW Parameter Kennung Wert Parameter ID value PZD Proze daten Process data cyclically transferred Communication 82 The default codes for the PPO types in the table above defines data consistency over the message as follows MSB X X X X X X X X LSB Length of data 0000 1 byte per word 1111 16 bytes per word Input Output 00 Special format 01 Input 10 Output 11 Input and output 0 Byte 1 Word 0 Consistency of byte word 1 Consistency of entire length For example 11110001 F1 PPO3 Also data non consistent over the entire message is supported by the FPBA 01 The cyclical frame types supported by the module are defined in the GSD file Communication 83 SAP 60 Slave_Diag This SAP gives diagnostic information on the slave station Diag_Data Diagnostic Data Type Octet String Length 6 Standard 2 Extended Diagnosis DP VO mode 5 Extended Diagnosis DP V1 mode Note During initialisation the module only sends the standard part of the message DU Byte 0 Station_Status_1 Description MSB X x x x X X xX X LSB Diag Station_Non_Existent Set by Master reset by Slave Slave not found Diag Stag
27. 12 02 to the drive 12 02 0Ch O2h gt Parameter number OCh Subindex 02h The following is an example of writing a 16 bit parameter Request Change parameter value array Parameter Number Subindex Parameter Value 100 decimal CW REF PZD3 PZD4 PZD5 PZD6 Req Resp DP header 70 0C 02 00 00 00100 6404 7F 34115 00 00 00 00100 00 00 00 pp 40 0C 02 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 oo trailer eG Ge u ee u ee OOO N ah SW ACT PZD3 PZD4 PZD5 PZD6 Parameter Value 100 decimal Subindex Parameter Number Response Transfer parameter value array 2nd byte reserved This is an example of writing a 32 bit parameter Request Change parameter value array double word Parameter Number Subindex Parameter Value 100 decimal CW REF PZD3 PZD4 PZD5 PZD6 Req Resp DP header 80 0C 02 00 00 00 00 164104 7F 34 15100100 00 00 00 00 00 00 pp 50 0C 02 00 00 00 00164 03137 34 15 0000 00 00 oo 00 oo oo trailer Parameter Value 100 decimal Subindex Parameter Number Response Transfer parameter value array double word 2nd byte reserved va ee en A OS OO OO OO SW ACT PZD3 PZD4 PZD5 PZD6 Communication 95 Example 3 Reading a PROF Idrive parameter word In this example PROFIBUS Parameter 918 is used to read the stat
28. ABB Drives User s Manual PROFIBUS DP Adapter Module FPBA 01 a a P aie PROFIBUS DP Adapter Module FPBA 01 User s Manual 3AFE68573271 REV C EN EFFECTIVE 09 01 2009 2009 ABB Oy All Rights Reserved Safety instructions Overview This chapter states the general safety instructions that must be followed when installing and operating the FPBA 01 PROFIBUS DP Adapter module The material in this chapter must be studied before attempting any work on or with the unit In addition to the safety instructions given below read the complete safety instructions of the specific drive you are working on General safety instructions A WARNING All electrical installation and maintenance work on the drive should be carried out by qualified electricians The drive and adjoining equipment must be properly earthed Do not attempt any work on a powered drive After switching off the mains always allow the intermediate circuit capacitors 5 minutes to discharge before working on the frequency converter the motor or the motor cable It is good practice to check with a voltage indicating instrument that the drive is in fact discharged before beginning work The motor cable terminals of the drive are at a dangerously high voltage when mains power is applied regardless of motor operation There can be dangerous voltages inside the drive from external control circuits even when the drive mains power is shut off
29. B8h Station_Status Recom MmsBx x 11 11 0 0 0 LsB mended Reserved default Ron value 1 Watchdog on Freeze _Req 1 Slave is requested to process in freeze mode Sync_Req 1 Slave is requested to process in SYNC mode 00 Min TSDR and slave related Unlock_Req parameters may be overwritten 10 Slave locked for other masters Lock_Req F parameters can be carried over x1 Slave released for other masters 1 2 WD_Fact_1 and WD_Fact_2 Watchdog Factors 1 and 2 set by the PROFIBUS master WdFactor1 x WdFactor2 x 10 ms monitoring time of the slave to verify that the master is still active 3 OBh MinTSDR Minimum Station Delay Respond Time Default Time after which a slave station is allowed to send response frames to the master Calculated by multiplying the hex value with tpi time required for transmitting one bit 4 5 0959h Vendor Identification for the FPBA 01 0959h 6 00h Group Identification Communication 77 DPV1_Status_1 DP V1 only MSB X 0 x 0 0 x x x Dis_Stop_Control Disable Stop Bit Control Dis Start_Control Disable Stop Bit Control LSB 0 Start bit monitoring in receiver enabled 1 Start bit monitoring in receiver disabled 0 Stop bit monitoring in receiver enabled 1 Stop bit monitoring in receiver disabled WD_Base Watchdog time base 0 10ms 1 1ms Reserved P
30. BA 01 PROFIBUS DP Adapter module is one of the optional fieldbus adapter modules available for ABB drives The FPBA 01 is a device through which an ABB drive is connected to a PROFIBUS network Parameter A parameter is an operating instruction for the drive Parameters can be read and programmed with the drive control panel or through the FPBA 01 module Further information Further information is available on the World Wide Web from www profibus com Product and service inquiries Address any inquiries about the product to your local ABB representative quoting the type code and serial number of the unit in question A listing of ABB sales support and service contacts can be found by navigating to www abb com drives and selecting Sales Support and Service network Product training For information on ABB product training navigate to www abb com drives and select Training courses Introduction 14 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 Introduction 15 Overview Overview This chapter contains a short description of the PROFIBUS standard and the FPBA 01 Adapter module and a delivery checklist PROFIBUS standard PROFIBUS is an open serial communication standard that enables data exchange between all kinds of automation components There are three main variations of PROF
31. Channel trailer Subsequently the contents of PZD3 in each Request frame are written to drive parameter 12 06 until a different selection is made Communication 119 Example 5 Determining the source of process data read from the drive PROFIBUS Parameter No 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 Function number Slot number Index Data length Request reference Request ID 01h Read Drive object ID Number of parameters Attribute 10h Value Number of elements Parameter index Subindex psn or Ee a DP 5F 01 2F OA 0B 01 01 01 10 01 03 94 00 03 DP header DP V1 Command PROF Idrive V3 Parameter Channel trailer DP V1 Read response Function number Slot number Index Data length Request reference mirrored Response ID Drive object ID mirrored Number of parameters Format 42h Word Number of values Value or error values SS E ania W saem LS WEN LS ee Ss ciana chen ak DP 5E 01 2F 08 0B 01 01 01 42 01 0C 05 pp header DP V1 Response PROFIdrive V3 Parameter Channel trailer Value indicates the source of PZD3 as drive par 12 05 0C O5h Communication 120 Communication
32. Critical Critical Critical N A Word Reference speed set speed 1 lo speed 1 hi In Status Speed Actual Power DC bus N A N A Word value voltage Example The table below gives the recommended drive parameter settings Drive parameter Setting 1001 EXT1 COMMANDS COMM 1103 REF1 SELECT COMM 1601 RUN ENABLE COMM 1604 FAULT RESET SEL COMM 9802 COMM PROT SEL EXT FBA 5101 FBA TYPE PROFIBUS DP 5102 NODE ADDRESS 4 5103 BAUDRATE 1500 5104 TELEGRAM TYPE 4 PPO 4 5105 PROFILE 1 ABB DRIVES 5401 DATA IN 1 4 Status Word 5402 DATA IN 2 5 Actual value 1 5403 DATA IN 3 106 POWER 5404 DATA IN 4 107 DC BUS VOLTAGE 5501 DATA OUT 1 1 Control Word Quick start up guide 26 5502 DATA OUT 2 2 REF1 5503 DATA OUT 3 2501 CRIT SPEED SEL 5504 DATA OUT 4 2502 CRIT SPEED 1 LO 5505 DATA OUT 5 2503 CRIT SPEED 1 HI 5127 FBA PAR REFRESH REFRESH Read only or automatically detected set Example Parameter setting examples ACSM1 PROF Idrive communication profile Speed Control Mode with PPO Type 1 The start stop commands and reference are according to the PROFIdrive profile Speed Control Mode See the PROFIBUS state machine on page 61 The reference value 16384 4000h corresponds to parameter 25 02 SPEED SCALING in forward and reverse directions
33. EED u s Unit s in this case m s UNIT 60 11 POS 100 Scales position speed values to SPEED2INT integer values Selections 1 10 100 1000 10000 100000 Example The velocity setpoint and actual values are scaled with the above example values as follows 1000 100 10 00 m s aa 60 10 POS SPEED UNIT Physical value 60 08 POS SPEED2INT Setpoint value Quick start up guide 31 Pay attention to the following parameters Group Description 90 Encoder selection 91 92 93 Settings of the Encoder The start sequence for above parameter example is given below Control word 406h 1150 decimal gt READY TO SWITCH ON 40Fh 1039 decimal gt OPERATING 43Fh 1087 decimal gt OPERATING Do reject traversing task with no intermediate stop 47Fh 1151 decimal gt OPERATING Activate traversing task COFh 3087 decimal gt OPERATING Start Homing procedure ABB DRIVES communication profile Speed Torque Control Mode with PPO Type 4 The start stop commands and reference are according to the ABB DRIVES profile Speed Control Mode When Reference 1 REF 1 is used a reference value of 20000 4E20h corresponds to the reference set by parameter 25 02 SPEED SCALING in the forward and reverse directions When Reference 2 REF2 is used a reference value of 10000 2710h corresponds to the reference set by parameter 32 04 TORQUE REF 1 MAX in the forward and reverse directions
34. Format 42h Word Number of values Value m nm er Ne NO m i EE eS ES DP 5F 01 2F 0E 07 02 01 01 10 01 00 0C 00 02 42 01 02 538 DP header DP V1 Command PROF ldrive V3 Parameter Channel trailer Slot number Slot number Index Data length Request reference mirrored Response ID Drive object ID mirrored Number of parameters PROFIdrive V3 Parameter Channel Communication 115 Example 2b Writing 2 drive parameters multi parameter In this example the values 300 12Ch and 500 1F4h are written to drive parameters 12 02 0C 02h and 20 08 14 08h respectively using one telegram Function number Slot number Index Data length Request reference Request ID 02h Change Parameter Drive object ID Number of parameters Attribute 10h Value Number of elements Parameter index Subindex rey BN OE DP 5F 01 2F 14 08 02 01 02 10 01 00 0C 00 02 header DP V1 Command PROF ldrive V3 Parameter Channel 10 01 00 14 00 08 Par Channel continued 42 01 01 2C Par Channel cont d 42 01 01 F4 DP Par Channel cont d trailer Te Value Number of values Format 42h Word Communication 116 Slot number Slot number Index Data length Request reference mirrored Response ID Drive object ID mirrored Se Number of parameters zB 5E 01 2F 04 08 02 01 02 5B Parameter Channel
35. IBUS PROFIBUS FMS Fieldbus Message Specification PROFIBUS DP Decentralised Periphery and PROFIBUS PA Process Automation The physical transmission medium of the bus is a twisted pair cable according to the RS 485 standard The maximum length of the bus cable is 100 to 1200 metres depending on the selected transmission rate see the chapter Technical data Up to 31 nodes can be connected to the same PROFIBUS network segment without the use of repeaters With repeaters it is possible to connect 127 nodes including repeaters and master station to the network In PROFIBUS communication the master station usually a programmable logic controller PLC polls the nodes which respond and take the actions requested by the master It is also possible to send a command to several nodes at the same broadcast in this case the nodes do not send a response message to the master The PROFIBUS protocol family is specified in the IEC 61158 standard The communication with a drive is defined in PROF Idrive PROFILE The PROFIBUS Profile for Adjustable Speed Drives For further information on PROFIBUS refer to the above mentioned standards Overview 16 The FPBA 01 PROFIBUS DP Adapter module Overview The FPBA 01 PROFIBUS DP Adapter module is an optional device for ABB drives which enables the connection of the drive to a PROFIBUS network The drive is considered as a slave on the PROFIBUS network Through the FPBA 01 PROFIB
36. Os 5 40 ACT2 10000 ACT1 20000 SO MAX Communication profiles 66 Table 6 The Control Word for the ABB Drives communication profile The upper case boldface text refers to the states shown in Figure 4 Bit Name Value STATE Description OFF1_ CONTROL 1 Proceed to READY TO OPERATE 0 Stop along currently active deceleration ramp Proceed to OFF1 ACTIVE proceed to READY TO SWITCH ON unless other interlocks OFF2 OFF3 are active OFF2_ CONTROL Continue operation OFF2 inactive Emergency OFF coast to stop Proceed to OFF2 ACTIVE proceed to SWITCH ON INHIBITED OFF3_ CONTROL INHIBIT_ OPERATION Continue operation OFF3 inactive Emergency stop stop within time defined by drive parameter Proceed to OFF3 ACTIVE proceed to SWITCH ON INHIBITED Warning Ensure motor and driven machine can be stopped using this stop mode 3 INHIBIT 1 Proceedto 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 RAMP_OUT_ ZERO 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 Communication profiles 67 Bit Name Value
37. PLC configuration tool Quick start up guide 33 51 05 PROFILE 1 ABB Control Word according to Drives the ABB Drives profile 52 01 FBA DATA IN1 4 Status Word PZD 1 52 02 FBA DATA IN2 5 Actual value 1 52 03 FBA DATA IN3 6 Actual value 2 53 01 FBA DATA 1 Control Word OUT2 53 02 FBA DATA 2 Reference 1 OUT2 53 03 FBA DATA 3 Reference 2 OUT3 51 27 FBA PAR REFRESH Refreshing parameter REFRESH settings of the module Read only or automatically detected set Example The start sequence for the parameter example above is given below Control Word 47Eh 1150 decimal gt READY TO SWITCH ON 47Fh 1151 decimal gt OPERATING Speed mode C7Fh 3199 decimal gt OPERATING Torque mode Parameter setting examples ACS850 PROF Idrive communication profile Speed Control Mode with PPO Type 1 The start stop commands and reference are according to the PROF Ildrive profile Speed Control Mode See the PROFIBUS state machine on page 61 The reference value 16384 4000h corresponds to parameter 19 01 Speed scaling in forward and reverse directions Direction PZD1 PZD2 Out Control Word Speed Reference In Status Word Speed Actual value Quick start up guide 34 The table below gives the recommended drive parameter settings Drive parameter Setting 50 01 Fba enable Enable 50 04 Fba refi modesel Speed 10 01 Ext1
38. SSAP Source Service Access Point DU Data Unit for DP services FCS Frame Checking Sequence ED End Delimiter en Data unit DP V1 Command Response PROFIdrive V3 Parameter Channel Request Response header DUG DUT DR DE eee Table ii baon 8 Byte Meaning Value DUO Function number See Table 8 below DU1 Slot number le 1 Drive parameter access DU2 Index 47 Ox2F DU3 Data length Depends on type of message DU4 DUn PROFldrive data Figure 10 PROFIBUS SD2 telegram for SAP 51 Communication 103 Table 8 DP V1 function numbers Value Meaning 0x48 Idle REQ RES 0x51 Data transport REQ RES 0x56 Resource manager REQ 0x57 lnitiate REQ RES 0x58 Abort REQ 0x5C Alarm REQ RES 0x5E Read REQ RES Ox5F Write REQ RES OxD1 Data transport negative response OxD7 Initiate negative response OxDC Alarm negative response OxDE Read negative response OxDF Write negative response Table 9 DP V1 error response Byte Meaning and value DUO Function number OxDF Error Write OxDE Error Read DU1 Error _Decode PROFIdrive Always 0x80 DP V1 codes DU2 Error _Code_1 Error class error code see Table 10 below DU3 Error _Code_2 Always 0 Table 10 DP V1 error response Error codes MSB X X X X xX X LSB Erro
39. US DP Adapter module it is possible to e give control commands to the drive Start Stop Run enable etc e feed a motor speed or torque reference to the drive e give a process actual value or a process reference to the PID controller of the drive e read status information and actual values from the drive e change drive parameter values e reset a drive fault The PROFIBUS commands and services supported by the FPBA 01 PROFIBUS DP Adapter module are discussed in the chapter Communication Please refer to the user documentation of the drive as to which commands are supported by the drive The adapter module is mounted into an option slot on the motor control board of the drive See the drive documentation for module placement options PROFIBUS master FPBA O1 PROFIBUS ADAPTER 17 ABB drive Other slave device Diagnostic LEDs See chapter Diagnostics Bus connector X1 see chapter Electrical installation Figure 1 The construction of the PROFIBUS link and the FPBA 01 Adapter module Compatibility The FPBA 01 is compatible with all master stations that support the PROFIBUS DP protocol Note The PROFIBUS DP V1 protocol is supported from FPBA 01 SW version 2 00A onwards Overview 18 Delivery check The option package for the FPBA 01 PROFIBUS DP Adapter module contains e PROFIBUS DP Adapter module type FPBA 01 e this manual Overview 19
40. V 5 max 450 mA supplied by the drive e Isolated 5 V supply available for bus termination circuitry X1 pins 5 and 6 30 mA max Technical data 136 General e Estimated min lifetime 100 000 h All materials UL CSA approved e Complies with EMC standards EN 50081 2 and EN 50082 2 Bus interface functionally isolated from drive Technical data PROFIBUS link Compatible devices All PROFIBUS compliant devices 137 Medium Shielded twisted pair RS 485 cable PROFIBUS approved cable recommended e Termination 220 ohms or active termination circuitry at each end of trunk cable termination not built in the FPBA 01 module e Specifications Parameter Line A maS Unit PROFIBUS DP DIN 19245 Part 1 Impedance 135 to 165 100 to 130 ohm 3 to 20 MHz f gt 100 kHz Capacitance lt 30 lt 60 pF m Resistance lt 110 Q km Wire gauge gt 0 64 gt 0 53 mm Conductor area gt 0 34 gt 0 22 mm e Maximum bus length petra rate lt 93 75 187 5 500 1500 3000 6000 12000 Line A m 1200 1000 400 200 100 100 100 Line B m 1200 600 200 Topology Trunk line drop lines allowed Max 127 nodes with repeaters 31 nodes repeater per section Transfer rate 12 Mb s max automatically detected by the FPBA 01 Serial communication type Asynchronous half duplex RS 485 Protocol PROFIBUS DP Technical data 138 T
41. ailable With the Transparent modes no data conversion takes place Communication profiles 54 FPBA 01 Drive FPBA 01 profile selection PROFIdrive e Data conversion lt q an ABB Drives e Data conversion ai Select Select PROFIBUS CW Transparent16 gt REF1 N N Optional reference REF2 2 gt lt j gt SW u ag actual value scaling S ACTA gt ACTA Group PROFIdrive positioning gt Group A Par 5 A Par 5 Data conversion PROFIBUS Transparent32 PZDx ee D 16 32 4 gt k bit PZD10 Note The diagram is applicable only when PPO messaging is DCU or FBA profile 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 DCU communication profile Communication profiles 55 The PROFIdrive communication profile The Control Word and the Status Word The Control Word PROFIBUS 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 bit coded instructions on the
42. al 3 8 alarms in total 4 12 alarms in total 5 16 alarms in total 6 24 alarms in total 7 32 alarms in total Prm_Structure 0 Prm telegram according to EN 50170 1 Prm telegram in structure form DPV2 extension IsoM_Req Isochron Mode Request Not supported 0 Isochron Mode disabled 1 Isochron Mode enabled Reserved To be parameterised with 0 Communication 79 10 1Bh Structured_Length Default Length of the structured Prm telegram User parameter length is 23 bytes 4 header bytes 11 81h Structure_Type 129 USER_PRM_DATA 12 0 Slot_Number Set to 0 13 0 Reserved User_Prm_Data Parameter Data Extended Type Octet String Length 23 14 o0h Header byte default ms 0 0 0 0 0 x O x iss Fail safe mode Defines the action taken when the PLC is switched from RUN to STOP mode 00 STOP default 01 LAST REFERENCE 02 USE FAIL SAFE The values of the PZDs are defined by bytes 11 30 in the Prm_Data telegram Control zero mode Defines the action taken ifa PROFIBUS telegram containing only zeros is received 00 USE FRAME default Note that with this setting the drive might not be stopped if it is running since also bit 10 Remote Command in the control word is zero However the other PZD s may still be updated but have the value zero
43. al installation contains placing and mounting instructions for the module Electrical installation contains wiring bus termination and earthing instructions Introduction 12 Introduction Drive configuration explains how to program the drive before the communication through the adapter module can be started Master configuration explains how to program the PROFIBUS master before the communication through the adapter module can be started Communication profiles describes the communication profiles used in the communication between the PROFIBUS network the FPBA 01 module and the drive Communication contains a description of how data is transmitted through the FPBA 01 module Diagnostics explains how to trace faults with the status LEDs on the FPBA 01 module PROFIBUS parameters presents the PROFIBUS Profile specific parameters Definitions and abbreviations explains definitions and abbreviations concerning the PROFIBUS protocol family Technical data contains information on physical dimensions configurable settings and connectors of the module and the specification of the PROFIBUS link 13 Terms used in this manual Communication Module Communication Module is a name for a device e g a fieldbus adapter through which the drive is connected to an external communication network e g a fieldbus The communication with the module is activated with a drive parameter FPBA 01 PROFIBUS DP Adapter module The FP
44. and from fieldbus only 51 01 FBA TYPE PROFIBUS Displays the type of the DP fieldbus adapter module 51 02 NODE Ben Profibus node address of ADDRESS the fieldbus module 51 03 BAUDRATE 12000 Displays current baud rate on the Profibus network 51 04 TELEGRAM 4 PPO4 Displays telegram type TYPE selected by PLC configuration tool 51 05 PROFILE 4 Control Word according PROFldrive to the PROFIdrive Positioning Positioning mode 52 01 FBA DATA IN1 4 Status Word 52 02 FBA DATA IN2 15 Actual value 1 52 04 FBA DATA IN4 16 Actual value 2 53 01 FBA DATA 1 Control Word OUT2 53 02 FBA DATA 12 Reference 1 OUT2 53 04 FBA DATA 13 Reference 2 OUT4 51 27 FBA PAR REFRESH Refreshing parameter REFRESH settings of the module Read only or automatically detected set Note By default fieldbus is not the only control source See actual signal 2 12 FBA MAIN CW in ACSM1 Motion Control Program Firmware Manual for details Quick start up guide 30 The position setpoint is scaled as follows Drive parameter Setting 60 05 POS UNIT Position unit m 60 08 POS2INT SCALE 100 Example The position setpoint and actual values are scaled with the above example values as follows 1000 100 10 00 m je 60 05 POS UNIT Physical value 60 08 POS2INT SCALE Setpoint value Example for velocity setpoint scale Drive Name Value Description parameter 60 10 POS SP
45. cess to a description changed element that cannot be changed 09h No description data available Access to unavailable description parameter value is available OBh No operation priority Change access rights without rights to change parameters OFh No text array available Access to text array that is not available parameter value is available 11h Request cannot be executed Access is temporarily not possible for because of operating mode reasons that are not specified in detail 14h Value impermissible Change access with a value that is within limits but is not permissible for other long term reasons parameter with defined single values Communication 108 Communication 15h Response too long The length of the current response exceeds the maximum transmittable length 16h Parameter address Illegal value or value that is not impermissible supported for the attribute number of elements parameter number or sub index or a combination 17h Illegal format Write request Illegal format or format of parameter data that is not supported 18h Number of values inconsistent Write request Number of values of parameter data does not match number of elements at the parameter address 65h Manufacturer specific error FF area 65h Vendor specific error Vendor specific error 66h Request not supported Request not supported 67h Communication error Request cannot be completed beca
46. e 10h Value Number of elements Parameter index a Subindex 5F 01 2F 16 06 01 01 03 10 01 00 0C 00104 header DP V1 Command PROF ldrive V3 Parameter Channel 10 14 00 08 Par Channel continued 01 00 10 01 00 1E 00 13 DP Par Channel continued trailer Communication Positive Read response to DP V1 Read request Function number Slot number Index Data length Response reference mirrored Response ID Drive object ID Ea 42h 113 Number of parameters Word ie of values oS value DP header sr 01 2F 10 DP V1 Response DEEA L PROFldrive V3 Parameter Channel 42 01 01 F4 Par Channel cont d 42 01 00 30 Par Channel cont d DP trailer The values 190h 400 1F4h 500 and 1Eh 30 are returned Communication 114 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 number 12 02 OC 02h Function number Slot number Index Data length Request reference Request ID 02h Change Drive object ID Number of parameters Attribute 10h Value Number of elements Parameter index Subindex
47. e as PZD3 The selection is in force until it is superseded by another selection Subindex IND defines which process data word the required data is transmitted in and Parameter Value defines which drive parameter is mapped to that word Request Change parameter value array Parameter Number 916 decimal Subindex 03 PZD3 Parameter Value CW REF PZD3 PZD4 PZD5 PZD6 Req pp 73 94 03 00 00 00 01 04 04 7F 34 15 00 00100 00100 00 00 00 pp Resp header 43 94 03 00 00 00 01 04 103137 34 15 00 00100 00 oooo oo 000 trailer SW ACT PZD3 PZD4 PZD5 PZD6 Parameter Value Subindex 03 PZD3 Parameter Number 916 decimal Response Transfer parameter value array 2nd byte reserved Subsequent response frames DP DP Resp XX XX XX XX XX XX XX XX XX XX XX XX 00 JOB xx XxX XX XX XX XX a header trailer s PZD3 Value of drive parameter 1 04 Communication 100 DP V1 read write request sequence A read write service on a drive parameter is illustrated below Master PROF ldrive DP V1 Write request DB47 Parameter request Write response without data Read request DB47 Slave Parameter request N without data Read response without data Read request DB47 Parameter 7 process
48. echnical data AA ED ED FADED SAFE 68573271 REV C EN EFFECTIVE 09 01 2009 ABB Oy AC Drives P O Box 184 FIN 00381 HELSINKI FINLAND Telephone 358 10 22 11 Fax 358 10 22 22681 Internet www abb com ABB Inc Automation Technologies Drives amp Motors 16250 West Glendale Drive New Berlin WI 53151 USA Telephone 262 785 3200 800 HELP 365 Fax 262 780 5135 ABB Beijing Drive Systems Co Ltd No 1 Block D A 10 Jiuxiangiao Beilu Chaoyang District Beijing P R CHINA 100015 Telephone 86 10 5821 7788 Fax 86 10 5821 7618
49. er 937 Table 5 The Status Word for the PROF Idrive communication profile PROFIBUS Parameter 968 The upper case boldface text refers to the states shown in Figure 4 Bit Name Value STATE Description Speed control mode Positioning mode 0 RDY_ON 1 READY TO SWITCH ON 0 INOT READY TO SWITCH ON 1 RDY_RUN 1 READY TO OPERATE 0 OFF1 ACTIVE 2 RDY_REF 1 ENABLE OPERATION 0 DISABLE OPERATION 3 TRIPPED 1 FAULT 0 No fault 4 OFF_2 STA 1 OFF2 inactive 0 OFF2 ACTIVE 5 OFF_3_STA 1 OFF3 inactive 0 OFF3 ACTIVE 6 SWC_ON_INHIB 1 SWITCH ON INHIBIT ACTIVE 0 SWITCH ON INHIBIT NOT ACTIVE 7 ALARM 1 Warning Alarm 0 No Warning Alarm Communication profiles 60 Bit Name Value STATE Description Speed control mode Positioning mode 8 AT_SETPOINT 1 OPERATING Actual value equals reference value i e is within tolerance limits O Actual value differs from reference value is outside tolerance limits 9 REMOTE 1 Drive control location REMOTE 0 Drive control location LOCAL 10 1 Actual frequency or Target position reached speed value equals or is greater than supervision limit O Actual frequency or Not at target position speed value is within supervision limit 11 1 Vendor specific bit as Homing procedure was defined by PROFIdrive executed and is valid 0 parameter 939 No valid home position available 12 1 Vendor specific bit as Trav
50. erised this slave 4 5 Ident_Number for FPBA 01 0959h 6 Ext_Diag_Data 0x02 DP VO only The number of bytes including this byte reserved for Extended Diagnosis 6 Header Byte DP V1 only The complete header consists of 5 bytes with the FPBA 01 Msp 0 OIx Ix Ix x Ix x LsB Block length in bytes including header Diagnostic type 00 Device related diagnostic according to PROFIdrive 3 1 Communication 85 7 Communication Diagnostic DP VO only Mms80 0 0 0 0 0 x x LsB Communication temporarily lost Communication permanently lost Reserved 7 Status Type Status Message 0x81 DP V1 only MSB 11x x Ix x x x x LsB Diagnostic type 0 Reserved 1 Status_Message normal alarm message 2 Module_Status 3 DXB_Link_Status 4 to 29 Reserved 30 PrmCmdAck 31 Red_State 32 to 126 Manufacturer specific 127 Reserved Set to 1 8 Slot Number 0x00 DP V1 only Slot number 0 to 244 9 Specifier 0x00 DP V1 only ms 0 0 0 0 0 0 x x LsB Specifier Reserved unicati i i 10 Communication Diagnostic DP V1 onl MsB 0 0 0 0 0 0 x x
51. ersing task 0 defined by PROF Idrive acknowledgement parameter 940 O gt 1 13 1 Vendor specific bit as Drive stopped defined by PROF Idrive 0 Drive moving Traversing parameter 941 task is executed n lt gt 0 14 Vendor specific bit as defined by PROF Idrive parameter 942 15 Vendor specific bit as defined by PROF Idrive parameter 943 Communication profiles 61 SWITCH ON MAINS OFF INHIBIT SW Bit6 1 PROFIBUS Power ON OFF1 CW Bit0 0 State Machine g NOT READY CW Control Word SW Status Word TO SWITCH ON _ SW Bit0 0 ABCD SW Bit0 0 ah de Speed Input Current CW xxxx xxxx xxxx x110 RFG Ramp Function CW Bit3 0 Generator f Frequency READY TO OPERATION SWITCH ON SW Bit0 1 INHIBIT SW Bit2 0 from any state eration ON CW xxxx xxxx xxxx x111 Fault gt FAULT DE fom arnwstate READY TO Main contactor ON FAULT SW Bit3 1 i OPERATE SW Bit1 1 OFF1 CW Bit0 0 ll CW Bit7 1 gt BCE SW Bit1 0 from any state from any state Emergency Stop Emergency Stop A 0 1 0 Enable operation OFF3 CW Bit2 0 OFF2 CW Bit1 0 n CW Bit3 1 OFF3 OFFE2 Ge et a 4 ACTIVE SW Bit5 0 ACTIVE SW Bit4 0 ers BCD l F 1 n f 0 I 0 Main contactor OFF B V l gt CW Bit4 0 gt z Z ENABLE O OPERATION Lu O C D Sem ee ee ee N G A W CW Bit5 0 CW Bit4 1 17 Jogging 1 or 2 ON D gan CW Bit8 1 or Bit9 1
52. et parameter 5001 Fba enable to Enable Parameter group 51 shows the status of the FPBA configuration parameters e At minimum set the required node address at parameter 5102 NODE ADDRESS and the communication profile at 5105 PROFILE Finally validate the settings with 5127 FBA PAR REFRESH Cyclic data handling With the FPBA 01 both data consistent and non consistent communication can be used data consistent meaning that the whole cyclic data frame is transmitted during a single program cycle Some PLCs handle this internally but others must be programmed to transmit data consistent telegrams for more information see the chapter Communication For example Siemens Simatic S7 requires the use of special functions SFC15 and SFC14 Quick start up guide 23 antiwar Title pare SFC15 Write Consistent Data to a Standard DP Slave DPUR_DAT M2 0 GEN W 16 100 P M 10 0 B YTE 4 SFC14 Read Consistent Data of a Standard DP SlavBET_VAL mus2 DPRD_ DAT P M 32 0 B RECORD _YTE 4 W 16 100 Parameter setting examples ACS350 PROF Idrive communication profile with PPO Type 1 The start stop commands and reference are according to the PROFldrive profile See the PROFIBUS state machine on page 61 The reference value 16384 4000h corresponds to parameter 1105 REF1 MAX in forward and reverse directions Quick start up guide 24
53. eter 945 is of the array type with subindexes 1 9 17 and 25 Request Request parameter value array Parameter Number 945 decimal Subindex Latest acknowledged fault Param Value CW REF Request pp 09 00 00 00 00 00 04 7F 34 15 pp Response a 09 00 00 00 23 00 03 37 34 15 trailer v W j palaa Vali Value SW ACT T Latest acknowledged fault Parameter Number 945 decimal Response Transfer parameter value array 2nd byte reserved The slave returns the code of the latest acknowledged fault 2300h The fault codes are according to the DRIVECOM standard See also the User s Manual of the drive for drive specific fault codes The implementation of the PROFIdrive profile in the FPBA 01 supports the storage of the active and the five latest occurred different faults in the fault buffer The fault codes can be accessed by PROFIdrive parameters 945 947 and 948 see page 123 The value zero indicates no fault The subindexes of these parameters are related to each other i e parameter 945 with subindex 1 relates to subindex of parameter 947 and 948 Communication 98 Example 6 Configuring the process data written to the drive ini Change parameter value array Parameter Number 915 decimal Subindex 03 PZD3 Parameter Value CW REF In the example below the value of drive parameter 12 02 OCh 02h is selected to be ta
54. eter index number to hexadecimal The index number is the subindex IND and the group number is the parameter number PNU For example to read parameter 84 11 from the drive 84 11 54h 0Bh gt Parameter Number 54h Subindex OBh Request Read parameter value array Parameter Number Subindex CW REF PZD3 PZD4 PZD5 PZD6 Req pp 60 54 0B 00 00 00100 00 04 7F 34 15 00100 00 00 00 00 00 00 pp Resp header 40 54 0B 00 00 0000 6403137 34 15 00 00 00 00 00 00 00 oo trailer SW ACT PZD3 PZD4 PZD5 PZD6 Parameter Value 100 decimal Subindex Parameter Number Response Change parameter value array 2nd byte reserved Error response DP DP Resp 70 54 0B 00 00 00 00 03 03 37 34 115 00 00 00 00 00 00 00 00 _ header trailer ee De u De u De OS OO OO ACT PZD3 PZD4 PZD5 PZD6 Error Number 3 Erroneous subindex Subindex Parameter Number Response Negative acknowledgement SW 2nd byte reserved Communication 94 Example 2 Writing a drive parameter or data set To determine the parameter number and subindex for drive parameter writing convert the drive parameter group number and the parameter index number to hexadecimal The index number is the subindex IND and the group number is the parameter number PNU For example to write parameter
55. eter setting examples ACS350 0 2 cc es 23 Parameter setting examples ACSM1 0000 2 cee 26 Parameter setting examples ACS850 0 nannaa annaa 33 Mechanical installation 20046 5 saw ok FR BD ee oe SE nass ea 35 MOUSE oo A 35 Electrical installation 2655 eos ee he ee es Be Si da 37 OVEMNISW oo Scere Soe ele aeaee ea aaua Sy Gr be Otte aR tue erie ae Oe a 37 General cabling instructions 00 0 cee ee eee 37 PROFIBUS connecti f 4c athe Heer a 38 BUs terminalion eu 2er nee ra ar sun 40 Drive configuration coessceret eet eeeh na nr REUSE 41 OVEINIOW N een olor 4 EES Rie E ERS ee 41 PROFIBUS connection configuration 00 0c eee ees 41 Control locations ara al ee een tek ee see 49 Master configuration eee 51 OVERVIEW En ee tate Ga mutated oa Pf ge aaa tie ane a eat 51 Configuring the system 0 0 0 0 0 51 Communication profiles 0 ccc es 53 OVEMVIEW Be ark a a Ma eae ee ee Gate ae eae ae 53 Communication profiles 0 0 00 cece eee eee eee eee 53 The PROF Idrive communication profile 00 cee neues 55 The Control Word and the Status Word 0000008 55 References ocd Balun Mute ee ee el ne Oh rn BRE ee ake 55 Act a ValIUES oor ee ee es ae ate Boe ue ee 56 The ABB Drives communication profile 0 00 cee eee 63 The Control Word and the Status Word 00004 63 References uier wreath Poet
56. evices amp G General Universal module PPO 01 4 PKW 2 PZD PPO 02 4 PKW 6 PZD PPO 03 0 PKW 2 PZD PPO 04 0 PKW 6 PZD PPO 05 4 PKW 10 PZD PPO 06 0 Pkw 10 PZD PPO 02 4 PKW 2 2 2 PZD PPO 04 0 PKW 2 2 2 PZD PPO 05 4 PKW 2 2 2 2 2 PPO 06 0 PKiw 2 2 2 2 2 PPO 01 4 PKW NoCons 2 PZ PPO 02 4 PKW NoCons 6 PZ PPO 03 0 PKW NoCons 2 PZ PPO 04 0 PKW NoCons 6 PZ PPO 05 4 PKW NoCons 10 F PPO 06 0 PKW NoCons 10 F Standard telegram 1 Standard telegram 2 0 UR gj Psso72a f Is CPU 315 2 DP la oP J D116x0C244 4 DI16xDcC244 lg 0016xDC24v70 54 4 D016x0C24v70 54 PROFIBUS 1 DP master system 1 __ r 6 ABB Drif BB FPBA 01 Quick start up guide 22 Mechanical and electrical installation e Insert the FPBA 01 into its specified slot in the drive e Fasten the screw e Plug the fieldbus connector to the module Drive configuration Power up the drive e The detailed procedure of activating the drive for communication with the module is dependent on the drive type Normally a parameter must be adjusted to activate the communication Refer to the drive documentation for information on the communication settings With an ACS350 drive set parameter 9802 COMM PROT SEL to EXT FBA with an ACSM1 drive set parameter 5001 FBA ENABLE to ENABLE and with an ACS850 drive s
57. fers to the states shown in Figure 4 Proceed to STATE Description Bit Name Value Speed control mode Positioning mode 0 ON 1 Proceed to READY TO OPERATE OFF1 0 Emergency OFF stop by the selected deceleration ramp Proceed to OFF1 ACTIVE proceed further to READY TO SWITCH ON unless other interlocks OFF2 OFF3 are active 1 OFF2 1 Continue operation OFF2 inactive 0 Emergency OFF coast to stop Proceed to OFF2 ACTIVE proceed further to SWITCH ON INHIBIT 2 OFF3 1 Continue operation OFF3 inactive 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 3 OPERATION_ 1 Proceed to ENABLE OPERATION Sere 0 Inhibit operation Proceed to OPERATION INHIBIT 4 ENABLE _ 1 Normal operation Normal operation RAMP __ Proceed to RAMP Do not reject traversing GENERATOR FUNCTION GENERATOR task or ENABLE OUTPUT TRAVERSING 0 Stop according to selected Reject traversing task _TASK stop type Communication profiles 58 Proceed to STATE Description Bit Name Value Speed control mode Positioning mode 5 1 Normal operation Normal operation No Proceed to RAMP intermediate stop FUNCTION GENERATOR ENABLE ACCELERATOR 0 Halt ramping Ramp Intermediate stop F
58. h F1h 2 PPO2 F3h F5h 3 PPO3 Fth 4 PPO4 F5h 5 PPO5 F3h F9h 6 PPO6 F9h Note This parameter is not available if Standard telegram ST1 or ST2 is selected 930 R W Unsigned16 Selection switch for communication profile Value Mode 1 PROF Idrive 8001h ABB Drives 8002h Transparent 16 8003h Transparent 32 8004h PROFldrive positioning mode 933 R W Unsigned16 Selection switch for Control word bit 11 Value Module Control word bit 0 None 1to5 Vendor specific 1 to 5 The meaning of vendor specific bits is defined by drive application program PROF Idrive parameters 125 Param eter Data type Description 934 R W Unsigned16 Selection switch for Control word bit 12 See parameter 933 for coding 935 R W Unsigned16 Selection switch for Control word bit 13 See parameter 933 for coding 936 R W Unsigned16 Selection switch for Control word bit 14 See parameter 933 for coding 937 R W Unsigned16 Selection switch for Control word bit 15 See parameter 933 for coding 939 R W Unsigned16 Selection switch for Status word bit 11 Value Module Status word bit 0 None 1to4 Vendor specific 1 to 4 The meaning of vendor specific bits is defined by drive application program 940 R W Unsigned16 Selection switch for Status word bit 12 See parameter 939 for coding 941 942 R W R W Unsigned16 Unsigned16
59. iguration Data 60 Slave_Diag Read Diagnostic Data 61 Set_Prm Send Parameter Data 62 Chk_Cfg Check Configuration Data Communication 73 PROFIBUS SD2 telegram for Default SAP 0 and SAP 58 62 PROFIBUS typically uses SD2 telegrams for DP communication The structure of an SD2 telegram is shown below DP header DP trailer SD LE LEr SD DA SA FC DSAP SSAP DU FCS ED 68h x x 68h xx Xx X XX XX X XX 16h SD Start Delimiter LE Length LEr Length repeated DA Destination Address SA Source Address FC Function Code DSAP Destination Service Access Point SSAP Source Service Access Point DU Data Unit for DP services FCS Frame Checking Sequence ED End Delimiter Not present with Default SAP 0 Data Unit See tables in descriptions of each SAP on Figure 7 PROFIBUS SD2 telegram for Default SAP 0 and SAP 58 62 Communication 74 Default SAP SAP 0 Data_Exchange Allows the master to send output data to a slave station and to simultaneously request input data from the same station Outp_Data Output Data DU length 4 to 28 bytes depending on the selected PPO message Standard telegram type Inp_Data Input Data DU length 4 to 28 bytes depending on the selected PPO message Standard telegram type In addition to Default SAP any master can read the I O data of any slave at any time
60. in Figure 6 Bit Name Value STATE Description 0 RDY_ON 1 READY TO SWITCH ON 0 INOT READY TO SWITCH ON 1 RDY_RUN 1 READY TO OPERATE 0 OFF1 ACTIVE 2 RDY_REF 1 OPERATION ENABLED 0 OPERATION INHIBITED 3 TRIPPED 1 FAULT 0 No fault 4 OFF_2 STA 1 OFF2 inactive 0 OFF2 ACTIVE 5 OFF_3_STA 1 OFF3 inactive 0 OFF3 ACTIVE 6 SWC_ON_ 1 SWITCH ON INHIBITED INHIB 0 7 ALARM 1 Warning Alarm 0 No warning alarm 8 AT_ 1 OPERATING Actual value equals reference is SETPOINT within tolerance limits i e in speed control speed error is 10 max of nominal motor speed 0 Actual value differs from reference is outside tolerance limits 9 REMOTE 1 Drive control location REMOTE EXT1 or EXT2 0 Drive control location LOCAL Communication profiles 69 Bit Name Value STATE Description 10 ABOVE_ 1 Actual frequency or speed equals or exceeds LIMIT supervision limit set by drive parameter Valid in both directions of rotation O Actual frequency or speed within supervision limit 11 EXT_CTRL_ 1 External Control Location EXT2 selected LOC 0 External Control Location EXT1 selected 12 EXT_RUN_ 1 External Run Enable signal received ENABLE 0 No External Run Enable signal received 13 to Drive specific For information see the drive documentation 14 15 FBA_ERROR 1 Com
61. ing PROF Idrive Parameter response without data Read response with data Parameter response The messaging employs DP V1 data units The PROF Idrive parameter request is contained within the DP V1 request as data Likewise the DP V1 response contains the PROF Idrive parameter response as data A write request Function number 5Fh see Table 8 below is first sent containing the parameter request If the write request is valid the FPBA 01 acknowledges it with DP V1 write response code 5Fh with no data The master will then send a read request If the FPBA 01 is still busy performing the internal parameter request it will return a negative response with the DP V1 error code B5dh State conflict In this case the read Communication 101 request will be repeated by the master until the FPBA 01 has the PROF Idrive response data ready If the write request is invalid a negative response is returned with a DP V1 error code see Table 10 Communication 102 PROFIBUS SD2 telegram for SAP 51 The Read Write service uses a variable length PROFIBUS SD2 telegram shown below DP header DP trailer SD LE LEr SD DA SA FC DSAP SSAP DU FCS ED 68h x x 68h xx XX X XX XX x XX 16h SD Start Delimiter LE Length LEr Length repeated DA Destination Address SA Source Address FC Function Code DSAP Destination Service Access Point
62. ion number of the slave Request Parameter value read Parameter Number 918 decimal LL IND Param Value CW REF m te oF _ 7 Se Request pp 6 00 00 00 00 00 00 04 7F 34 15 pp ead i Response header 13 96 00 00 00 00 00 02 03 37 34 15 trailer IND Param Value SW ACT Parameter Number 918 decimal Response Parameter value updated The slave returns its station number 2 Communication 96 Example 4 Writing a PROF Idrive parameter word In this example current parameter settings are saved to the FLASH memory of the drive This is done by setting the value of PROFIBUS Parameter 971 3CBh to 1 Note that the drive always observes the Control Word CW and Reference REF bytes The values shown below are examples Request Parameter value write Parameter Number 971 decimal IND Param Value CW REF ae Request pp 23 CB 00 00 00 00 00 01 04 7F 34 15 pp rite Response header 13 CB 00 00 00 00 00 01 03 37 34 15 trailer Communication IND Param Value f Parameter Number 971 decimal SW Response Parameter value updated ACT Read 97 Example 5 Reading a PROF Idrive parameter array In this example PROFIBUS Parameter 947 is used to read the code of the latest acknowledged fault As shown on page 125 param
63. ion_Not_Ready Set by Slave Slave not ready for data exchange Diag Cfg_Fault Set by Slave Received configuration data does not match original config data Diag Ext_Diag Set by Slave Diagnostic entry present in slave specific diagnostic area Diag Not_Supported Set by Slave Service not supported by slave Diag Invalid_Slave_Response Set by Master reset by Slave Invalid response by slave Diag Prm_Fault Set by Slave Invalid parameter or parameter value Diag Master_Lock Set by Master reset by Slave Slave is parameterised by another master Communication 84 Station_Status_ 2 MsB x O x x x 1 xJ x LSB Diag Prm_Req Set by Slave Slave requires re configuration and re parameterisation Diag Stat_Diag Set by Slave Static diagnosis Slave temporarily unable to provide valid data Always set to 1 by slave Diag WD_On Set by Slave Watchdog on Diag Freeze_Mode Set by Slave Freeze command received by slave Diag Sync_Mode Set by Slave Sync command received by slave Reserved Diag Deactivated Set by Master reset by Slave Slave is inactive Station_Status_3 MmseIxX 0I0 0 0 0 0 O LsB Reserved Diag Ext_Diag_Overflow Set by Slave Diag Master_Add The address of the master that paramet
64. ions ccc eee 131 PROFIBUS definitions zasse 32 52 face Ree eenden 131 PROFIBUS abbreviations 0 0 0 00 eee eens 133 Technical data cy ere eee RE Ee te SG deena ae DEN 135 FPBA OT 2222202 20 Haren 135 PROFIBUS INK aaaea 2 ee crane ee a ee 137 Table of contents 10 Table of contents 11 Introduction Intended audience The manual is intended for the people who are responsible for commissioning and using an FPBA 01 PROFIBUS DP Adapter module The reader is expected to have a basic knowledge of electrical fundamentals electrical wiring practices and how to operate the drive Before you start It is assumed that the drive is installed and ready to operate before starting the installation of the extension module In addition to conventional installation tools have the drive manuals available during the installation as they contain important information not included in this manual The drive manuals are referred to at various points of this document What this manual contains This manual contains information on the wiring configuration and use of the FPBA 01 PROFIBUS DP Adapter module Safety instructions are featured in the first few pages of this manual Overview contains a short description of the PROFIBUS protocol and the FPBA 01 PROFIBUS DP Adapter module and a delivery checklist Quick start up guide contains a short description of how to set up the FPBA 01 PROFIBUS DP Adapter module Mechanic
65. is parameter For example with the default setting of 100 a reference of 1 000 is forwarded to the drive as 100 000 According to the DCU profile this value is interpreted as a reference of 100 rpm With an ACSM1 setting this parameter to 65535 will provide the practically exact approximation of 1 1 rpm Drive configuration 45 Table 2 FPBA 01 configuration parameters Group B Par Parameter name Alternative settings Default no setting 1 DATA OUT 1 0 to 9999 1 Control word master to drive Format xxyy where or Xx parameter group and 11 Control yy parameter index word 32 bit 2 DATA OUT 2 See DATA OUT 1 above 0 or 2 REF1 3 DATA OUT 3 See DATA OUT 1 above 0 4 DATA OUT 4 See DATA OUT 1 above 0 5 DATA OUT 5 See DATA OUT 1 above 0 6 DATA OUT 6 See DATA OUT 1 above 0 7 DATA OUT 7 See DATA OUT 1 above 0 8 DATA OUT 8 See DATA OUT 1 above 0 9 DATA OUT 9 See DATA OUT 1 above 0 10 DATA OUT 10 See DATA OUT 1 above 0 11 DATA OUT 11 See DATA OUT 1 above 0 12 DATA OUT 12 See DATA OUT 1 above 0 Default setting if the Transparent 32 profile is used Fixed setting with an ACS350 drive Supported only with an ACSM1 ACS850 drive 1 DATA OUT 1 This parameter represents data word 1 received by the drive over the PROFIBUS network The content is defined by a decimal number in the range of 0 to 9999 as follows
66. ist has been reached If the subindex is the number of the next list parameter the list is continued there Read and or Write Support depends on drive type PROFldrive parameters 128 I amp M Identification amp Maintenance records I amp M records can be read e g with the DTM tool The FPBA 01 supports the mandatory I amp MO record as well as the optional I amp M1 and I amp M2 records Call REQ PDU telegram for read write access to I amp M records Contents Size Coding Notes DP V1 Function_Num 1 Octet 5Fh fixed header Sjot Number 1 Octet 0 255 variable Index 1 Octet 255 fixed Length 1 Octet 4 68 Call Header only Write Call Extended_Function_Num 1 Octet 08h Indicates Call fixed Header reserved 1 Octet 00h fixed FI_Index 2 Octets 65000 Subindex of I amp MO Record 65000 1 amp MO 65001 I amp M1 65002 I amp M2 IM_Function 64 Octets Data Write only I amp M1 or I amp M2 Response structure for I amp MO Read only Contents Size Coding Header Manufacturer specific 10 Octets FPBA 01 I amp M MANUFACTURER_ID 2 Octets 0x1A ABB Automation block ORDER_ID 20 Octets 68469325 for FPBA 01 kit SERIAL_NUMBER 16 Octets Serial number of FPBA module HARDWARE_REVISION 2 Octets Hardware version of FPBA module SOFTWARE_REVISION 4 Octets Format V255 255 255 E g V1 0 0 software version
67. ject of a real device that can be communicated with variable program data range etc Stored locally in the Object Dictionary 16 bit word from master to slave with bit coded control signals sometimes called the Command Word Communication in which Parameter Process Data Objects are sent cyclically at pre defined intervals Classification according to the number of profile functions included in the device Broad and Multicast a special message frame for drives Event that leads to tripping of the device ASCII format device description file in a specified form Each device active amp passive stations on PROFIBUS has to have its own GSD File Access reference for Objects in PROFIBUS Non acknowledged message from master to one or all groups of bus participants Definitions and abbreviations 132 Master Multicast Name Nibble Object Dictionary Object List Parameter Parameter Number Parameter Process Data Object Process Data Profile Request Label Response Label Slave Status Word Control system with bus initiative In PROFIBUS terminology master stations are also called active stations Non acknowledged message from master to one group of bus participants compare Broadcast Symbolic name of a parameter Set of 4 bits Local storage of all Communication Objects recognised by a device List of all accessible objects Value that can be accessed as Object e g variable consta
68. ken from PZD3 The parameter will continue to be updated with the contents of PZD3 in each Request frame until a different selection is made Subindex IND defines which process data word PZD the required data is taken from Parameter Value selects the drive parameter to which that word is mapped PZD3 PZD4 PZD5 PZD6 77T 1 ae te T PROFIBUS parameter 915 can be used to define which data is written cyclically to a drive parameter as application specific process data Req Resp DP header 73193 03 00 00 00 0C 02 04 7F 34 15 00 00 00 00 00 00 00 00 43 93 03 00 00 00 0C 02 03 37 34 15 00 00 00 00 00 00 00 00 DP trailer Communication L a De a Ia OOO OO ACT PZD3 PZD4 PZD5 PZD6 Parameter Value SW Subindex 03 PZD3 Parameter Number 915 decimal Response Transfer parameter value array 2nd byte reserved Subsequently the contents of PZD3 in each Request frame are written to drive parameter 12 02 CONSTANT SPEED 1 until a different selection is made 99 Example 7 Configuring the process data read from the drive PROFIBUS Parameter 916 can be used to define which data is read cyclically from the drive as application specific process data In the example below drive parameter 1 04 01h 04h is selected to be transmitted by the driv
69. lectrical installation 39 It is recommended to use a PROFIBUS approved D SUB 9 connector These connectors have a built in termination network and inductors for station capacitance compensation The cable should be connected to the D SUB connector as follows Red Red gt Green us gt Green N us m Grounding clamp Strain relief NS Z OUT Figure 2 Connector wiring Electrical installation 40 Bus termination Bus termination is required to prevent signal reflections from the bus cable ends The FPBA 01 module is not equipped with internal bus termination Therefore the D SUB connectors at the first and last modules of the bus must have built on termination switched on See the diagram below The FPBA 01 module is able to supply power for an active type termination circuitry 30 mA max PROFIBUS PROFIBUS PROFIBUS PROFIBUS device device device device Term Term Term Term ON OFF OFF ON ES N Figure 3 PROFIBUS cable termination Note Further information on PROFIBUS wiring is available from the publication PROFIBUS RS 485 IS User and Installati
70. munication error detected by fieldbus adapter module Fieldbus adapter communication OK Communication profiles 70 SWITCH ON INHIBITED gw Bit6 1 ABB Drives Power ON CW Bito 0 Communication Profile NOT READY TO ABCD SWITCH ON SW Bit0 0 CW Control Word SW Status Word n Speed CW xxxx x1xx xxxx x110 Input Current CW Bit3 0 RFG Ramp Function READY TO Generator OPERATION SWITCH ON SW Bit0 1 f Frequency INHIBITED SW Bit2 0 operation from any state inhibited CW xxxx x1xx xxxx x111 gt READY TO from any state OPERATE SW Bit1 1 OFF1 CW Bit0 0 SW Bit3 1 CW Bit7 1 CW xxxx x1xx xxxx 1111 OFF1 and SW Bit12 1 gt ACTIVE SW Bit1 0 from any state from any state n f 0 1 0 V Emergency Stop Emergency OFF CW Bit3 1 OFF3 CW Bit2 0 OFF2 CW Bit1 0 and BCD SW Bit12 1 OFF3 OFF2 V ACTIVE F SW Bit5 0 ACTIVE F SW Bit4 0 CW Bit4 0 n f 0 I 0 gt gt CD OPERATION ENABLED SW Bit2 1 A CW Bit5 0 CW xxxx x1xx xxx1 1111 gt D RFG OUTPUT ENABLED B 1 CW Bit6 0 CW xxxx x1xx xx11 1111 gt RFG ACCELERATOR ENABLED state C lt CW xxxx x1xx x111 1111 condition OPERATION rising edge SW Bit8 1 ofthe bit D Figure 6 State machine ABB Drives communication profile Communication profiles 71 Communication Overview This chapter describes the PROFIBUS messaging used in the c
71. ndard telegrams STx are used virtual addresses for standard telegrams ST1 and ST2 are updated automatically The parameter area is allocated as follows Recommended virtual address with o _ Data ACSM1 FBA REFx Abbreviation Description length modes Speed Position mode mode STW1 Control word 1 16 bit 1 1 NSOLL_A Speed setpoint A 16 bit 2or3 NSOLL_B Speed setpoint B 32 bit 12 or 13 STW2 Control word 2 16 bit 21 21 XSOLL_A Position setpoint A 32 bit 12 or 13 VELOCITY_A Velocity 32 bit 13 ZSW2 Status word 2 16 bit 24 24 NIST_A Speed actual value A 16 bit 5or6 NIST_B Speed actual value B 32 bit 15 or 16 ZSW1 Status word 1 16 bit 4 4 XIST_A Position actual value A 32 bit 15 or 16 Parameter number with format xxyy where xx is the parameter group number 1 to 99 and yy is the parameter number index within that group 01 to 99 2 to 12 DATA OUT 2 to DATA OUT 12 See parameter 1 above Drive configuration 48 Table 3 FPBA 01 configuration parameters Group C Par Parameter name Alternative settings Default no setting 1 DATA IN 1 0 to 9999 4 Status word drive to master Format xxyy where or Xx parameter group and 14 Status word yy parameter index 32 bit 2 DATA IN 2 See DATA IN 1 above 0 or 5 ACT1 3 DATAIN 3 See DATA IN 1 above 0 4 DATAIN4 See DATA IN 1 above 0 5 DATAIN 5 See DATA IN 1 above 0
72. ning 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 by drive parameters e g POS UNIT POS2INT SCALE and FEED CONST For a 32 bit velocity reference VELOCITY_A the unit and scaling are defined by drive parameters e g 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 by 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 Maximum Reference as defined by a drive parameter The scaling of 32 bit actual speed values NIST_B in hexadecimal 0 4000 0000h corresponds to 0 100 of Maximum Reference as defined by a drive parameter Actual values in positioning mode with an ACSM1 drive only For a 32 bit actual position value XIST_A the unit and scaling are defined by drive parameters e g POS UNIT POS2INT SCALE and FEED CONST Communication profiles 57 Table 4 The Control Word for the PROF Idrive communication profile PROFIBUS Parameter 967 The upper case boldface text re
73. nt signal Parameter address 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 Adaptation of the protocol for certain application field e g drives Coded information specifying the required service for the parameter part sent from master to slave Coded information specifying the required service for the parameter part sent from slave to master Passive bus participant In PROFIBUS terminology slave stations or slaves are also called passive stations Also referred to as node 16 bit word from slave to master with bit coded status messages Definitions and abbreviations Warning 133 Signal caused by an existing alarm which does not lead to tripping of the device PROFIBUS abbreviations The text in italics is the original German term con Ind req res ACT AK ALI CR DP DP ALI DP V1 FDL FMS FSU HIW HSW Confirmation Indication Request Response Actual Value Istwert Request Label Response Label Auftragskennung Antwortkennung Application Layer Interface Communication Reference Kommunikationsreferenz Kommunikationsbeziehung Decentralised Periphery Dezentrale Peripherie Application Layer Interface for DP PROFIBUS DP Extensions to the EN 50170 standard including e g acyclic data exchange Fieldbus Data Link Fieldb
74. odule node address number and bus termination e instructions for connecting the module to the PROFIBUS DP network Wait five minutes to ensure that the capacitor bank of the drive is discharged Switch off all dangerous voltages connected from external control circuits to the inputs and outputs of the drive N WARNING Before installation switch off the drive power supply General cabling instructions Arrange the bus cables as far away from the motor cables as possible Avoid parallel runs Use bushings at cable entries Electrical installation 38 PROFIBUS connection The bus cable is connected to connector X1 on the FPBA 01 The connector pin allocation described below follows the PROFIBUS standard Ot mo Description Alternate cable shield connection Connected to connector housing Not used Data positive Conductor 1 in twisted pair Request To Send Isolated ground Isolated 5V DC voltage supply 30 mA max Not used Data negative Conductor 2 in twisted pair Not used x1 1 SHLD 2 3 B 4 RTS 5 GND_B 6 5V_B 7 8 A 9 Housing SHLD PROFIBUS cable shield Internally connected to GND _B via an RC filter and directly to CH_GND chassis 5V and GND BUS are used for bus termination RTS is used in some equipment to determine the direction of transmission In typical applications only the line A line B and shield are used E
75. omatically detects the communication speed and telegram type used Drive configuration 42 Table 1 FPBA 01 configuration parameters Group A Par Parameter name Alternative settings Default no setting 1 FBA TYPE Read only PROFIBUS DP NODE ADDRESS 0 to 126 3 3 BAUD RATE 12000 12 Mbit s 6000 6 Mbit s 1500 3000 3 Mbit s 1500 1 5 Mbit s 500 500 kbit s 187 187 5 kbit s 93 93 75 kbit s 45 45 45 kbit s 19 19 2 kbit s 9 9 6 kbit s 4 TELEGRAM TYPE 1 PPO 1 2 PPO 2 3 PPO 3 1 PPO 1 4 PPO 4 5 PPO 5 6 PPO 6 7 ST1 8 ST2 Read only 5 PROFILE 0 PROF Idrive 1 ABB Drives 1 ABB Drives 2 Transparent 16 3 Transparent 32 4 PROFIdrive positioning mode 6 T16 SCALE 1 to 65535 100 The value is automatically updated Read only Only supported with an ACSM1 ACS850 drive Note Set also the extended Parameter Data see SAP 61 in the chapter Communication to ensure proper operation of the FPBA 01 with the drive 1 FBA TYPE This parameter shows the fieldbus adapter type as detected by the drive The value cannot be adjusted by the user If this parameter is undefined the communication between the drive and the module has not been established Drive configuration 43 2 NODE ADDRESS Each device on the PROFIBUS network must have a unique node number This parameter is used to define a node number for
76. ommunication with the drive and PROFIBUS slave device configuration messages PROFIBUS DP The FPBA 01 module supports the PROFIBUS DP DP VO protocol according to the IEC 61784 and EN 50170 standards PROFIBUS DP VO DP V1 is a distributed I O system which enables the master to use a large number of peripheral modules and field devices The data transfer is mainly cyclic the master reads the input information from the slaves and sends the output information back to the slaves The FPBA 01 module uses so called PPOs Parameter Process Data Objects in cyclic communication and supports also standard telegrams 1 and 2 See Figures 8 and 9 for the supported PPO messages and standard telegrams respectively Service Access Points SAPs The services of the PROFIBUS Data Link Layer Layer 2 are used by PROFIBUS DP through Service Access Points SAPs Precisely defined functions are assigned to individual SAPs For further information on Service Access Points refer to the manual of the PROFIBUS master PROFIDRIVE The PROFIBUS Profile for Adjustable Speed Drives V2 0 and V3 1 or the EN 50170 and IEC 61784 standards Communication 72 Communication start up The following Service Access Points SAPs are used to initiate DP communication SAP no Short Name Name Default Data_Exch Cyclical Data Exchange SAP 0 Write_Read_Data 58 Global_ Control Global Control Service 59 Get_Cfg Read Conf
77. on Guideline www profibus com order no 2 262 Electrical installation 41 Drive configuration Overview This chapter gives information on configuring the drive for communication through the FPBA 01 PROFIBUS DP Adapter module PROFIBUS connection configuration After the FPBA 01 PROFIBUS DP Adapter module has been mechanically and electrically installed according to the instructions in previous chapters the drive must be prepared for communication with the module The detailed procedure of activating the module for PROFIBUS DP communication with the drive is dependent on the drive type Normally a parameter must be adjusted to activate the communication see the drive documentation As communication between the drive and the FPBA 01 is established several configuration parameters are copied to the drive These parameters shown below in Tables 1 to 3 must be checked first and adjusted where necessary The alternative selections for these parameters are discussed in more detail below the tables Note The new settings take effect only when the module is powered up the next time or when a Fieldbus Adapter parameter refresh command is given see the drive documentation Data transfer rates supported The FPBA 01 supports the following PROFIBUS communication speeds 9 6 kbit s 19 2 kbit s 45 45 kbit s 93 75 kbit s 187 5 kbit s 500 kbit s 1 5 Mbit s 3 Mbit s 6 Mbit s 12 Mbit s The FPBA 01 aut
78. on through the FPBA 01 PROFIBUS Adapter module Configuring the system After the FPBA 01 PROFIBUS DP Adapter module has been mechanically and electrically installed according to the instructions in previous chapters and has been initialised by the drive the master station must be prepared for communication with the module Configuration of the master station requires a type definition GSD file For DP VO communication the file is available from www profibus com or your local ABB representative the filename is ABB_0959 GSD For DP V1 communication the file is available from your local ABB representative the filename is ABB10959 GSD Please refer to the master station documentation for more information Master configuration 52 Master configuration 53 Communication profiles Overview This chapter describes the communication profiles used in the communication between the PROFIBUS network the FPBA 01 module and the drive Communication profiles Communication profiles are ways of conveying control commands Control word Status word references and actual values between the master station and the drive With the FPBA 01 module the PROFIBUS network may employ either the PROF ldrive profile or the ABB Drives profile Both are converted to the DCU FBA profile detailed in the drive documentation by the FPBA 01 module In addition two Transparent modes for 16 bit and 32 bit words respectively are av
79. r Slot number Index Data length Request reference Request ID 01h Request Parameter Drive object ID Number of parameters Attribute 10h Value a of elements Rays index E DP 5F 01 2F 0A 05 01 01 01 ne ae De 00 Toa DP header DP V1 Command PROFldrive V3 Parameter Channel trailer Communication 111 Positive Read response to DP V1 Read request Function number Slot number Index Data length Response reference mirrored Response ID Drive object ID Number of parameters Format 42h Word Number of values wer Parameter value DP 5E 01 2F 08 05 01 01 01 142 01 05 64 DP header DP V1 Response PROF Idrive V3 Parameter Channel trailer Negative response to PROFIdrive Read request Function number Slot number Index Data length Response reference mirrored Response ID Drive object ID mirrored Number of parameters Format 44h Error Number of values de PROFldrive error code DP 5E 01 2F 08 05 81 01 01 44 01 00 14 DP header DP V1 Response PROF Idrive V3 Parameter Channel trailer Communication 112 Example 1b Reading 3 drive parameters multi parameter In this example three parameters 12 04 20 08 and 30 19 are read using one telegram DP V1 Write request Read parameter value Function number Slot number Index Data length Request reference Request ID 01h Request Parameter Drive object ID Number of parameters Attribut
80. r class 0 9 Meaning Reserved Error code Communication 104 10 Ox0A Application 0 Read error 1 Write error 2 Module failure 3 7 Reserved 8 Version conflict 9 Feature not supported 10 15 User specific 11 Ox0B Access 0 Invalid index 1 Write length error 2 Invalid slot 3 Type conflict 4 Invalid area 5 State conflict 6 Access denied 7 Invalid range 8 Invalid parameter 9 Invalid type 10 15 User specific 12 Ox0C Resource 0 Read constraint conflict 1 Write constraint conflict 2 Resource busy 3 Resource unavailable 4 7 Reserved 8 15 User specific 13 15 User specific Table 11 PROFIdrive Request header ee Byte Field s Description Range Word Request Unique identification set by the master 1 255 Byte Reference Changed for each new request Request ID Request type for the issued block Request Byte Parameter 01h Change Parameter 02h Communication 105 Drive To be set to 0 or 1 0 255 Byte Object ID No of Number of parameters that are presentin 1 37 Byte Parameters the request Attribute Type of object being accessed Value 10h Byte Note Description and Text are not Description 20h supported Text 30h No of Number of array elements accessed or 0 1 234 Byte Elements length of string accessed Set to 0 if non
81. rights 15 Text array not available 17 Task cannot be executed due to operating status e g parameter is currently read only 18 Other error 101 Vendor specific error 102 Request not supported 103 Request cannot be completed due to communication error 110 Failure during write to non volatile memory 111 Request aborted due to time out 120 Parameter cannot be mapped to PZD size mismatch or non existent 121 Parameter cannot be mapped to PZD end of memory 122 Parameter cannot be mapped to PZD multiple PZD write 130 Cannot map Control Word bit parameter 933 937 e g double mapping of bits 140 Cannot change mode to TORQUE frequency is used 150 Internal buffer overflow 160 Internal communication error No parameter change rights for PKW interface Parameter data signal word Parameter data signal double word Communication 91 The allocation of drive control actual words drive parameters and PROF Idrive parameters to the Parameter Identification part of the PPO type is shown below The Index column corresponds to the parameter number PNU in the ID part of Parameter Identification The Sub index column corresponds to the IND part of Parameter Identification The Example No column refers to the examples on the following pages Virtual drive control area Par No Example Index Sub index Decimal Request Label No Oh 1h 1 Oh 2h
82. spectively The drive states are presented in the ABB Drives profile state machine Figure 6 References References are 16 bit words containing a sign bit and a 15 bit integer A negative reference indicating reversed direction of rotation is formed by calculating the two s complement from the corresponding positive reference ABB drives can receive control information from multiple sources including analogue and digital inputs the drive control panel and a communication module e g FPBA 01 In order to have the drive controlled through the fieldbus the module must be defined as the source for control information e g Reference Communication profiles 64 Scaling References are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set by drive parameters See the drive documentation for further information Fieldbus gt Drive REF2 10000 REF1 20000 PEFx MAX REFx MIN I REFx MIN REF2 10000 REF1 20000 REFX MAX Communication profiles 65 Actual values Actual values are 16 bit words containing information on the operation of the drive The functions to be monitored are selected by a drive parameter Scaling Actual values are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set by drive parameters See the drive documentation for further information Fieldbus lt ________ _ __ Drive ACT2 10000 ACT1 20000 T PEFXMAX
83. start func FBA 21 01 Speed ref1 sel FBA ref1 51 01 FBA type 1 FPBA xx PROFIBUS DP adapter module 51 02 NODE ADDRESS 3 51 03 BAUDRATE 12000 51 04 TELEGRAM TYPE 1 PPO 1 51 05 PROFILE 0 PROF Idrive 52 01 FBA data in1 4 52 02 Fba data in2 5 53 01 FBA data out1 1 53 02 FBA data out2 2 51 27 FBA par refresh Refresh Read only or automatically detected set Quick start up guide 35 Mechanical installation WARNING Follow the safety instructions given in this manual and AN the drive documentation Mounting The FPBA 01 is to be inserted into its specific position in the drive The module is held in place with plastic pins and one screw The screw also provides the earthing of the fieldbus cable shield connected to the module On installation of the module the signal and power connection to the drive is made through a 20 pin connector All drives do not use all the available signals so the connector on the drive may have fewer pins Mounting procedure e Insert the module carefully into its position on the drive Fasten the screw Note Correct installation of the screw is essential for fulfilling the EMC requirements and for proper operation of the module Mechanical installation 36 Mechanical installation 37 Electrical installation Overview This chapter contains e general cabling instructions e instructions for setting m
84. the fieldbus module 50 04 FBA REF 1 POSITION Fieldbus reference 1 MODESEL mode selection 50 05 FBA REF2 VELOCITY Fieldbus reference 2 MODESEL mode selection Quick start up guide 28 10 01 EXT1 START FBA External 1 control source FUNC selection 22 01 SPEED FB SEL ENC1 Speed feedback SPEED selection 34 02 EXT1 MODE 1 P FBA External 1 control mode 2SEL MAIN selection Selection is CW 26 done by START_HOMING bit bit 11 in Profibus Control Word Mode 1 Position Mode 2 Homing 34 03 EXT1 CTRL POSITION External 1 control mode MODE 1 1 Position 34 04 EXT1 CTRL HOMING External 1 control mode MODE 2 2 Homing 62 01 HOMING CAN Selects the homing METHOD Methodxx mode Select the appropriate CAN Method 62 03 HOMING C False Homing start from START fieldbus only 65 01 POS FIELDBUS Position reference and REFSOURCE speed are read from fieldbus 65 03 POS START 1 C False Position start1 from fieldbus only 65 04 POS 1 REF FBA REF 1 FBA reference 1 is the SEL position reference source 65 11 POS START 2 C False Position start 2 from fieldbus only 65 22 PROF VEL FBA REF2 FBA reference 2 is the REF SEL velocity reference source Quick start up guide 29 66 05 POS ENABLE C False Position reference generator is enabled by fieldbus only 70 03 POS REF ENA C False Position reference enable comm
85. ublisher_Enabled Not supported 0 Slave not operated in DXB Publisher mode 1 Slave operated in DXB Publisher mode Fail_Safe Not supported DPV1_Enable 0 Slave operated in DP mode 1 Slave operated in DP V1 mode Communication 78 DPV1_Status_2 DP V1 only Not supported MSB x x x x x x 0 x LSB L Chk_Cfg_Mode 0 Chk_Cfg according to EN 50170 default state 1 User specific evaluation of Chk_Cfg Reserved To be parameterised with 0 Enable_Update_Alarm 0 Enable_Update_Alarm disabled 1 Enable_Update_Alarm enabled Enable_Status_Alarm 0 Enable_Status_Alarm disabled 1 Enable_Status_Alarm enabled Enable_Manufacturer_Specific_Alarm 0 Enable_Manufacturer_Specific_Alarm disabled 1 Enable_Manufacturer_Specific_Alarm enabled Enable_Diagnostic_Alarm 0 Enable_Diagnostic_Alarm disabled 1 Enable_Diagnostic_Alarm enabled Enable_Process_Alarm 0 Enable_Process_Alarm disabled 1 Enable_Process_Alarm enabled Enable_Pull_Plug_Alarm 0 Enable_Pull_Plug_Alarm disabled 1 Enable_Pull_Plug_Alarm enabled DPV1_Status_3 DP V1 only MSB 0 0 0 x 1 x x x LSB Alarm_Mode Not supported Limits the number of active alarms 0 1 alarm of each type 1 2 alarms in total 2 4 alarms in tot
86. unction Generator output held 6 1 Normal operation Proceed Activate traversing task to OPERATING 0 gt 1 This is a toggle bit Note This bit is effective each rising edge of signal only if the fieldbus interface enables a traversing task or is set as the source for this a new setpoint signal by drive parameters 0 Force Ramp Function Generator input to zero 7 RESET 0 gt 1 Fault reset if an active fault exists Proceed to SWITCH ON INHIBIT Note This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters 0 Continue normal operation JOGGING _1 Jogging 1 Not supported by all drive types JOGGING 2 Jogging 2 Not supported by all drive types 10 FREMOTE __ 1 Fieldbus control enabled SMD 0 Control Word lt gt 0 or Reference lt gt 0 Retain last Control Word and Reference Control Word 0 and Reference 0 Fieldbus control enabled 11 1 Vendor specific bit as Start homing procedure 0 ls gt A Stop homing procedure 12 Vendor specific bit as defined by PROFIdrive parameter 934 Communication profiles 59 ae ae Proceed to STATE Description Speed control mode Positioning mode 13 Vendor specific bit as defined by PROF Idrive parameter 935 14 Vendor specific bit as defined by PROF Idrive parameter 936 15 Vendor specific bit as defined by PROF Idrive paramet
87. us Message Specification Manufacturer Specific Interface Firmenspezifischer Umsetzer Main Actual Value Hauptistwert Main Reference Hauptsollwert Definitions and abbreviations 134 ISW KR KB PA PD PKE PKW PNU PPO PWE PZD PZDO SAP SOW SPM STW ZSW see ACT see CR Process Automation Prozessautomatisierung 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 Reference Sollwert Request Signal Spontanmeldung Control Word Steuerwort Status Word Zustandswort Definitions and abbreviations 135 Technical data FPBA 01 Enclosure ana CVD d 63 13 8 A a FPBA O PROFIBUS ADAPTER NANAAANANAN u I Mounting Into the option slot on the drive Degree of protection IP20 Ambient conditions The applicable ambient conditions specified for the drive in its manuals are in effect Indicators Three bicolour LEDs HOST MODULE NETWORK Connectors e 20 pin connector to drive X2 e 9 pin D SUB connector to bus X1 Power supply e 3 3
88. use of communication error 6Eh Non volatile error Failure during write to non volatile memory 6Fh Time out error Request aborted because of timeout 78h PZD map failure Parameter cannot be mapped to PZD size mismatch or non existent 79h PZD memory failure Parameter cannot be mapped to PZD out of memory 7Ah Multiple PZD map Parameter cannot be mapped to PZD multiple PZD write 82h Control word bit map Cannot map Control word bit parameter 933 937 e g double mapping of bits 8Ch Set torque mode error Cannot change mode to TORQUE frequency is used 90h Illegal Request ID The request ID of the response is illegal 109 96h AOh Internal buffer Internal communication Buffer overflow Communication error between module and drive Communication 110 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 unit part of the SD2 telegram is presented in the examples See Figure 10 on page 102 Example 1a Reading a drive parameter array element Drive parameters are addressed so that the drive parameter group corresponds to the parameter index PNU and the drive parameter number within the group corresponds to the subindex IND In the following example a value is read from drive parameter number 12 04 0C 04h DP V1 Write request Read parameter value Function numbe
89. using the Read_Inputs SAP 56 and Read_Outputs SAP 57 telegrams see Figure 7 on page 73 These telegrams have otherwise the same structure as the cyclic Data_Exchange telegram but include the DSAP and SSAP bytes In these telegrams the MSB of the DA and SA bytes will be set to 1 to indicate that a DSAP SSAP byte follows in the telegram header Communication 75 SAP 58 Global_Control This SAP is used to send special commands addressed to a single slave a special group of slaves or all slaves at once broadcast Global_Control Type Octet String Length 2 DU Byte 0 GC_Command msB0 O x x x xIx 0 LsB Description Reserved Clear Data 0 Do not clear output 1 Clear output 10 Activated Unfreeze 00 No function x1 Deactivated _________ Freeze 10 Activated x1 Deactivated _____________ Yn_ Sync 00 No function Sync Reserved 1 Group_Select 0 to 255 The value must match the Group Identification number of SAP 61 DU Byte 6 Communication 76 SAP 67 Set_Prm This SAP is used in the parameterisation of the drive Prm_Data Parameter Data Standard Type Octet String Total length 37 Prm_Data length 14 User_Prm_Data length 23 DU TOE Byte Value Description 0
90. zero byte is appended to ensure the word structure of the telegram Only if Response ID is 01h Request Parameter OK The Format Number of Values and Values fields are repeated for other parameters Table 13 Data types for Format field Code Type 0x00 Reserved 0x01 0x36 Standard data types Integer16 Integer32 Unsigned16 Unsigned32 oO ON OO FW DY 1 Boolean not supported Integer8 not supported Unsigned8 not supported Floating point not supported Visible string not supported 0x37 Ox3F Reserved 0x40 Zero 0x41 Byte 0x42 Word 0x43 Double word Communication 107 0x44 Error 0x45 OxFF Reserved Table 14 PROFldrive Parameter Request error codes Error Meaning Used at 00h Impermissible parameter Access to unavailable parameter number 01h Parameter value cannot be Change access to a parameter value changed that cannot be changed 02h Low or high limit exceeded Change access with value outside the limits 03h Invalid subindex Access to unavailable subindex 04h No array Access with subindex to non indexed parameter 05h Incorrect data type Change access with value that does not match the data type ofthe parameter 06h Setting not permitted can only Change access with value unequal to 0 be reset when this is not permitted 07h Description element cannot be Change ac

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