Page 1 — ABB INDUSTRIAL DRIVES ACS860 primary control program Firmware manual...
Page 2 You can find manuals and other product documents in PDF format on the Internet. See Document library on the Internet section on the inside of the back cover. For manuals not available in the Document library, contact your local ABB representative. *Available in the Document library.
Page 5: Table Of Contents
Table of contents 5 Table of contents 1. Introduction to the manual What this chapter contains ........... 11 Applicability .
Page 6 6 Table of contents Resonance frequency elimination ......... . 42 Rush control .
Page 7 Table of contents 7 Default parameter settings for the Sequential control macro ..... . 87 Default control connections for the Sequential control macro ..... . 88 Fieldbus control macro .
Page 8 The ABB Drives profile ........
Page 9 The state diagram (ABB Drives profile) ........
Page 10 10 Table of contents...
Page 11: Introduction To The Manual
• Read the complete safety instructions before you install, commission, or use the drive. The complete safety instructions are delivered with the drive as either part of the Hardware manual, or, in the case of ACS860 multidrives, as a separate document.
Page 12: Contents Of The Manual
Control locations and operating modes describes the control locations and operating modes of the drive. • Program features contains descriptions of the features of the ACS860 primary control program. • Application macros contains a short description of each macro together with a connection diagram.
Page 13: Terms And Abbreviations
DC link. In drives up to approximately 500 kW, these are integrated into a single module (drive module). Larger drives typically consist of separate supply and inverter units. The ACS860 primary control program is used to control the inverter part of the drive. DriveBus A communication link used by, for example, ABB controllers.
Page 14 Line-side supply unit. converter supply unit. ModuleBus A communication link used by, for example, ABB controllers. ACS860 drives can be connected to the optical ModuleBus link of the controller. Motor-side inverter unit. converter Network With fieldbus protocols based on the Common Industrial Protocol (CIP...
Page 15 Uninterruptible power supply; power supply equipment with battery to maintain output voltage during power failure Type of control unit used in ACS860 drives (primarily in drive modules, or inverter/supply units consisting of a single power module). Consists of an I/O board built into a plastic housing.
Page 16: Cybersecurity Disclaimer
ABB and its affiliates are not liable for damages and/or losses related to such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or information.
Page 17: Using The Control Panel
Using the control panel 17 Using the control panel Refer to ACX-AP-x assistant control panels user’s manual (3AUA0000085685 [English]).
Page 18 18 Using the control panel...
Page 19: Control Locations And Operating Modes
Control locations and operating modes 19 Control locations and operating modes What this chapter contains This chapter describes the control locations and operating modes supported by the control program.
Page 20: Local Control Vs. External Control
20 Control locations and operating modes Local control vs. external control The ACS860 has two main control locations: external and local. The control location is selected with the Loc/Rem key on the control panel or in the PC tool. ACS860...
Page 21: External Control
Control locations and operating modes 21  External control When the drive is in external control, control commands are given through • the I/O terminals (digital and analog inputs), • the embedded fieldbus interface or an optional fieldbus adapter module •...
Page 22: Operating Modes Of The Drive
22 Control locations and operating modes Operating modes of the drive The drive can operate in several operating modes with different types of reference. The mode is selectable for each control location (Local, EXT1 and EXT2) in parameter group 19 Operation mode.
Page 23: Speed Control Mode
Control locations and operating modes 23  Speed control mode The motor follows a speed reference given to the drive. This mode can be used either with estimated speed as feedback, or with an encoder for better speed control accuracy. Speed control mode is available in both local and external control.
Page 24 24 Control locations and operating modes...
Page 25: Program Features
Program features 25 Program features What this chapter contains The control program contains all of the parameters (including actual signals) within the drive. This chapter describes some of the more important functions within the control program, how to use them and how to program them to operate. WARNING! Make sure that the machinery into which the drive is integrated fulfils the personnel safety regulations.
Page 26: Drive Configuration And Programming
26 Program features Drive configuration and programming The drive control program is divided into two parts: • firmware program • application program. Drive control program Firmware Application program Speed control Torque control Function block Frequency control program Parameter Drive logic interface I/O interface Standard...
Page 27: Adaptive Programming
Program features 27  Adaptive programming Conventionally, the user can control the operation of the drive by parameters. However, the standard parameters have a fixed set of choices or a setting range. To further customize the operation of the drive, an adaptive program can be constructed out of a set of function blocks.
Page 28: Control Interfaces
28 Program features Control interfaces  Programmable analog inputs The control unit has two programmable analog inputs. Each of the inputs can be independently set as a voltage (0/2…10 V or -10…10 V) or current (0/4…20 mA) input by a jumper or switch on the control unit. Each input can be filtered, inverted and scaled.
Page 29: Fieldbus Control
Program features 29  Fieldbus control The drive can be connected to several different automation systems through its fieldbus interfaces. See chapters Fieldbus control through the embedded fieldbus interface (EFB) (page 383) and Fieldbus control through a fieldbus adapter (page 407).
Page 30: Master/Follower Functionality
30 Program features  Master/follower functionality General The master/follower functionality can be used to link several drives together so that the load can be evenly distributed between the drives. This is ideal in applications where the motors are coupled to each other via gearing, chain, belt, etc. The external control signals are typically connected to one drive only which acts as the master.
Page 31 Program features 31 Note: When the master is ramping down to a stop, the follower observes the decreasing reference but receives no stop command until the master stops modulating and clears bit 3 of the follower control word. Because of this, the maximum and minimum speed limits on the follower drive should not have the same sign –...
Page 32 32 Program features Master/follower wiring with electrical cable Master Follower 1 Follower n Termination ON Termination OFF Termination ON See the hardware manual of the drive for wiring and termination details. Example parameter settings The following is a checklist of parameters that need to be set when configuring the master/follower link.
Page 33 Program features 33 • 60.02 M/F node address = 2…60 • 60.03 M/F mode DDCS follower • 60.05 M/F HW connection (Star for wire) • Mapping of data received from master • 62.01 M/F data 1 selection CW 16bit • 62.02 M/F data 2 selection Ref1 16bit •...
Page 34: External Controller Interface
External controller interface General The drive can be connected to an external controller (such as the ABB AC 800M) using either fiber optic or twisted-pair cable. The ACS860 is compatible with both the ModuleBus and DriveBus connections. Note that some features of DriveBus (such as BusManager) are not supported.
Page 35 10 typically contains the control word and one or two references, while data set 11 returns the status word and selected actual values. For ModuleBus communication, the ACS860 can be set up as a “standard drive” or an “engineered drive” by parameter 60.50 DDCS controller drive...
Page 36: Motor Control
36 Program features Motor control  Vector control The switching of the output semiconductors is controlled to achieve the required stator flux and motor torque. The reference value for the torque controller comes from the speed controller or directly from an external torque reference source. Motor control requires measurement of the DC voltage and two motor phase currents.
Page 37: Constant Speeds/Frequencies
Program features 37 A deceleration ramp can be defined for emergency stop (“Off3” mode). Settings • Speed reference ramping: Parameters 23.11…23.19 46.01 (pages and 240). • Torque reference ramping: Parameters 01.30, 26.18 26.19 (pages and 181). • Frequency reference ramping: Parameters 28.71…28.75 46.02 (pages...
Page 38: Speed Controller Autotune
38 Program features Example A fan has vibrations in the range of 540 to 690 rpm and 1380 to 1560 rpm. To make the drive avoid these speed ranges, • enable the critical speeds function by turning on bit 0 of parameter 22.51 Critical speed function, and...
Page 39 Program features 39 The diagram below shows the behavior of speed and torque during the autotune routine. In this example, 25.40 Autotune repeat times is set to 2. Initial torque + [25.38] Initial torque Initial speed + [25.39] Initial speed Notes: •...
Page 40 40 Program features Autotune modes Autotuning can be performed in three different ways depending on the setting of parameter 25.34 Speed controller autotune mode. The selections Smooth, Normal Tight define how the drive torque reference should react to a speed reference step after tuning.
Page 41: Oscillation Damping
Program features 41 The figure below is a simplified block diagram of the speed controller. The controller output is the reference for the torque controller. Derivative acceleration compensation Proportional, integral Torque Speed Error reference reference value Derivative Actual speed Warning indications A warning message, AF90 Speed controller autotuning, will be generated if the...
Page 42: Resonance Frequency Elimination
42 Program features Tuning procedure for oscillation damping • Select the input by 26.53 Oscillation compensation input • Activate algorithm by 26.51 Oscillation damping • Set 26.57 Oscillation damping gain to 0 • Calculate the oscillation frequency from the signal (use the Drive composer PC tool) and set 26.55 Oscillation damping frequency •...
Page 43: Encoder Support
Program features 43 Motor speed Overspeed trip level 31.30 Overspeed trip margin 30.12 Time Rush control active 30.11 31.30 Overspeed trip margin Overspeed trip level The function is based on a PI controller. The proportional gain and integration time can be defined by parameters. Setting these to zero disables rush control. Settings Parameters 26.81 Rush control gain...
Page 44 44 Program features Any mechanical gear ratios between the components (motor, motor encoder, load, load encoder) are specified using the gear parameters shown in the diagram below. Load encoder to load Motor to load Motor encoder to motor scaling scaling scaling 90.53 90.61...
Page 45 Program features 45 (Proximity switch) Source set by 90.67 (Initialization inhibit) Source set by 90.68 90.35 Pos counter status bit 4, Pos counter init ready 90.35 Pos counter status bit 5, Position counter re-init disabled (Re-init request) Source set by 90.69 Drive fault +2147483...
Page 46 46 Program features Parameter 90.60 Pos counter error and boot action defines whether position calculation resumes from the previous value over an encoder error or control unit reboot. By default, bit 4 of 90.35 Pos counter status is cleared after an error, indicating that reinitialization is needed.
Page 47: Jogging
Program features 47 6. Set parameter 91.10 Encoder parameter refresh Refresh to apply the new parameter settings. The parameter will automatically revert to Done. 7. Check that 91.02 Module 1 status is showing the correct interface module type (FEN-31). Also check the status of the module; both LEDs should be glowing green.
Page 48 48 Program features Two jogging functions (1 and 2) are available, each with their own activation sources and references. The signal sources are selected by parameters 20.26 Jogging 1 start source 20.27 Jogging 2 start source. When jogging is activated, the drive starts and accelerates to the defined jogging speed (22.42 Jogging 1 ref 22.43 Jogging 2...
Page 49 Program features 49 Start Phase Description enable 1 → 0 Drive is stopped. As long as the jog enable signal is on, start commands are ignored. After jog enable switches off, a fresh start command is required. 9-10 Drive accelerates to the speed reference along the selected acceleration ramp (parameters 23.11…23.19).
Page 50: Scalar Motor Control
50 Program features WARNING! If jogging is enabled and activated while the start command is on, jogging will activate as soon as the start command switches off. • If both jogging functions are activated, the one that was activated first has priority. •...
Page 51: Flux Braking
Program features 51 IR compensation for scalar motor control IR compensation (also known as voltage Motor voltage boost) is available only when the motor control mode is scalar. When IR IR compensation compensation is activated, the drive gives an extra voltage boost to the motor at low speeds.
Page 52: Dc Magnetization
52 Program features The drive monitors the motor status continuously, also during flux braking. Therefore, flux braking can be used both for stopping the motor and for changing the speed. The other benefits of flux braking are: • The braking starts immediately after a stop command is given. The function does not need to wait for the flux reduction before it can start the braking.
Page 53 Program features 53 into the motor. The current is set by parameter 21.10 DC current reference. When the reference exceeds parameter 21.09 DC hold speed, normal drive operation continues. DC hold Motor speed Reference 21.09 DC hold speed Notes: • DC hold is only available in speed control in Vector motor control mode (see page 22).
Page 54 54 Program features...
Page 55: Application Control
Program features 55 Application control  Application macros Application macros are predefined application parameter edits and I/O configurations. See chapter Application macros (page 79).
Page 56: Motor Potentiometer
56 Program features  Motor potentiometer The motor potentiometer is, in effect, a counter whose value can be adjusted up and down using two digital signals selected by parameters 22.73 Motor potentiometer up source 22.74 Motor potentiometer down source. Note that these signals have no effect when the drive is stopped.
Page 57: Mechanical Brake Control
Program features 57  Mechanical brake control A mechanical brake can be used for holding the motor and driven machinery at zero speed when the drive is stopped, or not powered. The brake control logic observes the settings of parameter group 44 Mechanical brake control as well as several external signals, and moves between the states presented in the diagram on page...
Page 58 58 Program features Brake state diagram (from any state) (from any state) BRAKE DISABLED BRAKE CLOSED BRAKE OPENING BRAKE OPENING WAIT BRAKE OPENING DELAY BRAKE CLOSING BRAKE OPEN BRAKE CLOSING DELAY BRAKE CLOSING WAIT State descriptions State name Description BRAKE DISABLED Brake control is disabled (parameter 44.06 Brake control enable = 0, and...
Page 59 Program features 59 State name Description BRAKE CLOSING: BRAKE CLOSING WAIT Brake has been requested to close. The drive logic is requested to ramp down the speed to a stop (44.01 Brake control status b3 = 1). The open signal is kept active (44.01 Brake control status b0 = 1).
Page 60 60 Program features Timing diagram The simplified timing diagram below illustrates the operation of the brake control function. Refer to the state diagram above. Start command (06.16 Modulating (06.16 Ready ref (06.11 Torque reference Speed reference Brake control signal (44.01 Opening torque request (44.01...
Page 61 Program features 61 Wiring example The figure below shows a brake control wiring example. The brake control hardware and wiring is to be sourced and installed by the customer. WARNING! Make sure that the machinery into which the drive with brake control function is integrated fulfils the personnel safety regulations.
Page 62: Dc Voltage Control
62 Program features DC voltage control  Overvoltage control Overvoltage control of the intermediate DC link is typically needed when the motor is in generating mode. The motor can generate when it decelerates or when the load overhauls the motor shaft, causing the shaft to turn faster than the applied speed or frequency.
Page 63: Voltage Control And Trip Limits
Program features 63 Automatic restart It is possible to restart the drive automatically after a short (max. 5 seconds) power supply failure by using the Automatic restart function provided that the drive is allowed to run for 5 seconds without the cooling fans operating. When enabled, the function takes the following actions upon a supply failure to enable a successful restart: •...
Page 64: Brake Chopper
64 Program features Supply voltage range [V AC] (see 95.01 Supply voltage) Level [V DC (% of U 208…240 380…415 440…480 525…600 660…690 DCmax Overvoltage fault limit 489/440* 1113 1218 Overvoltage control limit 405 (125) 700 (125) 810 (125) 810 (120) 1013 (125) 1167 (125) Internal brake chopper at 100% 403 (124) 697 (124)
Page 65: Safety And Protections
For more information, contact your local ABB representative. • After an emergency stop signal is detected, the emergency stop function cannot be canceled even though the signal is canceled.
Page 66 66 Program features The motor temperature can be monitored using • the motor thermal protection model (estimated temperature derived internally inside the drive), or • sensors installed in the windings. This will result in a more accurate motor model. Motor thermal protection model The drive calculates the temperature of the motor on the basis of the following assumptions: 1.
Page 67 Program features 67 The figure below shows typical PTC sensor resistance values as a function of temperature. 4000 1330 In addition to the above, optional FEN-xx encoder interfaces, and FPTC-xx modules have connections for PTC sensors. Refer to the module-specific documentation for more information.
Page 68: Automatic Fault Resets
68 Program features The figure and table below show typical KTY84 sensor resistance values as a function of the motor operating temperature. 3000 2000 KTY84 scaling 90 °C = 936 ohm 110 °C = 1063 ohm 130 °C = 1197 ohm 1000 150 °C = 1340 ohm -100...
Page 69: Other Programmable Protection Functions
Program features 69 Settings Parameters 31.12…31.16 (page 202).  Other programmable protection functions External events (parameters 31.01…31.10) Five different event signals from the process can be connected to selectable inputs to generate trips and warnings for the driven equipment. When the signal is lost, an external event (fault, warning, or a mere log entry) is generated.
Page 70 70 Program features Overspeed protection (parameter 31.30) The user can set overspeed limits by specifying a margin that is added to the currently-used maximum and minimum speed limits. Ramp stop supervision (parameters 31.32, 31.33, 31.37 and 31.38) The control program has a supervision function for both the normal and emergency stop ramps.
Page 71: Diagnostics
Program features 71 Diagnostics  Fault and warning messages, data logging See chapter Fault tracing (page 343).  Signal supervision Three signals can be selected to be supervised by this function. Whenever a supervised signal exceeds or falls below predefined limits, a bit in 32.01 Supervision status is activated, and a warning or fault generated.
Page 72: Energy Saving Calculators
72 Program features  Energy saving calculators This feature consists of the following functionalities: • An energy optimizer that adjusts the motor flux in such a way that the total system efficiency is maximized • A counter that monitors used and saved energy by the motor and displays them in kWh, currency or volume of CO emissions, and •...
Page 73 Program features 73 Amplitude ranges (parameters 36.40…36.49) Amplitude logger 1 is fixed to monitor motor current, and cannot be reset. With amplitude logger 1, 100% corresponds to the maximum output current of the drive , as given in the hardware manual). The distribution of collected samples is shown by parameters 36.20…36.29.
Page 74: Miscellaneous
74 Program features Miscellaneous  User parameter sets The drive supports four user parameter sets that can be saved to the permanent memory and recalled using drive parameters. It is also possible to use digital inputs to switch between user parameter sets. A user parameter set contains all editable values in parameter groups 10…99 except •...
Page 75: User Lock
WARNING! ABB will not be liable for damages or losses caused by the failure to activate the user lock using a new pass code. See Cybersecurity disclaimer (page 16).
Page 76: Reduced Run Function
Activation of the reduced run function Note: For cabinet-built drives, the wiring accessories and the air baffle needed during the procedure are available from ABB, and are included in the delivery. WARNING! Follow the safety instructions provided for the drive or inverter unit in question.
Page 77: Du/Dt Filter Support
Program features 77 8. Reset all faults and start the drive/inverter unit. The maximum current is now automatically limited according to the new inverter configuration. A mismatch between the number of detected modules (95.14) and the value set in 95.13 will generate a fault.
Page 78 78 Program features...
Page 79: Application Macros
Application macros 79 Application macros What this chapter contains This chapter describes the intended use, operation and default control connections of the application macros. More information on the connectivity of the control unit is given in the Hardware manual of the drive. General Application macros are sets of default parameter values suitable for the application in question.
Page 80: Factory Macro
80 Application macros Factory macro The Factory macro is suited to relatively straightforward speed control applications such as conveyors, pumps and fans, and test benches. The drive is speed-controlled with the reference signal connected to analog input AI1. The start/stop commands are given through digital input DI1; running direction is determined by DI2.
Page 81: Default Control Connections For The Factory Macro
Application macros 81  Default control connections for the Factory macro XPOW External power input +24VI 24 V DC, 2 A Reference voltage and analog inputs +VREF 10 V DC, R 1…10 kohm -VREF -10 V DC, R 1…10 kohm AGND Ground AI1+...
Page 82: Hand/Auto Macro
82 Application macros Hand/Auto macro The Hand/Auto macro is suited to speed control applications where two external control devices are used. The drive is speed-controlled from the external control locations EXT1 (Hand control) and EXT2 (Auto control). The selection between the control locations is done through digital input DI3.
Page 83: Default Control Connections For The Hand/Auto Macro
Application macros 83  Default control connections for the Hand/Auto macro XPOW External power input +24VI 24 V DC, 2 A Reference voltage and analog inputs +VREF 10 V DC, R 1…10 kohm -VREF -10 V DC, R 1…10 kohm AGND Ground AI1+...
Page 84: Torque Control Macro
84 Application macros Torque control macro This macro is used in applications in which torque control of the motor is required. These are typically tension applications, where a particular tension needs to be maintained in the mechanical system. Torque reference is given through analog input AI2, typically as a current signal in the range of 0…20 mA (corresponding to 0…100% of rated motor torque).
Page 85: Default Control Connections For The Torque Control Macro
Application macros 85  Default control connections for the Torque control macro XPOW External power input +24VI 24 V DC, 2 A Reference voltage and analog inputs +VREF 10 V DC, R 1…10 kohm -VREF -10 V DC, R 1…10 kohm AGND Ground AI1+...
Page 86: Sequential Control Macro
86 Application macros Sequential control macro The Sequential control macro is suited for speed control applications in which a speed reference, multiple constant speeds, and two acceleration and deceleration ramps can be used. Only EXT1 is used in this macro. The macro offers seven preset constant speeds which can be activated by digital inputs DI4…DI6 (see parameter 22.21 Constant speed...
Page 87: Selection Of Constant Speeds
Application macros 87  Selection of constant speeds By default, constant speeds 1…7 are selected using digital inputs DI4…DI6 as follows: Constant speed active None (External speed reference used) Constant speed 1 Constant speed 2 Constant speed 3 Constant speed 4 Constant speed 5 Constant speed 6 Constant speed 7...
Page 88: Default Control Connections For The Sequential Control Macro
88 Application macros  Default control connections for the Sequential control macro XPOW External power input +24VI 24 V DC, 2 A Reference voltage and analog inputs +VREF 10 V DC, R 1…10 kohm -VREF -10 V DC, R 1…10 kohm AGND Ground AI1+...
Page 89: Fieldbus Control Macro
Application macros 89 Fieldbus control macro This application macro is not supported by the current firmware version.
Page 90 90 Application macros...
Page 91: Parameters
Parameters 91 Parameters What this chapter contains The chapter describes the parameters, including actual signals, of the control program.
Page 92: Terms And Abbreviations
92 Parameters Terms and abbreviations Term Definition Actual signal Type of parameter that is the result of a measurement or calculation by the drive, or contains status information. Most actual signals are read-only, but some (especially counter-type actual signals) can be reset. (In the following table, shown on the same row as the parameter name) The default value of a parameter...
Page 93: Summary Of Parameter Groups
Parameters 93 Summary of parameter groups Group Contents Page 01 Actual values Basic signals for monitoring the drive. 03 Input references Values of references received from various sources. 04 Warnings and faults Information on warnings and faults that occurred last. 05 Diagnostics Various run-time-type counters and measurements related to drive maintenance.
Page 94 94 Parameters Group Contents Page 51 FBA A settings Fieldbus adapter A configuration. 52 FBA A data in Selection of data to be transferred from drive to fieldbus controller through fieldbus adapter A. 53 FBA A data out Selection of data to be transferred from fieldbus controller to drive through fieldbus adapter A.
Page 95: Parameter Listing
Parameters 95 Parameter listing Name/Value Description Def/FbEq16 01 Actual values Basic signals for monitoring the drive. All parameters in this group are read-only unless otherwise noted. 01.01 Motor speed used Measured or estimated motor speed depending on which type of feedback is used (see parameter 90.41 Motor feedback selection).
Page 96 96 Parameters Name/Value Description Def/FbEq16 01.15 Output power % of Shows the value of 01.14 Output power in percent of the motor nom nominal power of the motor. -300.00 … 300.00% Output power. 10 = 1% 01.17 Motor shaft power Estimated mechanical power at motor shaft.
Page 97 Parameters 97 Name/Value Description Def/FbEq16 01.32 Inverter GWh Amount of energy that has passed through the drive (towards regenerating the supply) in full gigawatt-hours. The minimum value is zero. 0…32767 GWh Regenerative energy in GWh. 1 = 1 GWh 01.33 Inverter MWh Amount of energy that has passed through the drive (towards regenerating...
Page 98: Input References
98 Parameters Name/Value Description Def/FbEq16 01.68 Abs motor shaft Absolute value of 01.17 Motor shaft power. power 0.00 … 32767.00 Motor shaft power. 1 = 1 unit 01.70 Ambient Measured temperature of incoming cooling air. temperature % The amplitude range of 0…100% corresponds to 0…60 °C See also 01.31 Ambient temperature.
Page 99: Warnings And Faults
Parameters 99 Name/Value Description Def/FbEq16 03.13 M/F or D2D ref1 Master/follower reference 1 received from the master. The 1 = 10 value has been scaled according to parameter 60.10 M/F ref1 type. See also section Master/follower functionality (page 30). -30000.00 … Scaled reference 1 received from master.
Page 100 100 Parameters Name/Value Description Def/FbEq16 04.13 3rd latest fault Code of the 3rd stored (non-active) fault. 0000h…FFFFh 3rd stored fault. 1 = 1 04.14 4th latest fault Code of the 4th stored (non-active) fault. 0000h…FFFFh 4th stored fault. 1 = 1 04.15 5th latest fault Code of the 5th stored (non-active) fault.
Page 101: Diagnostics
Parameters 101 Name/Value Description Def/FbEq16 04.41 Event word 1 bit 0 Selects the hexadecimal code of an event (warning, fault or 0000h code pure event) whose status is shown as bit 0 of 04.40 Event word 1. The event codes are listed in chapter Fault tracing (page 343).
Page 102: Control And Status Words
102 Parameters Name/Value Description Def/FbEq16 05.04 Fan on-time Running time of the drive cooling fan. Can be reset from the counter control panel by keeping Reset depressed for over 3 seconds. 0…65535 d Cooling fan run-time counter. 1 = 1 d 05.09 Time from power-up 500-microsecond ticks elapsed since the last boot of the...
Page 103 Parameters 103 Name/Value Description Def/FbEq16 06.03 FBA A transparent Displays the unaltered control word received from the PLC control word through fieldbus adapter A when a transparent communication profile is selected eg. by parameter group FBA A settings. See section Control word and Status word (page 410).
Page 104 104 Parameters Name/Value Description Def/FbEq16 06.16 Drive status word 1 Drive status word 1. This parameter is read-only. Name Description Enabled 1 = Both run enable (see par. 20.12) and start enable (20.19) signals are present, and Drive interlock has not been activated. Notes: •...
Page 105 Parameters 105 Name/Value Description Def/FbEq16 06.17 Drive status word 2 Drive status word 2. This parameter is read-only. Name Description Identification run done 1 = Motor identification (ID) run has been performed Magnetized 1 = The motor has been magnetized Torque control 1 = Torque control mode active Speed control...
Page 106 106 Parameters Name/Value Description Def/FbEq16 06.18 Start inhibit status Start inhibit status word. This word specifies the source of the word inhibiting condition that is preventing the drive from starting. After the condition is removed, the start command must be cycled.
Page 107 Parameters 107 Name/Value Description Def/FbEq16 06.19 Speed control Speed control status word. status word This parameter is read-only. Name Description Zero speed 1 = Drive is running at zero speed, ie. the absolute value of par. 90.01 Motor speed for control has remained below 21.06 Zero speed limit longer than...
Page 108 108 Parameters Name/Value Description Def/FbEq16 06.21 Drive status word 3 Drive status word 3. This parameter is read-only. Name Description DC hold active 1 = DC hold is active (see par. 21.08) Smooth start active Reserved. 6…15 Reserved 0000h…FFFFh Drive status word 3. 1 = 1 06.25 Drive inhibit status...
Page 109 Parameters 109 Name/Value Description Def/FbEq16 True Ext ctrl loc Bit 11 of 06.01 Main control word (see page 102). Other [bit] Source selection (see Terms and abbreviations on page 92). 06.31 MSW bit 12 sel Selects a binary source whose status is transmitted as bit 12 Ext run 06.11 Main status word.
Page 110: System Info
110 Parameters Name/Value Description Def/FbEq16 06.47 Follower CW user Selects a binary source whose status is transmitted as bit 14 MCW user bit bit 2 selection of the Follower control word to follower drives. (Bits 0…11 of the Follower control word are taken from 06.01 Main control word.) False...
Page 111 Parameters 111 Name/Value Description Def/FbEq16 07.21 Application (Only visible with option +N8010 [application environment status programmability]) Shows which tasks of the application program are running. See the Drive (IEC 61131-3) application programming manual (3AUA0000127808 [English]). Name Description Pre task 1 = Pre-task running. Appl task1 1 = Task 1 running.
Page 112 112 Parameters Name/Value Description Def/FbEq16 07.30 Adaptive program Shows the status of the adaptive program. status See section Adaptive programming (page 27). Name Description Initialized 1 = Adaptive program initialized Editing 1 = Adaptive program is being edited Edit done 1 = Editing of adaptive program finished Running 1 = Adaptive program running...
Page 113: Standard Di, Ro
Parameters 113 Name/Value Description Def/FbEq16 10 Standard DI, RO Configuration of digital inputs and relay outputs. 10.01 DI status Displays the electrical status of digital inputs DIIL and DI6…DI1. The activation/deactivation delays of the inputs (if any are specified) are ignored. A filtering time can be defined by parameter 10.51 DI filter time.
Page 114 114 Parameters Name/Value Description Def/FbEq16 10.05 DI1 ON delay Defines the activation delay for digital input DI1. 0.0 s *DI status **Delayed DI status Time 10.05 DI1 ON delay 10.06 DI1 OFF delay *Electrical status of digital input. Indicated by 10.01 DI status.
Page 115 Parameters 115 Name/Value Description Def/FbEq16 10.09 DI3 ON delay Defines the activation delay for digital input DI3. 0.0 s *DI status **Delayed DI status Time 10.09 DI3 ON delay 10.10 DI3 OFF delay *Electrical status of digital input. Indicated by 10.01 DI status.
Page 116 116 Parameters Name/Value Description Def/FbEq16 10.13 DI5 ON delay Defines the activation delay for digital input DI5. 0.0 s *DI status **Delayed DI status Time 10.13 DI5 ON delay 10.14 DI5 OFF delay *Electrical status of digital input. Indicated by 10.01 DI status.
Page 117 Parameters 117 Name/Value Description Def/FbEq16 Enabled Bit 0 of 06.16 Drive status word 1 (see page 104). Started Bit 5 of 06.16 Drive status word 1 (see page 104). Magnetized Bit 1 of 06.17 Drive status word 2 (see page 105). Running Bit 6 of 06.16 Drive status word 1...
Page 118 118 Parameters Name/Value Description Def/FbEq16 10.26 RO1 OFF delay Defines the deactivation delay for relay output RO1. See 0.0 s parameter 10.25 RO1 ON delay. 0.0 … 3000.0 s Deactivation delay for RO1. 10 = 1 s 10.27 RO2 source Selects a drive signal to be connected to relay output RO2.
Page 119: Standard Dio, Fi, Fo
Parameters 119 Name/Value Description Def/FbEq16 10.99 RO/DIO control Storage parameter for controlling the relay outputs and digital 0000h word input/outputs eg. through the embedded fieldbus interface. To control the relay outputs (RO) and the digital input/outputs (DIO) of the drive, send a control word with the bit assignments shown below as Modbus I/O data.
Page 120 120 Parameters Name/Value Description Def/FbEq16 Ready ref Bit 2 of 06.11 Main status word (see page 103). At setpoint Bit 8 of 06.11 Main status word (see page 103). Reverse Bit 2 of 06.19 Speed control status word (see page 107). Zero speed Bit 0 of 06.19 Speed control status word...
Page 121 Parameters 121 Name/Value Description Def/FbEq16 11.08 DIO1 OFF delay Defines the deactivation delay for digital input/output DIO1 0.0 s (when used as a digital output or digital input). See parameter 11.07 DIO1 ON delay. 0.0 … 3000.0 s Deactivation delay for DIO1. 10 = 1 s 11.09 DIO2 function...
Page 122 122 Parameters Name/Value Description Def/FbEq16 11.42 Freq in 1 min Defines the minimum for the frequency actually arriving at 0 Hz frequency input 1 (DIO1 when it is used as a frequency input). The incoming frequency signal (11.38 Freq in 1 actual value) is scaled into an internal signal (11.39 Freq in 1...
Page 123 Parameters 123 Name/Value Description Def/FbEq16 Speed ref ramp in 23.01 Speed ref ramp input (page 157). Speed ref ramped 23.02 Speed ref ramp output (page 157). Speed ref used 24.01 Used speed reference (page 162). Torq ref used 26.02 Torque reference used (page 178).
Page 124: Standard Ai
124 Parameters Name/Value Description Def/FbEq16 11.61 Freq out 1 at src Defines the maximum value of frequency output 1. See 16000 Hz diagrams at parameter 11.58 Freq out 1 src min. 0…16000 Hz Maximum value of frequency output 1. 1 = 1 Hz 11.81 DIO filter time Defines a filtering time for parameter...
Page 125 Parameters 125 Name/Value Description Def/FbEq16 Speed ref safe Drive generates a warning (A8A0 AI supervision) and sets the speed to the speed defined by parameter 22.41 Speed ref safe 28.41 Frequency ref safe when frequency reference is being used). WARNING! Make sure that it is safe to continue operation in case of a communication break.
Page 126 126 Parameters Name/Value Description Def/FbEq16 12.15 AI1 unit selection Selects the unit for readings and settings related to analog input AI1. Note: This setting must match the corresponding hardware setting on the drive control unit (see the hardware manual of the drive).
Page 127 Parameters 127 Name/Value Description Def/FbEq16 12.19 AI1 scaled at AI1 Defines the real internal value that corresponds to the 0.000 minimum analog input AI1 value defined by parameter 12.17 min. (Changing the polarity settings of 12.19 12.20 can effectively invert the analog input.) (12.12) scaled 12.20...
Page 128: Standard Ao
128 Parameters Name/Value Description Def/FbEq16 12.27 AI2 min Defines the minimum site value for analog input AI2. 0.000 mA or Set the value actually sent to the drive when the analog signal from plant is wound to its minimum setting. See also parameter 12.01 AI tune.
Page 129 Parameters 129 Name/Value Description Def/FbEq16 Motor torque 01.10 Motor torque (page 95). DC voltage 01.11 DC voltage (page 95). Power inu out 01.14 Output power (page 95). Speed ref ramp in 23.01 Speed ref ramp input (page 157). Speed ref ramp out 23.02 Speed ref ramp output (page 157).
Page 130 130 Parameters Name/Value Description Def/FbEq16 13.17 AO1 source min Defines the real minimum value of the signal (selected by parameter 13.12 AO1 source) that corresponds to the minimum required AO1 output value (defined by parameter 13.19 AO1 out at AO1 src min).
Page 131 Parameters 131 Name/Value Description Def/FbEq16 13.21 AO2 actual value Displays the value of AO2 in mA. This parameter is read-only. 0.000 … 22.000 mA Value of AO2. 1000 = 1 mA 13.22 AO2 source Selects a signal to be connected to analog output AO2. Motor current Alternatively, sets the output to excitation mode to feed a constant current to a temperature sensor.
Page 132: Operation Mode
132 Parameters Name/Value Description Def/FbEq16 13.28 AO2 source max Defines the real maximum value of the signal (selected by 100.0 parameter 13.22 AO2 source) that corresponds to the maximum required AO2 output value (defined by parameter 13.30 AO2 out at AO2 src max).
Page 133 Parameters 133 Name/Value Description Def/FbEq16 Forced magn. Motor is in magnetizing mode. 19.11 Ext1/Ext2 selection Selects the source for external control location EXT1/EXT2 EXT1 selection. 0 = EXT1 1 = EXT2 EXT1 EXT1 (permanently selected). EXT2 EXT2 (permanently selected). FBA A MCW bit 11 Control word bit 11 received through fieldbus interface A.
Page 134: Start/Stop/Direction
134 Parameters Name/Value Description Def/FbEq16 Torque Torque control. The torque reference used is 26.74 Torque ref ramp out (output of the torque reference chain). 19.17 Local control Enables/disables local control (start and stop buttons on the disable control panel, and the local controls on the PC tool). WARNING! Before disabling local control, ensure that the control panel is not needed for stopping the drive.
Page 135 Parameters 135 Name/Value Description Def/FbEq16 In1 Start fwd; In2 The source selected by 20.03 Ext1 in1 source is the forward Start rev start signal; the source selected by 20.04 Ext1 in2 source the reverse start signal. The state transitions of the source bits are interpreted as follows: State of source 1 State of source 2...
Page 136 136 Parameters Name/Value Description Def/FbEq16 Fieldbus A The start and stop commands are taken from fieldbus adapter Note: The start signal is always level-triggered with this setting regardless of parameter 20.02 Ext1 start trigger type. Embedded fieldbus The start and stop commands are taken from the embedded fieldbus interface.
Page 137 Parameters 137 Name/Value Description Def/FbEq16 20.06 Ext2 commands Selects the source of start, stop and direction commands for Not selected external control location 2 (EXT2). See also parameters 20.07…20.10. Not selected No start or stop command sources selected. In1 Start The source of the start and stop commands is selected by parameter 20.08 Ext2 in1...
Page 138 138 Parameters Name/Value Description Def/FbEq16 In1P Start; In2 Stop; The sources of the start and stop commands are selected by In3 Dir parameters 20.08 Ext2 in1 source 20.09 Ext2 in2 source. The source selected by 20.10 Ext2 in3 source determines the direction.
Page 139 Parameters 139 Name/Value Description Def/FbEq16 20.07 Ext2 start trigger Defines whether the start signal for external control location Edge type EXT2 is edge-triggered or level-triggered. Note: This parameter is only effective when parameter 20.06 Ext2 commands is set to Start, In1 Start;...
Page 140 140 Parameters Name/Value Description Def/FbEq16 DIIL DIIL input (10.02 DI delayed status, bit 15). Active control Control word bit 3 received from the active control source. source MCW bit 3 Notes: • If the drive is running in fieldbus control, switching bit 3 off effectively removes both the start and run enable signals.
Page 141 Parameters 141 Name/Value Description Def/FbEq16 20.23 Positive speed Selects the source of the positive speed enable command. Selected enable 1 = Positive speed enabled. 0 = Positive speed interpreted as zero speed reference. In the figure below, 23.01 Speed ref ramp input is set to zero after the positive speed enable signal has cleared.
Page 142 142 Parameters Name/Value Description Def/FbEq16 20.25 Jogging enable Selects the source for a jog enable signal. Not selected (The sources for jogging activation signals are selected by parameters 20.26 Jogging 1 start source 20.27 Jogging 2 start source.) 1 = Jogging is enabled. 0 = Jogging is disabled.
Page 143: Start/Stop Mode
Parameters 143 Name/Value Description Def/FbEq16 20.27 Jogging 2 start If enabled by parameter 20.25 Jogging enable, selects the Not selected source source for the activation of jogging function 2. (Jogging function 2 can also be activated through fieldbus regardless of parameter 20.25.) 1 = Jogging 2 active.
Page 144 144 Parameters Name/Value Description Def/FbEq16 Constant time The drive pre-magnetizes the motor before start. The pre- magnetizing time is defined by parameter 21.02 Magnetization time. This mode should be selected if constant pre-magnetizing time is required (e.g. if the motor start must be synchronized with the release of a mechanical brake).
Page 145 Parameters 145 Name/Value Description Def/FbEq16 21.04 Emergency stop Selects the way the motor is stopped when an emergency Ramp stop mode stop command is received. (Off1); Coast stop (Off2) The source of the emergency stop signal is selected by (95.20 b1);...
Page 146 146 Parameters Name/Value Description Def/FbEq16 Other [bit] Source selection (see Terms and abbreviations on page 92). 21.06 Zero speed limit Defines the zero speed limit. The motor is stopped along a 30.00 rpm speed ramp (when ramped stop is selected) until the defined zero speed limit is reached.
Page 147 Parameters 147 Name/Value Description Def/FbEq16 21.08 DC current control Activates/deactivates the DC hold and post-magnetization 0000b functions. See section DC magnetization (page 52). Notes: • These functions are only available in speed control in Vector motor control mode (see page 22). •...
Page 148 148 Parameters Name/Value Description Def/FbEq16 21.18 Auto restart time The motor can be automatically started after a short supply 5.0 s power failure using the automatic restart function. See section Automatic restart (page 63). When this parameter is set to 0.0 seconds, automatic restarting is disabled.
Page 149: Speed Reference Selection
Parameters 149 Name/Value Description Def/FbEq16 Digital input DI4 (10.02 DI delayed status, bit 3). Digital input DI5 (10.02 DI delayed status, bit 4). Digital input DI6 (10.02 DI delayed status, bit 5). DIO1 Digital input/output DIO1 (11.02 DIO delayed status, bit 0). DIO2 Digital input/output DIO2 (11.02 DIO delayed...
Page 150 150 Parameters Name/Value Description Def/FbEq16 Control panel (ref Control panel reference, with initial value from last-used panel saved) reference. See section Using the control panel as an external control source (page 21). Control panel (ref Control panel reference, with initial value from previous copied) source or actual value.
Page 151 Parameters 151 Name/Value Description Def/FbEq16 22.15 Speed additive 1 Defines a reference to be added to the speed reference after Zero source reference selection (see page 420). For the selections, see parameter 22.11 Speed ref1 source. Note: For safety reasons, the additive is not applied when any of the stop functions are active.
Page 152 152 Parameters Name/Value Description Def/FbEq16 22.22 Constant speed When bit 0 of parameter 22.21 Constant speed function is 0 sel1 (Separate), selects a source that activates constant speed 1. When bit 0 of parameter 22.21 Constant speed function is 1 (Packed), this parameter and parameters 22.23 Constant speed sel2...
Page 153 Parameters 153 Name/Value Description Def/FbEq16 22.27 Constant speed 2 Defines constant speed 2. 0.00 rpm -6000.00 … Constant speed 2. See par. 6000.00 rpm 46.01 22.28 Constant speed 3 Defines constant speed 3. 0.00 rpm -6000.00 … Constant speed 3. See par.
Page 154 154 Parameters Name/Value Description Def/FbEq16 22.51 Critical speed Enables/disables the critical speeds function. Also determines 0000b function whether the specified ranges are effective in both rotating directions or not. See also section Critical speeds/frequencies (page 37). Name Information Enable 1 = Enable: Critical speeds enabled. 0 = Disable: Critical speeds disabled.
Page 155 Parameters 155 Name/Value Description Def/FbEq16 Enabled (init at When enabled, the motor potentiometer first adopts the value stop/power-up) defined by parameter 22.72 Motor potentiometer initial value. When the drive is running, the value can be adjusted from the up and down sources defined by parameters 22.73 Motor potentiometer up source 22.74 Motor potentiometer down...
Page 156 156 Parameters Name/Value Description Def/FbEq16 22.77 Motor Defines the maximum value of the motor potentiometer. 1500.00 potentiometer max value -32768.00 … Motor potentiometer maximum. 1 = 1 32767.00 22.80 Motor Displays the output of the motor potentiometer function. (The potentiometer ref motor potentiometer is configured using parameters 22.71…22.74.) This parameter is read-only.
Page 157: Speed Reference Ramp
Parameters 157 Name/Value Description Def/FbEq16 22.87 Speed reference Displays the value of speed reference before application of act 7 critical speeds. See the control chain diagram on page 421. The value is received from 22.86 Speed reference act 6 unless overridden by •...
Page 158 158 Parameters Name/Value Description Def/FbEq16 23.12 Acceleration time 1 Defines acceleration time 1 as the time required for the speed 20.000 s to change from zero to the speed defined by parameter 46.01 Speed scaling (not to parameter 30.12 Maximum speed).
Page 159 Parameters 159 Name/Value Description Def/FbEq16 23.16 Shape time acc 1 Defines the shape of the acceleration ramp at the beginning of 0.000 s the acceleration. 0.000 s: Linear ramp. Suitable for steady acceleration or deceleration and for slow ramps. 0.001…1000.000 s: S-curve ramp. S-curve ramps are ideal for lifting applications.
Page 160 160 Parameters Name/Value Description Def/FbEq16 23.19 Shape time dec 2 Defines the shape of the deceleration ramp at the end of the 0.000 s deceleration. See parameter 23.16 Shape time acc 0.000 …1800.000 s Ramp shape at end of deceleration. 10 = 1 s 23.20 Acc time jogging...
Page 161 Parameters 161 Name/Value Description Def/FbEq16 23.26 Ramp out balancing Selects the source for enabling/disabling speed reference Not selected enable ramp balancing. This function is used to generate a smooth transfer from a torque- or tension-controlled motor back to being speed- controlled.
Page 162: Speed Reference Conditioning
162 Parameters Name/Value Description Def/FbEq16 23.28 Variable slope Activates the variable slope function, which controls the slope enable of the speed ramp during a speed reference change. This allows for a constantly variable ramp rate to be generated, instead of just the standard two ramps normally available. If the update interval of the signal from an external control system and the variable slope rate (23.29 Variable slope...
Page 163 Parameters 163 Name/Value Description Def/FbEq16 24.03 Speed error filtered Displays the filtered speed error. See the control chain diagram on page 425. This parameter is read-only. -6000.0 … 6000.0 Filtered speed error. See par. 46.01 24.04 Speed error Displays the inverted (unfiltered) speed error. See the control inverted chain diagram on page 425.
Page 164 164 Parameters Name/Value Description Def/FbEq16 24.14 Frequency of zero Defines the zero frequency of the resonance frequency filter. 45.00 Hz The value must be set near the resonance frequency, which is filtered out before the speed controller. The drawing shows the frequency response. 20log |H()| f (Hz)
Page 165 Parameters 165 Name/Value Description Def/FbEq16 24.16 Frequency of pole Defines the frequency of pole of the resonance frequency 40.00 Hz filter. 20log |H()| = 45 Hz zero = 50 Hz pole  zero  = 0.250 pole = 45 Hz = 45 Hz zero zero...
Page 166 166 Parameters Name/Value Description Def/FbEq16 24.41 Speed error window Enables/disables (or selects a source that enables/disables) Disable control enable speed error window control, sometimes also referred to as deadband control or strip break protection. It forms a speed supervision function for a torque-controlled drive, preventing the motor from running away if the material that is being held under tension breaks.
Page 167: Speed Control
Parameters 167 Name/Value Description Def/FbEq16 Enable Other [bit] Source selection (see Terms and abbreviations on page 92). 24.42 Speed window When speed error window control (see parameter 24.41 Normal control mode Speed error window control enable) is enabled, this parameter speed control determines whether the speed controller only observes the proportional term instead of all three (P, I and D) terms.
Page 168 168 Parameters Name/Value Description Def/FbEq16 25.02 Speed proportional Defines the proportional gain (K ) of the speed controller. Too 10.00; gain high a gain may cause speed oscillation. The figure below 5.00 shows the speed controller output after an error step when the (95.21 b1/b2) error remains constant.
Page 169 Parameters 169 Name/Value Description Def/FbEq16 25.03 Speed integration Defines the integration time of the speed controller. The 2.50 s; time integration time defines the rate at which the controller output 5.00 s changes when the error value is constant and the proportional (95.21 b1/b2) gain of the speed controller is 1.
Page 170 170 Parameters Name/Value Description Def/FbEq16 25.04 Speed derivation Defines the derivation time of the speed controller. Derivative 0.000 s time action boosts the controller output if the error value changes. The longer the derivation time, the more the speed controller output is boosted during the change.
Page 171 Parameters 171 Name/Value Description Def/FbEq16 25.06 Acc comp Defines the derivation time for acceleration(/deceleration) 0.00 s derivation time compensation. In order to compensate for a high inertia load during acceleration, a derivative of the reference is added to the output of the speed controller. The principle of a derivative action is described under parameter 25.04 Speed derivation time.
Page 172 172 Parameters Name/Value Description Def/FbEq16 25.08 Drooping rate Defines the droop rate in percent of the nominal motor speed. 0.00% Drooping decreases the drive speed slightly as the drive load increases. The actual speed decrease at a certain operating point depends on the droop rate setting and the drive load (= torque reference / speed controller output).
Page 173 Parameters 173 Name/Value Description Def/FbEq16 Digital input DI6 (10.02 DI delayed status, bit 5). DIO1 Digital input/output DIO1 (11.02 DIO delayed status, bit 0). DIO2 Digital input/output DIO2 (11.02 DIO delayed status, bit 1). Other [bit] Source selection (see Terms and abbreviations on page 92).
Page 174 174 Parameters Name/Value Description Def/FbEq16 25.18 Speed adapt min Minimum actual speed for speed controller adaptation. 0 rpm limit Speed controller gain and integration time can be adapted according to actual speed (90.01 Motor speed for control). This is done by multiplying the gain (25.02 Speed proportional gain) and integration time (25.03 Speed integration...
Page 175 Parameters 175 Name/Value Description Def/FbEq16 25.25 Torque adapt max Maximum torque reference for speed controller adaptation. 0.0% limit Speed controller gain can be adapted according to the final unlimited torque reference (26.01 Torque reference to TC). This can be used to smooth out disturbances caused by a small load and backlashes.
Page 176 176 Parameters Name/Value Description Def/FbEq16 25.30 Flux adaption Enables/disables speed controller adaptation based on motor Enable enable flux reference (01.24 Flux actual The proportional gain of the speed controller is multiplied by a coefficient of 0…1 between 0…100% flux reference respectively.
Page 177 Parameters 177 Name/Value Description Def/FbEq16 Normal Medium setting. Tight Fast response. May produce too high a gain value for some applications. 25.37 Mechanical time Mechanical time constant of the drive and the machinery as constant determined by the speed controller autotune function. The value can be adjusted manually.
Page 178: Torque Reference Chain
178 Parameters Name/Value Description Def/FbEq16 25.53 Torque prop Displays the output of the proportional (P) part of the speed reference controller. See the control chain diagram on page 426. This parameter is read-only. -30000.0 … P-part output of speed controller. See par.
Page 179 Parameters 179 Name/Value Description Def/FbEq16 26.09 Maximum torque ref Defines the maximum torque reference. Allows for local 300.0% limiting of the torque reference before it is passed on to the torque ramp controller. For absolute torque limiting, refer to parameter 30.20 Maximum torque 0.0 …...
Page 180 180 Parameters Name/Value Description Def/FbEq16 26.12 Torque ref2 source Selects torque reference source 2. Zero For the selections, and a diagram of reference source selection, see parameter 26.11 Torque ref1 source. 26.13 Torque ref1 function Selects a mathematical function between the reference Ref1 sources selected by parameters 26.11 Torque ref1 source...
Page 181 Parameters 181 Name/Value Description Def/FbEq16 26.17 Torque ref filter time Defines a low-pass filter time constant for the torque 0.000 s reference. 0.000 … 30.000 s Filter time constant for torque reference. 1000 = 1 s 26.18 Torque ramp up Defines the torque reference ramp-up time, ie.
Page 182 182 Parameters Name/Value Description Def/FbEq16 26.41 Torque step When enabled by parameter 26.42 Torque step enable, adds 0.0% an additional step to the torque reference. A second torque step can be added using pointer parameters 26.43 Torque step pointer enable 26.44 Torque step source.
Page 183 Parameters 183 Name/Value Description Def/FbEq16 M/F reference 2 03.14 M/F or D2D ref2 (see page 99). Motor 22.80 Motor potentiometer ref act (output of the motor potentiometer potentiometer). Control panel (ref Control panel reference, with initial value from last-used panel saved) reference.
Page 184 184 Parameters Name/Value Description Def/FbEq16 26.53 Oscillation Selects the input signal for the oscillation damping function. Speed error compensation input Note: Before changing this parameter run-time, disable the oscillation damping output using parameter 26.52. Monitor the behavior of 26.58 before re-enabling the output. Speed error 24.01 Used speed reference - unfiltered motor speed.
Page 185 Parameters 185 Name/Value Description Def/FbEq16 26.72 Torque reference Displays the torque reference after the function applied by act 3 parameter 26.13 Torque ref1 function (if any), and after selection (26.14 Torque ref1/2 selection). See the control chain diagram on page 427. This parameter is read-only.
Page 186: Frequency Reference Chain
186 Parameters Name/Value Description Def/FbEq16 28 Frequency reference Settings for the frequency reference chain. chain See the control chain diagrams on pages and 433. 28.01 Frequency ref ramp Displays the used frequency reference before ramping. See input the control chain diagram on page 433. This parameter is read-only.
Page 187 Parameters 187 Name/Value Description Def/FbEq16 Control panel (ref Control panel reference, with initial value from previous copied) source or actual value. See section Using the control panel as an external control source (page 21). Other Source selection (see Terms and abbreviations on page 92).
Page 188 188 Parameters Name/Value Description Def/FbEq16 28.21 Constant frequency Determines how constant frequencies are selected, and 0000b function whether the rotation direction signal is considered or not when applying a constant frequency. Name Information Constant freq 1 = Packed: 7 constant frequencies are selectable using the three mode sources defined by parameters 28.22, 28.23...
Page 189 Parameters 189 Name/Value Description Def/FbEq16 Digital input DI6 (10.02 DI delayed status, bit 5). DIO1 Digital input/output DIO1 (11.02 DIO delayed status, bit 0). DIO2 Digital input/output DIO2 (11.02 DIO delayed status, bit 1). Other [bit] Source selection (see Terms and abbreviations on page 92).
Page 190 190 Parameters Name/Value Description Def/FbEq16 28.32 Constant frequency Defines constant frequency 7. 0.00 Hz -100.00 … 100.00 Constant frequency 7. See par. 46.02 28.41 Frequency ref safe Defines a safe frequency reference value that is used with 0.00 Hz supervision functions such as •...
Page 191 Parameters 191 Name/Value Description Def/FbEq16 28.56 Critical frequency 3 Defines the low limit for critical frequency 3. 0.00 Hz Note: This value must be less than or equal to the value of 28.57 Critical frequency 3 high. -100.00 … 100.00 Low limit for critical frequency 3.
Page 192 192 Parameters Name/Value Description Def/FbEq16 28.74 Freq acceleration Defines acceleration time 2. See parameter 28.72 Freq 60.000 s time 2 acceleration time 0.000 … 1800.000 Acceleration time 2. 10 = 1 s 28.75 Freq deceleration Defines deceleration time 2. See parameter 28.73 Freq 60.000 s time 2...
Page 193 Parameters 193 Name/Value Description Def/FbEq16 28.79 Freq ramp out Selects the source for enabling/disabling speed ramp Not selected balancing enable balancing. See parameter 28.78 Freq ramp output balancing. 0 = Disabled 1 = Enabled Not selected Selected Digital input DI1 (10.02 DI delayed status, bit 0).
Page 194: Limits
194 Parameters Name/Value Description Def/FbEq16 30 Limits Drive operation limits. 30.01 Limit word 1 Displays limit word 1. This parameter is read-only. Name Description Torq lim 1 = Drive torque is being limited by the motor control (undervoltage control, current control, load angle control or pull-out control), or by the torque limits defined by parameters.
Page 195 Parameters 195 Name/Value Description Def/FbEq16 30.02 Torque limit status Displays the torque controller limitation status word. This parameter is read-only. Name Description Undervoltage *1 = Intermediate DC circuit undervoltage Overvoltage *1 = Intermediate DC circuit overvoltage Minimum torque *1 = Torque is being limited by 30.26 Power motoring limit, 30.27...
Page 196 196 Parameters Name/Value Description Def/FbEq16 30.12 Maximum speed Defines the maximum allowed speed. 1500.00 rpm; 1800.00 rpm WARNING! This value must not be lower than 30.11 (95.20 Minimum speed. WARNING! In frequency control mode, this limit is not effective. Make sure the frequency limits (30.13 30.14) are set appropriately if frequency control is used.
Page 197 Parameters 197 Name/Value Description Def/FbEq16 30.18 Minimum torque sel Selects a source that switches between two different Minimum predefined minimum torque limits. torque 1 0 = Minimum torque limit defined by 30.19 is active 1 = Minimum torque limit selected by 30.21 is active The user can define two sets of torque limits, and switch...
Page 198 198 Parameters Name/Value Description Def/FbEq16 30.19 Minimum torque 1 Defines a minimum torque limit for the drive (in percent of -300.0% nominal motor torque). See diagram at parameter 30.18 Minimum torque sel. The limit is effective when • the source selected by 30.18 Minimum torque sel is 0, or •...
Page 199 Parameters 199 Name/Value Description Def/FbEq16 30.23 Minimum torque 2 Defines the minimum torque limit for the drive (in percent of -300.0% nominal motor torque) when • the source selected by parameter 30.18 Minimum torque is 1, and • 30.21 is set to Minimum torque Note: Do not set this parameter to 0% in an attempt to prevent reverse rotation.
Page 200: Fault Functions
200 Parameters Name/Value Description Def/FbEq16 30.30 Overvoltage control Enables the overvoltage control of the intermediate DC link. Enable Fast braking of a high inertia load causes the voltage to rise to the overvoltage control limit. To prevent the DC voltage from exceeding the limit, the overvoltage controller automatically decreases the braking torque.
Page 201 Parameters 201 Name/Value Description Def/FbEq16 Warning/Fault If the drive is modulating, the external event generates a fault. Otherwise, the event generates a warning. 31.03 External event 2 Defines the source of external event 2. See also parameter Inactive source 31.04 External event 2 type.
Page 202 202 Parameters Name/Value Description Def/FbEq16 Selected Digital input DI1 (10.02 DI delayed status, bit 0). Digital input DI2 (10.02 DI delayed status, bit 1). Digital input DI3 (10.02 DI delayed status, bit 2). Digital input DI4 (10.02 DI delayed status, bit 3). Digital input DI5 (10.02 DI delayed status, bit 4).
Page 203 Parameters 203 Name/Value Description Def/FbEq16 31.13 User selectable Defines the fault that can be automatically reset using 0000h fault parameter 31.12 Autoreset selection, bit 10. The faults are listed in chapter Fault tracing (page 362). 0000h…FFFFh Fault code. 10 = 1 31.14 Number of trials Defines the maximum number of automatic resets that the...
Page 204 204 Parameters Name/Value Description Def/FbEq16 31.22 Drive interlocked Selects which indications are given when one or both Drive Fault/Fault interlock (DIL) signals are switched off or lost. The indications also depend on whether the drive is running or stopped when this occurs.
Page 205 Parameters 205 Name/Value Description Def/FbEq16 Fault/Event Inputs Indication Running Stopped Fault 5091 Drive Event B5A0 DIL event interlock Faults 5091 Drive Event B5A0 DIL event interlock FA81 and fault FA81 Safe Drive interlock 1 loss torque off 1 loss Faults 5091 Drive Event B5A0 DIL event...
Page 206 206 Parameters Name/Value Description Def/FbEq16 31.24 Stall function Selects how the drive reacts to a motor stall condition. Fault A stall condition is defined as follows: • The drive exceeds the stall current limit (31.25 Stall current limit), and • the output frequency is below the level set by parameter 31.27 Stall frequency limit or the motor speed is below the level set by parameter...
Page 207 Parameters 207 Name/Value Description Def/FbEq16 31.30 Overspeed trip Defines, together with 30.11 Minimum speed 30.12 500.00 rpm margin Maximum speed, the maximum allowed speed of the motor (overspeed protection). If 90.01 Motor speed for control or the estimated speed exceeds the speed limit defined by parameter 30.11 30.12...
Page 208 208 Parameters Name/Value Description Def/FbEq16 31.33 Emergency ramp If parameter 31.32 Emergency ramp supervision is set to 0%, supervision delay this parameter defines the maximum time an emergency stop (mode Off1 or Off3) is allowed to take. If the motor has not stopped when the time elapses, the drive trips on 73B0 Emergency ramp...
Page 209 Parameters 209 Name/Value Description Def/FbEq16 31.37 Ramp stop Parameters 31.37 Ramp stop supervision 31.38 Ramp supervision stop supervision delay, together with 01.29 Speed change rate, provide a supervision function for normal (ie. non- emergency) ramp stopping. The supervision is based on either •...
Page 210: Supervision
210 Parameters Name/Value Description Def/FbEq16 Not selected 31.43 Main fan fault Activates/deactivates (and selects the source for) R8i module acknowledge main fan status (acknowledgement) supervision. When a main fan fault (unexpected state of the acknowledgement signal) is detected, the drive reacts as defined by parameter 31.35 main fault function? 0 = Main fan fault 1 = Main fan OK...
Page 211 Parameters 211 Name/Value Description Def/FbEq16 Action is taken whenever the signal falls below its lower limit. High Action is taken whenever the signal rises above its upper limit. 2 Abs low Action is taken whenever the absolute value of the signal falls below its (absolute) lower limit.
Page 212 212 Parameters Name/Value Description Def/FbEq16 32.15 Supervision 2 Selects the mode of signal supervision function 2. Determines Disabled function how the monitored signal (see parameter 32.17) is compared to its lower and upper limits (32.19 32.20 respectively). The action to be taken when the condition is fulfilled is selected by 32.16.
Page 213: Generic Timer & Counter
Parameters 213 Name/Value Description Def/FbEq16 Abs high Action is taken whenever the absolute value of the signal rises above its (absolute) upper limit. Both Action is taken whenever the signal falls below its low limit or rises above its high limit. Abs both Action is taken whenever the absolute value of the signal falls below its (absolute) low limit or rises above its (absolute) high...
Page 214 214 Parameters Name/Value Description Def/FbEq16 33.10 On-time 1 actual Displays the actual present value of on-time timer 1. The timer runs whenever the signal selected by parameter 33.13 On-time 1 source is on. When the timer exceeds the limit set by 33.11 On-time 1 warn limit, bit 0 of 33.01 Counter status...
Page 215 Parameters 215 Name/Value Description Def/FbEq16 33.20 On-time 2 actual Displays the actual present value of on-time timer 2. The timer runs whenever the signal selected by parameter 33.23 On-time 2 source is on. When the timer exceeds the limit set by 33.21 On-time 2 warn limit, bit 1 of 33.01 Counter status...
Page 216 216 Parameters Name/Value Description Def/FbEq16 33.30 Edge counter 1 Actual present value of signal edge counter 1. actual The counter is incremented every time the signal selected by parameter 33.33 Edge counter 1 source switches on or off (or either, depending on the setting of 33.32 Edge counter 1 function).
Page 217 Parameters 217 Name/Value Description Def/FbEq16 33.35 Edge counter 1 Selects the optional warning message for signal edge counter Edge counter warn message 1 exceeded Edge counter 1 A888 Edge counter 1. The message text can be edited on the exceeded control panel by choosing Menu –...
Page 218 218 Parameters Name/Value Description Def/FbEq16 33.43 Edge counter 2 Selects the signal to be monitored by signal edge counter 2. False source False True Bit 0 of 10.21 RO status (page 116). Other [bit] Source selection (see Terms and abbreviations on page 92).
Page 219 Parameters 219 Name/Value Description Def/FbEq16 33.52 Value counter 1 Configures value counter 1. 0000b function Function Counter mode 0 = Loop: When the limit is reached, the counter is reset. The counter status (bit 4 of 33.01) switches to 1 for one second. The warning (if enabled) stays active for at least 10 seconds.
Page 220 220 Parameters Name/Value Description Def/FbEq16 33.61 Value counter 2 Sets the limit for value counter 2. warn limit With a positive limit, bit 5 of 33.01 Counter status is set to 1 (and a warning optionally generated) when the counter is equal or greater than the limit.
Page 221: Motor Thermal Protection
Parameters 221 Name/Value Description Def/FbEq16 35 Motor thermal Motor thermal protection settings such as temperature measurement configuration, load curve definition and motor protection fan control configuration. See also section Motor thermal protection (page 65). 35.01 Motor estimated Displays the motor temperature as estimated by the internal temperature motor thermal protection model (see parameters 35.50…35.55).
Page 222 222 Parameters Name/Value Description Def/FbEq16 KTY84 encoder KTY84 sensor connected to encoder interface 1. module 1 See also parameters 91.21 Module 1 temp sensor type 91.22 Module 1 temp filter time. 1 × Pt100 analog Pt100 sensor connected to a standard analog input selected by parameter 35.14 Temperature 1 AI source and an analog...
Page 223 Parameters 223 Name/Value Description Def/FbEq16 35.12 Temperature 1 fault Defines the fault limit for temperature monitoring function 1. 130 °C, limit When measured temperature 1 exceeds the limit, the drive 4500 ohm trips on fault 4981 External temperature The unit is selected by parameter 96.16 Unit selection.
Page 224 224 Parameters Name/Value Description Def/FbEq16 1 × Pt100 analog Pt100 sensor connected to a standard analog input selected by parameter 35.24 Temperature 2 AI source and an analog output. The input and output can be on the drive control unit or on an extension module.
Page 225 Parameters 225 Name/Value Description Def/FbEq16 35.23 Temperature 2 Defines the warning limit for temperature monitoring function 110 °C, warning limit 2. When measured temperature 2 exceeds the limit, a warning 4000 ohm (A492 External temperature 2) is generated. Note: With a PTC sensor, the unit is ohms. -60 …...
Page 226 226 Parameters Name/Value Description Def/FbEq16 35.51 Motor load curve Defines the motor load curve together with parameters 35.52 100% Zero speed load 35.53 Break point. The load curve is used by the motor thermal protection model to estimate the motor temperature. When the parameter is set to 100%, the maximum load is taken as the value of parameter 99.06 Motor nominal current...
Page 227 Parameters 227 Name/Value Description Def/FbEq16 35.54 Motor nominal Defines the temperature rise of the motor above ambient 80 °C temperature rise when the motor is loaded with nominal current. See the motor manufacturer's recommendations. Temperature Motor nominal temperature rise Ambient temperature Time 0…300 °C Temperature rise.
Page 228 228 Parameters Name/Value Description Def/FbEq16 35.100 DOL starter control Parameters 35.100…35.106 configure a monitored start/stop Off; 06.16 source control logic for external equipment such as a contactor- (95.20 controlled motor cooling fan. This parameter selects the signal that starts and stops the fan. 0 = Stop 1 = Start The output controlling the fan contactor is to be connected to...
Page 229: Load Analyzer
Parameters 229 Name/Value Description Def/FbEq16 35.104 DOL starter Defines a feedback delay for the motor fan. 0 s; 5 s feedback delay (95.20 The delay timer starts when bit 1 of 35.105 switches on. If no feedback is received from the fan until the delay elapses, the action selected by 35.106 is taken.
Page 230 230 Parameters Name/Value Description Def/FbEq16 Output frequency 01.06 Output frequency (page 95). Motor current 01.07 Motor current (page 95). Motor torque 01.10 Motor torque (page 95). DC voltage 01.11 DC voltage (page 95). Power inu out 01.14 Output power (page 95). Speed ref ramp in 23.01 Speed ref ramp input (page 157).
Page 231 Parameters 231 Name/Value Description Def/FbEq16 36.08 Logger function Determines whether amplitude loggers 1 and 2 are active continuously or only when the drive is modulating. Name Description 0 = Amplitude logger 1 active continuously 1 = Amplitude logger 1 active only when the drive is modulating 0 = Amplitude logger 2 active continuously 1 = Amplitude logger 2 active only when the drive is modulating 2…15...
Page 232 232 Parameters Name/Value Description Def/FbEq16 36.21 AL1 10 to 20% Displays the percentage of samples recorded by amplitude 0.00% logger 1 that fall between 10 and 20%. 0.00 … 100.00% Amplitude logger 1 samples between 10 and 20%. 1 = 1% 36.22 AL1 20 to 30% Displays the percentage of samples recorded by amplitude...
Page 233: Mechanical Brake Control
Parameters 233 Name/Value Description Def/FbEq16 36.46 AL2 60 to 70% Displays the percentage of samples recorded by amplitude 0.00% logger 2 that fall between 60 and 70%. 0.00 … 100.00% Amplitude logger 2 samples between 60 and 70%. 1 = 1% 36.47 AL2 70 to 80% Displays the percentage of samples recorded by amplitude...
Page 234 234 Parameters Name/Value Description Def/FbEq16 44.03 Brake open torque Displays the currently active brake open torque. See reference parameters 44.09 Brake open torque source 44.10 Brake open torque. This parameter is read-only. -1600.0 … 1600.0% Currently active brake open torque. See par.
Page 235 Parameters 235 Name/Value Description Def/FbEq16 44.08 Brake open delay Defines the brake open delay, ie. the delay between the 0.00 s internal open brake command and the release of motor speed control. The delay timer starts when the drive has magnetized the motor and increased the motor torque to the level required for brake release (parameter 44.03 Brake open torque...
Page 236 236 Parameters Name/Value Description Def/FbEq16 Digital input DI5 (10.02 DI delayed status, bit 4). Digital input DI6 (10.02 DI delayed status, bit 5). DIO1 Digital input/output DIO1 (11.02 DIO delayed status, bit 0). DIO2 Digital input/output DIO2 (11.02 DIO delayed status, bit 1).
Page 237: Energy Efficiency
Parameters 237 Name/Value Description Def/FbEq16 44.16 Brake reopen delay Defines a minimum time between brake closure and a 0.00 s subsequent open command. 0.00 … 10.00 s Brake reopen delay. 100 = 1 s 44.17 Brake fault function Determines how the drive reacts upon a mechanical brake Fault control error.
Page 238 238 Parameters Name/Value Description Def/FbEq16 45.02 Saved MW hours Displays the energy saved in MWh compared to direct-on-line motor connection. This parameter is incremented when 45.03 Saved kW hours rolls over. When this parameter rolls over, parameter 45.01 Saved GW hours is incremented.
Page 239 Parameters 239 Name/Value Description Def/FbEq16 45.09 CO2 reduction in Displays the reduction in CO emissions in metric tons tons compared to direct-on-line motor connection. This value is calculated by multiplying the saved energy in MWh by the value of parameter 45.18 CO2 conversion factor (by default, 0.5 metric tons/MWh).
Page 240: Monitoring/Scaling Settings
240 Parameters Name/Value Description Def/FbEq16 Other [bit] Source selection (see Terms and abbreviations on page 92). 45.17 Tariff currency unit Specifies the currency used for the savings calculations. Local currency Local currency. The name of the currency can be edited by choosing Menu - Settings - Edit texts on the control panel.
Page 241 FBA A ). For example, with a setting of 500, the fieldbus reference range of 0…20000 would correspond to a speed of 500…[46.01] rpm. Note: This parameter is effective only with the ABB Drives communication profile. 0.00 … 30000.00 Speed corresponding to minimum fieldbus reference.
Page 242 242 Parameters Name/Value Description Def/FbEq16 46.14 Filter time power Defines a filter time for signal 01.14 Output power. 100 ms 0…20000 ms Output power signal filter time. 1 = 1 ms 46.21 At speed hysteresis Defines the “at setpoint” limits for speed control of the drive. 100.00 rpm When the absolute difference between reference (22.87...
Page 243 Parameters 243 Name/Value Description Def/FbEq16 46.23 At torque hysteresis Defines the “at setpoint” limits for torque control of the drive. 10.0% When the absolute difference between reference (26.73 Torque reference act 4) and actual torque (01.10 Motor torque) is smaller than 46.23 At torque hysteresis, the drive is considered to be “at setpoint”.
Page 244: Data Storage
244 Parameters Name/Value Description Def/FbEq16 47 Data storage Data storage parameters that can be written to and read from using other parameters’ source and target settings. Note that there are different storage parameters for different data types. Integer-type storage parameters cannot be used as the source of other parameters.
Page 245 Parameters 245 Name/Value Description Def/FbEq16 47.12 Data storage 2 Data storage parameter 10. int32 -2147483648 … 32-bit integer. 2147483647 47.13 Data storage 3 Data storage parameter 11. int32 -2147483648 … 32-bit integer. 2147483647 47.14 Data storage 4 Data storage parameter 12. int32 -2147483648 …...
Page 246 246 Parameters Name/Value Description Def/FbEq16 47.27 Data storage 7 Data storage parameter 23. int16 -32768 … 32767 16-bit integer. 1 = 1 47.28 Data storage 8 Data storage parameter 24. int16 -32768 … 32767 16-bit integer. 1 = 1 47.31 Data storage 1 Defines the scaling of parameter 47.01 Data storage 1 real32...
Page 247: Panel Port Communication
Parameters 247 Name/Value Description Def/FbEq16 49 Panel port Communication settings for the control panel port on the drive. communication 49.01 Node ID number Defines the node ID of the drive. All devices connected to the network must have a unique node ID. Note: For networked drives, it is advisable to reserve ID 1 for spare/replacement drives.
Page 248 248 Parameters Name/Value Description Def/FbEq16 Warning Drive generates an A7EE Control panel loss warning. This only occurs if control is expected from the control panel, or if supervision is forced using parameter 49.07 Panel comm supervision force. WARNING! Make sure that it is safe to continue operation in case of a communication break.
Page 249: Fieldbus Adapter (Fba)
Parameters 249 Name/Value Description Def/FbEq16 49.16 Maximum ext Defines a maximum limit for control panel speed reference in 6000.00 rpm speed ref panel external control. In local control, the limits in parameter group 30 Limits are in force. See section Local control vs.
Page 250 250 Parameters Name/Value Description Def/FbEq16 Last speed Drive generates an A7C1 FBA A communication warning and freezes the speed to the level the drive was operating at. This only occurs if control is expected from the FBA A interface, or if supervision is forced using parameter 50.26 FBA A comm supervision...
Page 251 Parameters 251 Name/Value Description Def/FbEq16 50.05 FBA A ref2 type Selects the type and scaling of reference 2 received from Auto fieldbus adapter A. See parameter 50.04 FBA A ref1 type. 50.07 FBA A actual 1 type Selects the type/source and scaling of actual value 1 Auto transmitted to the fieldbus network through fieldbus adapter A.
Page 252 252 Parameters Name/Value Description Def/FbEq16 50.13 FBA A control word Displays the raw (unmodified) control word sent by the master (PLC) to fieldbus adapter A if debugging is enabled by parameter 50.12 FBA A debug mode. This parameter is read-only. 00000000h …...
Page 253: Fba A Settings
Parameters 253 Name/Value Description Def/FbEq16 50.21 FBA A timelevel sel Selects the communication time levels. Normal In general, lower time levels of read/write services reduce CPU load. The table below shows the time levels of the read/write services for cyclic high and cyclic low data with each parameter setting.
Page 254 254 Parameters Name/Value Description Def/FbEq16 51.02 FBA A Par2 Parameters 51.02…51.26 are adapter module-specific. For more information, see the documentation of the fieldbus adapter module. Note that not all of these parameters are necessarily in use. 0…65535 Fieldbus adapter configuration parameter. 1 = 1 …...
Page 255: Fba A Data In
Parameters 255 Name/Value Description Def/FbEq16 51.33 FBA A appl SW ver Displays the major and minor versions of the adapter module firmware in format xyy, where x = major revision number, yy = minor revision number. Example: 300 = 3.00 (major version 3, minor version 00). Major and minor versions of adapter module firmware.
Page 256: Embedded Fieldbus
256 Parameters Name/Value Description Def/FbEq16 Other Source selection (see Terms and abbreviations on page 92). … … … … 53.12 FBA A data out12 See parameter 53.01 FBA A data out1. None 58 Embedded fieldbus Configuration of the embedded fieldbus (EFB) interface. See also chapter Fieldbus control through the embedded fieldbus interface (EFB)
Page 257 Parameters 257 Name/Value Description Def/FbEq16 Refresh settings Validates any changed EFB configuration settings. Reverts automatically to Enabled. Silent mode Activates silent mode (no messages are transmitted). Silent mode can be terminated by activating the Refresh settings selection of this parameter. 58.07 Communication Displays the status of the EFB communication.
Page 258 258 Parameters Name/Value Description Def/FbEq16 58.11 UART errors Displays a count of character errors received by the drive. An increasing count indicates a configuration problem on the bus. Can be reset from the control panel by keeping Reset depressed for over 3 seconds. 0…4294967295 Number of UART errors.
Page 259 Control profile Defines the control profile used by the protocol. ABB Drives ABB Drives ABB Drives profile (with a 16-bit control word) with registers in the classic format for backward compatibility. Transparent Transparent profile (16-bit or 32-bit control word) with registers in the classic format.
Page 260 260 Parameters Name/Value Description Def/FbEq16 Torque The scaling is defined by parameter 46.03 Torque scaling. Speed The scaling is defined by parameter 46.01 Speed scaling. Frequency The scaling is defined by parameter 46.02 Frequency scaling. 5 58.27 EFB ref2 type Selects the type and scaling of reference 2 received through Torque the embedded fieldbus interface.
Page 261 Parameters 261 Name/Value Description Def/FbEq16 Other Source selection (see Terms and abbreviations on page 92). 58.32 EFB act2 Selects the source of actual value 1 when 58.29 EFB act2 Not selected transparent source type is set to Transparent or General. Not selected None.
Page 262 262 Parameters Name/Value Description Def/FbEq16 58.36 EFB comm Activates fieldbus communication monitoring separately for 0000b supervision force each control location (see section Local control vs. external control on page 20). The parameter is primarily intended for monitoring the communication with EFB when it is connected to the application program and not selected as a control source by drive parameters.
Page 263: Ddcs Communication
Parameters 263 Name/Value Description Def/FbEq16 58.102 Data I/O 2 Defines the address in the drive which the Modbus master Ref1 16bit accesses when it reads from or writes to register address 400002. For the selections, see parameter 58.101 Data I/O 58.103 Data I/O 3 Defines the address in the drive which the Modbus master Ref2 16bit...
Page 264 The drive is the master on the master/follower (DDCS) link. DDCS follower The drive is a follower on the master/follower (DDCS) link. D2D master Not supported by ACS860. D2D follower Not supported by ACS860. DDCS forcing The role of the drive on the master/follower (DDCS) link is defined by parameters 60.15 Force master...
Page 265 Parameters 265 Name/Value Description Def/FbEq16 60.10 M/F ref1 type Selects the type and scaling of reference 1 received from the Auto master/follower link. The resulting value is shown by 03.13 M/F or D2D ref1. Auto Type and scaling are chosen automatically according to which reference chain (see settings Torque, Speed, Frequency) the incoming reference is connected to.
Page 266 266 Parameters Name/Value Description Def/FbEq16 60.15 Force master When parameter 60.03 M/F mode is set to DDCS forcing FALSE forcing, this parameter selects a source that forces the drive to be the master on the master/follower link. 1 = Drive is master on the master/follower link FALSE TRUE Other [bit]...
Page 267 ABB engineered The drive is an “engineered drive” (data sets 10…25 are drive used). ABB standard drive The drive is a “standard drive” (data sets 1…4 are used). 60.51 DDCS controller Selects the DDCS channel used for connecting an external...
Page 268 268 Parameters Name/Value Description Def/FbEq16 60.57 DDCS controller Defines the light intensity of the transmission LED of RDCO link control module channel CH0. (This parameter is effective only when parameter 60.51 DDCS controller comm port is set to RDCO 0. FDCO modules have a hardware transmitter current selector.) In general, use higher values with longer fiber optic cables.
Page 269 Parameters 269 Name/Value Description Def/FbEq16 Fault always Drive trips on 7581 DDCS controller comm loss. This occurs even though no control is expected from the external controller. Warning Drive generates an A7CA DDCS controller comm loss warning. This only occurs if control is expected from the external controller, or if supervision is forced using parameter 60.65 DDCS controller comm supervision force.
Page 270: D2D And Ddcs Transmit Data
270 Parameters Name/Value Description Def/FbEq16 Speed 01.01 Motor speed used is sent as actual value 2. The scaling is defined by parameter 46.01 Speed scaling. Frequency 01.06 Output frequency is sent as actual value 2. The scaling is defined by parameter 46.02 Frequency scaling.
Page 271 None selection sets 2 and 4 to the external controller. These data sets are used in ModuleBus communication with a “standard drive” (60.50 DDCS controller drive type ABB standard drive). Parameters 61.95…61.100 display the data to be sent to the external controller.
Page 272 272 Parameters Name/Value Description Def/FbEq16 Other Source selection (see Terms and abbreviations on page 92). 61.46 Data set 2 data 2 Preselects the data to be sent as word 2 of data set 2 to the None selection external controller. See also parameter 61.96 Data set 2 data 2 value.
Page 273 Parameters 273 Name/Value Description Def/FbEq16 61.96 Data set 2 data 2 Displays (in integer format) the data to be sent to the external value controller as word 2 of data set 2. If no data has been preselected by 61.46 Data set 2 data 2 selection, the value to be sent can be written directly into this parameter.
Page 274: D2D And Ddcs Receive Data
274 Parameters Name/Value Description Def/FbEq16 62 D2D and DDCS Mapping of data received through the DDCS link. receive data See also parameter group 60 DDCS communication. 62.01 M/F data 1 (Follower only) Defines a target for the data received as word None selection 1 from the master through the master/follower link.
Page 275 1 and 3 from the external controller. These data sets are used in ModuleBus communication with a “standard drive” (60.50 DDCS controller drive type ABB standard drive). Parameters 62.95…62.100 display the data received from the external controller in integer format, and can be used as sources by other parameters.
Page 276 276 Parameters Name/Value Description Def/FbEq16 62.47 Data set 1 data 3 See parameter 62.45 Data set 1 data 1 selection. None selection … … … … 62.50 Data set 3 data 3 See parameter 62.45 Data set 1 data 1 selection.
Page 277 Parameters 277 Name/Value Description Def/FbEq16 62.97 Data set 1 data 3 Displays (in integer format) the data received from the value external controller as word 3 of data set 1. A target for this data can be selected by parameter 62.47 Data set 1 data 3 selection.
Page 278: Feedback Selection
278 Parameters Name/Value Description Def/FbEq16 90 Feedback selection Motor and load feedback configuration. See also sections Encoder support (page 43) and Position counter (page 44), and the diagram on page 423. 90.01 Motor speed for Displays the estimated or measured motor speed that is used control for speed control, ie.
Page 279 Parameters 279 Name/Value Description Def/FbEq16 90.35 Pos counter status Status information related to the position counter function. See section Position counter (page 44). This parameter is read-only. Name Value Encoder 1 1 = Encoder 1 selected as load feedback source feedback Internal position 1 = Internal load position estimate selected as load feedback source...
Page 280 280 Parameters Name/Value Description Def/FbEq16 90.43 Motor gear Parameters 90.43 90.44 define a gear function between numerator the motor speed feedback and motor control. The gear is used to correct a difference between the motor and encoder speeds for example if the encoder is not mounted directly on the motor shaft.
Page 281 Parameters 281 Name/Value Description Def/FbEq16 Estimate Calculated speed and position estimates are used. The values are scaled from the motor side to the load side using the inverted ratio between 90.61 Gear numerator 90.62 Gear denominator (ie. 90.62 divided by 90.61). Motor feedback The source selected by parameter 90.41 Motor feedback...
Page 282 282 Parameters Name/Value Description Def/FbEq16 90.59 Pos counter init Selects the source of the initial position integer value. When Pos counter value int source the source selected by 90.67 Pos counter init cmd source init value int activates, the value selected in this parameter is assumed to be the position of the load.
Page 283 Parameters 283 Name/Value Description Def/FbEq16 90.67 Pos counter init Selects a digital source (for example, a limit switch connected Not selected cmd source to a digital input) that initializes the position counter. When the digital source activates, the value selected by 90.66 Pos counter init value source is assumed to be the position of the...
Page 284: Encoder Module Settings
284 Parameters Name/Value Description Def/FbEq16 91 Encoder module Configuration of encoder interface modules. settings 0000 0000b … Status word of digital inputs on FEN-xx modules. 1 = 1 0011 0011b 91.02 Module 1 status Displays the type of the interface module found in the location specified by parameter 91.12 Module 1 location.
Page 285: Encoder 1 Configuration
Parameters 285 Name/Value Description Def/FbEq16 92 Encoder 1 Settings for encoder 1. configuration Notes: • The contents of the parameter group vary according to the selected encoder type. 92.01 Encoder 1 type Selects the type of encoder/resolver 1. None configured None configured None.
Page 286 286 Parameters Name/Value Description Def/FbEq16 Auto falling One of the above modes is selected automatically depending on the pulse frequency as follows: Pulse frequency of the Used mode channel(s) < 2442 Hz A&B all 2442…4884 Hz A all > 4884 Hz A falling 92.14 Speed estimation...
Page 287: Hw Configuration
Parameters 287 Name/Value Description Def/FbEq16 92.24 Pulse edge filtering (Visible when parameter 92.01 Encoder 1 type = HTL) No filtering Enables pulse edge filtering. Pulse edge filtering can improve the reliability of measurements especially from encoders with a single-ended connection. Notes: •...
Page 288 288 Parameters Name/Value Description Def/FbEq16 95.02 Adaptive voltage Enables adaptive voltage limits. Disable; limits Enable Adaptive voltage limits can be used if, for example, an IGBT (95.20 b15) supply unit is used to raise the DC voltage level. If the communication between the inverter and the IGBT supply unit is active (95.20 HW options word...
Page 289 20.12 Run enable 1 source if necessary. • An internal charging circuit is standard on some inverter module types but optional on others; check with your local ABB representative. Disable DC switch monitoring through the DIIL input disabled. Enable DC switch monitoring through the DIIL input enabled.
Page 290 290 Parameters Name/Value Description Def/FbEq16 95.13 Reduced run mode (Only visible with a BCU control unit) Specifies the number of inverter modules available. This parameter must be set if reduced run is required. A value other than 0 activates the reduced run function. If the control program cannot detect the number of modules specified by this parameter, a fault (5695 Reduced...
Page 291 Parameters 291 Name/Value Description Def/FbEq16 95.20 HW options word 1 Specifies hardware-related options that require differentiated parameter defaults. Activating a bit in this parameter makes the necessary changes in other parameters – for example, activating an emergency stop option reserves a digital input. In many cases, the differentiated parameters will also be write-protected.
Page 292: System
Note: You must change the default user pass code to maintain a high level of cybersecurity. Store the code in a safe place – the protection cannot be disabled even by ABB if the code is lost. See also section User lock (page 75).
Page 293 Parameters 293 Name/Value Description Def/FbEq16 96.03 Access levels Shows which access levels have been activated by pass 0001h active codes entered into parameter 96.02 Pass code. This parameter is read-only. Name End user Service Advanced programmer 3…10 Reserved OEM access level 1 OEM access level 2 OEM access level 3 Parameter lock...
Page 294 294 Parameters Name/Value Description Def/FbEq16 Restore defaults All editable parameter values are restored to default values, except • motor data and ID run results • parameter 31.42 Overcurrent fault limit • control panel/PC communication settings • fieldbus adapter settings • encoder configuration data •...
Page 295 Parameters 295 Name/Value Description Def/FbEq16 Loading A user set is being loaded. Saving A user set is being saved. Faulted Invalid parameter set. User set 1 User set 1 has been loaded. User set 2 User set 2 has been loaded. User set 3 User set 3 has been loaded.
Page 296 296 Parameters Name/Value Description Def/FbEq16 96.12 User set I/O mode When parameter 96.11 User set save/load is set to User set Not selected mode, selects the user parameter set together with parameter 96.13 User set I/O mode in2 as follows: Status of source Status of source User parameter...
Page 297 Parameters 297 Name/Value Description Def/FbEq16 96.25 Time in minutes Number of full minutes passed since midnight. For example, 0 min within 24 h the value 860 corresponds to 2:20 pm. See parameter 96.24 Full days since 1st Jan 1980. 1…1439 Minutes since midnight.
Page 298 298 Parameters Name/Value Description Def/FbEq16 96.51 Clear fault and Clears the contents of the event logs. See section Event logs 00000 event logger (page 344). 00001 Clear the event logs. (The value will automatically revert to 00000.) 96.53 Actual checksum Displays the actual parameter configuration checksum.
Page 299 Parameters 299 Name/Value Description Def/FbEq16 96.57 Approved Approved (reference) checksum 2. checksum 2 00000000h… Approved checksum 2. FFFFFFFFh 96.58 Approved Approved (reference) checksum 3. checksum 3 00000000h… Approved checksum 3. FFFFFFFFh 96.59 Approved Approved (reference) checksum 4. checksum 4 00000000h… Approved checksum 4.
Page 300 300 Parameters Name/Value Description Def/FbEq16 96.70 Disable adaptive Enables/disables the adaptive program (if present). program See also section Adaptive programming (page 27). Note: This parameter cannot be changed while the drive is running. Adaptive program enabled. Adaptive program disabled. 96.100 Change user pass (Visible when user lock is open) 10000000 code...
Page 301 Note: We recommend you select all the actions and functionalities unless otherwise required by the application. Name Information Disable ABB access 1 = ABB access levels (service, advanced programmer, etc.; see levels 96.03) disabled Freeze parameter 1 = Changing the parameter lock state prevented, ie. pass code...
Page 302: Motor Control
302 Parameters Name/Value Description Def/FbEq16 97 Motor control Motor model settings. 97.03 Slip gain Defines the slip gain which is used to improve the estimated 100% motor slip. 100% means full slip gain; 0% means no slip gain. The default value is 100%. Other values can be used if a static speed error is detected despite having the setting at full slip gain.
Page 303 Parameters 303 Name/Value Description Def/FbEq16 97.09 Switching freq An optimization setting for balancing between control Normal mode performance and motor noise level. Notes: • This is an expert level parameter and should not be adjusted without appropriate skill. • Other settings than Normal may require derating.
Page 304: User Motor Parameters
304 Parameters Name/Value Description Def/FbEq16 97.32 Motor torque Unfiltered motor torque in percent of the nominal motor unfiltered torque. -1600.0 … 1600.0% Unfiltered motor torque. See par. 46.03 97.33 Speed estimate Defines a filtering time for estimated speed. See the diagram 5.00 ms filter time on page 423.
Page 305: Motor Data
Parameters 305 Name/Value Description Def/FbEq16 98.09 Rs user SI Defines the stator resistance R of the motor model. 0.00000 ohm Resistance value is given at 20 °C. 0.00000 … Stator resistance. 100.00000 ohm 98.10 Rr user SI Defines the rotor resistance R of the motor model.
Page 306 306 Parameters Name/Value Description Def/FbEq16 Scalar Scalar control. The outstanding motor control accuracy of Vector cannot be achieved in scalar control. Refer to the Vector selection above for a list of applications where scalar control should definitely be used. Notes: •...
Page 307 Parameters 307 Name/Value Description Def/FbEq16 99.09 Motor nominal Defines the nominal motor speed. The setting must match the 0 rpm speed value on the rating plate of the motor. Note: This parameter cannot be changed while the drive is running. 0 …...
Page 308 308 Parameters Name/Value Description Def/FbEq16 99.13 ID run requested Selects the type of the motor identification routine (ID run) None; performed at the next start of the drive. During the ID run, the Standstill drive will identify the characteristics of the motor for optimum (95.21 b1/b2) motor control.
Page 309 Parameters 309 Name/Value Description Def/FbEq16 Reduced Reduced ID run. This mode should be selected instead of the Normal ID Run if • mechanical losses are higher than 20% (i.e. the motor cannot be de-coupled from the driven equipment), or if •...
Page 310 310 Parameters Name/Value Description Def/FbEq16 99.16 Motor phase order Switches the rotation direction of motor. This parameter can U V W be used if the motor turns in the wrong direction (for example, because of the wrong phase order in the motor cable), and correcting the cabling is considered impractical.
Page 311: Additional Parameter Data
Additional parameter data 311 Additional parameter data What this chapter contains This chapter lists the parameters with some additional data such as their ranges and 32-bit fieldbus scaling. For parameter descriptions, see chapter Parameters (page 91). Terms and abbreviations Term Definition FbEq32 32-bit fieldbus equivalent: The scaling between the integer used in...
Page 312: Parameter Groups 1
312 Additional parameter data Parameter groups 1…9 Name Type Range Unit FbEq32 01 Actual values 01.01 Motor speed used real32 -6000.00 … 6000.00 100 = 1 rpm 01.02 Motor speed estimated real32 -6000.00 … 6000.00 100 = 1 rpm 01.03 Motor speed % real32 -1000.00 …...
Page 313 Additional parameter data 313 Name Type Range Unit FbEq32 03 Input references 03.01 Panel reference real32 -100000.00 … 100000.00 100 = 1 03.02 Panel reference 2 real32 -30000.00 … 30000.00 100 = 1 03.05 FB A reference 1 real32 -100000.00 … 100000.00 100 = 1 03.06 FB A reference 2...
Page 314 314 Additional parameter data Name Type Range Unit FbEq32 04.44 Event word 1 bit 1 aux code uint32 0000 0000h … 1 = 1 FFFF FFFFh … … … … … 04.71 Event word 1 bit 15 code uint16 0000h…FFFFh 1 = 1 04.72 Event word 1 bit 15 aux code...
Page 315 Additional parameter data 315 Name Type Range Unit FbEq32 07 System info 07.03 Drive rating id uint16 1 = 1 07.04 Firmware name uint32 1 = 1 07.05 Firmware version uint32 1 = 1 07.06 Loading package name uint32 1 = 1 07.07 Loading package version uint32...
Page 316: Parameter Groups 10
316 Additional parameter data Parameter groups 10…99 Name Type Range Unit FbEq32 10 Standard DI, RO 10.01 DI status uint16 0000h…FFFFh 1 = 1 10.02 DI delayed status uint16 0000h…FFFFh 1 = 1 10.03 DI force selection uint16 0000h…FFFFh 1 = 1 10.04 DI force data uint16...
Page 317 Additional parameter data 317 Name Type Range Unit FbEq32 11.12 DIO2 OFF delay uint32 0.0 … 3000.0 10 = 1 s 11.38 Freq in 1 actual value real32 0…16000 1 = 1 Hz 11.39 Freq in 1 scaled real32 -32768.000 … 32767.000 1000 = 1 11.42 Freq in 1 min...
Page 318 318 Additional parameter data Name Type Range Unit FbEq32 13.16 AO1 filter time real32 0.000 … 30.000 1000 = 1 s 13.17 AO1 source min real32 -32768.0 … 32767.0 10 = 1 13.18 AO1 source max real32 -32768.0 … 32767.0 10 = 1 13.19 AO1 out at AO1 src min...
Page 319 Additional parameter data 319 Name Type Range Unit FbEq32 20.29 Local start trigger type uint16 0…1 1 = 1 20.30 Enable signals warning uint16 00b…11b 1 = 1 function 21 Start/stop mode 21.01 Start mode uint16 0…2 1 = 1 21.02 Magnetization time uint16...
Page 320 320 Additional parameter data Name Type Range Unit FbEq32 22.51 Critical speed function uint16 00b…11b 1 = 1 22.52 Critical speed 1 low real32 -6000.00 … 6000.00 100 = 1 rpm 22.53 Critical speed 1 high real32 -6000.00 … 6000.00 100 = 1 rpm 22.54 Critical speed 2 low...
Page 321: Speed Reference Conditioning
Additional parameter data 321 Name Type Range Unit FbEq32 23.27 Ramp out balancing ref real32 -6000.00 … 6000.00 100 = 1 rpm 23.28 Variable slope enable uint32 0…1 1 = 1 23.29 Variable slope rate real32 2…30000 1 = 1 ms 24 Speed reference conditioning 24.01 Used speed reference...
Page 322: Torque Reference Chain
322 Additional parameter data Name Type Range Unit FbEq32 25.25 Torque adapt max limit real32 0.0 … 1600.0 10 = 1% 25.26 Torque adapt filt time real32 0.000 … 100.000 1000 = 1 s 25.27 Kp adapt coef at min torque real32 0.000 …...
Page 323: Frequency Reference Chain
Additional parameter data 323 Name Type Range Unit FbEq32 26.55 Oscillation damping frequency real32 0.1 … 60.0 10 = 1 Hz 26.56 Oscillation damping phase real32 0…360 1 = 1 deg 26.57 Oscillation damping gain real32 0.0 … 100.0 10 = 1% 26.58 Oscillation damping output real32...
Page 324: Limits
324 Additional parameter data Name Type Range Unit FbEq32 28.71 Freq ramp set selection uint32 1 = 1 28.72 Freq acceleration time 1 real32 0.000 …1800.000 1000 = 1 s 28.73 Freq deceleration time 1 real32 0.000 …1800.000 1000 = 1 s 28.74 Freq acceleration time 2 real32...
Page 325: Supervision
Additional parameter data 325 Name Type Range Unit FbEq32 31.05 External event 3 source uint32 1 = 1 31.06 External event 3 type uint16 0…3 1 = 1 31.07 External event 4 source uint32 1 = 1 31.08 External event 4 type uint16 0…3 1 = 1...
Page 326: Generic Timer & Counter
326 Additional parameter data Name Type Range Unit FbEq32 32.09 Supervision 1 low real32 -21474830.00 … 100 = 1 21474830.00 32.10 Supervision 1 high real32 -21474830.00 … 100 = 1 21474830.00 32.15 Supervision 2 function uint16 0…6 1 = 1 32.16 Supervision 2 action uint16...
Page 327: Motor Thermal Protection
Additional parameter data 327 Name Type Range Unit FbEq32 33.45 Edge counter 2 warn message uint32 1 = 1 33.50 Value counter 1 actual real32 -2147483008 … 1 = 1 2147483008 33.51 Value counter 1 warn limit real32 -2147483008 … 1 = 1 2147483008 33.52...
Page 328: Load Analyzer
328 Additional parameter data Name Type Range Unit FbEq32 35.103 DOL starter feedback source uint32 1 = 1 35.104 DOL starter feedback delay uint32 0…42949673 1 = 1 s 35.105 DOL starter status word uint16 0000b…1111b 1 = 1 35.106 DOL starter event type uint16 0…2 1 = 1...
Page 329: Mechanical Brake Control
Additional parameter data 329 Name Type Range Unit FbEq32 44 Mechanical brake control 44.01 Brake control status uint16 00000000b…11111111b 1 = 1 44.02 Brake torque memory real32 -1600.0 … 1600.0 10 = 1% 44.03 Brake open torque reference real32 -1600.0 … 1600.0 10 = 1% 44.06 Brake control enable...
Page 330: Data Storage
330 Additional parameter data Name Type Range Unit FbEq32 46.03 Torque scaling real32 0.1 … 1000.0 10 = 1% 46.04 Power scaling real32 0.10 … 30000.00 kW 100 = 1 unit 46.05 Current scaling real32 0…30000 1 = 1 A 46.06 Speed ref zero scaling real32...
Page 331: Panel Port Communication
Additional parameter data 331 Name Type Range Unit FbEq32 47.24 Data storage 4 int16 int16 -32768 … 32767 1 = 1 47.25 Data storage 5 int16 int16 -32768 … 32767 1 = 1 47.26 Data storage 6 int16 int16 -32768 … 32767 1 = 1 47.27 Data storage 7 int16...
Page 332: Fba A Settings
332 Additional parameter data Name Type Range Unit FbEq32 50.14 FBA A reference 1 int32 -2147483648 … 1 = 1 2147483647 50.15 FBA A reference 2 int32 -2147483648 … 1 = 1 2147483647 50.16 FBA A status word uint32 00000000h … FFFFFFFFh 1 = 1 50.17 FBA A actual value 1...
Page 333: Ddcs Communication
Additional parameter data 333 Name Type Range Unit FbEq32 58.11 UART errors uint32 0…4294967295 1 = 1 58.12 CRC errors uint32 0…4294967295 1 = 1 58.14 Communication loss action uint16 0…5 1 = 1 58.15 Communication loss mode uint16 1…2 1 = 1 58.16 Communication loss time...
Page 334: D2D And Ddcs Transmit Data
334 Additional parameter data Name Type Range Unit FbEq32 60.15 Force master uint32 1 = 1 60.16 Force follower uint32 1 = 1 60.17 Follower fault action uint16 0…2 60.31 M/F wake up delay uint16 0.0 … 180.0 10 = 1 s 60.32 M/F comm supervision force uint16...
Page 335 Additional parameter data 335 Name Type Range Unit FbEq32 61.57 Data set 15 data 1 selection uint32 61.58 Data set 15 data 2 selection uint32 61.59 Data set 15 data 3 selection uint32 61.60 Data set 17 data 1 selection uint32 61.61 Data set 17 data 2 selection...
Page 336 336 Additional parameter data Name Type Range Unit FbEq32 61.118 Data set 21 data 3 value uint16 0…65535 61.119 Data set 23 data 1 value uint16 0…65535 61.120 Data set 23 data 2 value uint16 0…65535 61.121 Data set 23 data 3 value uint16 0…65535 61.122 Data set 25 data 1 value...
Page 337: Feedback Selection
Additional parameter data 337 Name Type Range Unit FbEq32 62.66 Data set 20 data 1 selection uint32 62.67 Data set 20 data 2 selection uint32 62.68 Data set 20 data 3 selection uint32 62.69 Data set 22 data 1 selection uint32 62.70 Data set 22 data 2 selection...
Page 338: Encoder Module Settings
338 Additional parameter data Name Type Range Unit FbEq32 90.03 Load speed real32 -32768.00 … 32767.00 100 = 1 rpm 90.07 Load position scaled int int32 -2147483648 … 1 = 1 2147483647 90.10 Encoder 1 speed real32 -32768.00 … 32767.00 100 = 1 rpm 90.35 Pos counter status...
Page 339: Encoder 1 Configuration
Additional parameter data 339 Name Type Range Unit FbEq32 91.22 Module 1 temp filter time real32 0…10000 1 = 1 ms 92 Encoder 1 configuration 92.01 Encoder 1 type uint16 0…7 1 = 1 92.02 Encoder 1 source uint16 1…2 1 = 1 Other parameters in this group when a TTL, TTL+ and HTL encoder is selected (92.17,...
Page 340: Motor Control
340 Additional parameter data Name Type Range Unit FbEq32 96.08 Control board boot uint16 0…1 1 = 1 96.10 User set status uint16 96.11 User set save/load uint16 96.12 User set I/O mode in1 uint32 96.13 User set I/O mode in2 uint32 96.20 Time sync primary source...
Page 341: User Motor Parameters
Additional parameter data 341 Name Type Range Unit FbEq32 97.15 Motor model temperature uint16 0…3 1 = 1 adaptation 97.32 Motor torque unfiltered real32 -1600.0 … 1600.0 10 = 1% 97.33 Speed estimate filter time real32 0.00 … 100.00 100 = 1 ms 98 User motor parameters 98.01 User motor model mode...
Page 342 342 Additional parameter data...
Page 343: Fault Tracing
The chapter lists the warning and fault messages including possible causes and corrective actions. The causes of most warnings and faults can be identified and corrected using the information in this chapter. If not, an ABB service representative should be contacted.
Page 344: Pure Events
344 Fault tracing source (see parameter 31.11 Fault reset selection) such as the control panel, Drive composer PC tool, the digital inputs of the drive, or fieldbus. After the fault is reset, the drive can be restarted. Note that some faults require a reboot of the control unit either by switching the power off and on, or using parameter 96.08 Control board boot –...
Page 345: Other Data Loggers
The data is saved onto the SD card attached to the BCU, and can be analyzed by ABB service personnel. ...
Page 346: Qr Code Generation For Mobile Service Application
The code can be read with a mobile device containing the ABB service application, which then sends the data to ABB for analysis. For more information on the application, contact your local ABB service representative.
Page 347: Warning Messages
Try running the motor in scalar control mode if allowed. (See parameter 99.04 Motor control mode.) If no earth fault can be detected, contact your local ABB representative. A2B4 Short circuit Short-circuit in motor cable(s) Check motor and motor cable for cabling or motor.
Page 348 Check ambient conditions. limit Check air flow and fan operation. Check heatsink fins for dust pick-up. 1 Thermistor broken Contact an ABB service representative for control unit replacement. A4A9 Cooling Drive module temperature is Check ambient temperature. If it exceeds excessive.
Page 349 Fault tracing 349 Code Warning Cause What to do (hex) A4B1 Excess temperature High temperature difference Check the motor cabling. difference between the IGBTs of different Check cooling of drive module(s). phases. Check the auxiliary code (format XXXY YYZZ). “XXX” indicates the source of difference (0: Single module, difference between phase IGBTs, 1: parallel- connected modules, minimum-maximum...
Page 350 6: Air inlet, 7: Power supply board, 8: du/dt filter, FAh: Air in temp. A5EB PU board powerfail Power unit power supply Contact your local ABB representative. failure. A5EC PU communication Communication errors Check the connections between the drive...
Page 351 A687 Checksum An action has been defined for Contact your local ABB representative for configuration a parameter checksum configuring the feature, or disable the mismatch but the feature has feature in 96.54 Checksum...
Page 352 352 Fault tracing Code Warning Cause What to do (hex) 1 Slip frequency is too small Check the settings of the motor configuration parameters in groups 98 2 Synchronous and nominal and 99. speeds differ too much Check that the drive is sized correctly for 3 Nominal speed is higher than the motor.
Page 353 (91.02 or 91.03). parameter setting. 0003 Logic version too old. Contact your local ABB representative. 0004 Software version too old. Contact your local ABB representative. 0006 Encoder type incompatible with Check module type (91.11 or 91.13)
Page 354 To pinpoint the problem, try installing the module into a different slot. 0001 Failed answer to encoder Contact your local ABB representative. configuration message. 0002 Failed answer to adapter Contact your local ABB representative.
Page 355 Fault tracing 355 Code Warning Cause What to do (hex) A7A2 Mechanical brake Status of mechanical brake Check mechanical brake connection. opening failed acknowledgement is not as Check mechanical brake settings in expected during brake open. parameter group 44 Mechanical brake Programmable warning: 44.17 Brake fault function control.
Page 356 0002 No encoder signal Check the condition of the encoder. 0003 Overspeed Contact your local ABB representative. 0004 Overfrequency Contact your local ABB representative. 0007 Speed scaling error Contact your local ABB representative. 000B Encoder reported an internal See the documentation of the encoder.
Page 357 Fault tracing 357 Code Warning Cause What to do (hex) A7EE Control panel loss Control panel (or PC tool) has Check PC tool or control panel stopped communicating. connection. Programmable warning: 49.05 Communication loss Check control panel connector. action Check mounting platform if being used. Disconnect and reconnect the control panel.
Page 358 358 Fault tracing Code Warning Cause What to do (hex) A88C Device clean Warning generated by an on- Check the auxiliary code. Check the time timer. source of the warning corresponding to A88D DC capacitor the code: Programmable warnings: A88E Cabinet fan 33.14 On-time 1 warn message 33.13 On-time 1 source...
Page 359 Fault tracing 359 Code Warning Cause What to do (hex) A985 External warning 5 Fault in external device 5. Check the external device. (Editable message text) Check setting of parameter 31.09 Programmable warning: External event 5 source. 31.09 External event 5 source 31.10 External event 5 type...
Page 360 2: Reduced 3: Standstill B680 SW internal SW internal malfunction. Contact your local ABB representative, diagnostics quoting the auxiliary code. If the Drive composer tool is available, also create and send a ‘support package’ (see Drive composer manual for instructions).
Page 361 Fault tracing 361 Code Warning Cause What to do (hex) B686 Checksum mismatch The calculated parameter A686 Checksum mismatch (page checksum does not match any 351). Programmable event: 96.54 Checksum action enabled reference checksum.
Page 362: Fault Messages
(select Current measurement difference between output calibration at parameter 99.13). If the phase U2 and W2 current fault persists, contact your local ABB measurement is too great (the representative. values are updated during current calibration). 2310 Overcurrent Output current has exceeded Check motor load.
Page 363 (format XXXY YYZZ). “Y YY” specifies through which BCU control unit channel the fault was received. If no earth fault can be detected, contact your local ABB representative. 2340 Short circuit Short-circuit in motor cable(s) Check motor and motor cable for cabling or motor errors.
Page 364 Measure insulation resistances of motor cables and motor. Contact your local ABB representative. 3130 Input phase loss Intermediate circuit DC voltage Check input power line fuses. is oscillating due to missing...
Page 365 Fault tracing 365 Code Fault Cause What to do (hex) 3210 DC link overvoltage Excessive intermediate circuit Check that overvoltage control is on DC voltage. (parameter 30.30 Overvoltage control). Check that the supply voltage matches the nominal input voltage of the drive. Check the supply line for static or transient overvoltage.
Page 366 Aux fan fault function is stuck or disconnected. 5090 DIL hardware failure Drive interlock hardware Contact your local ABB representative, failure. quoting the auxiliary code. The code contains location information, especially with parallel-connected inverter modules. When converted into a 32-bit binary...
Page 367 (using parameter 96.08 Control board boot) or by cycling its power. If the problem persists, contact your local ABB representative. 5093 Rating ID mismatch The hardware of the drive does Cycle the power to the drive.
Page 368 5690 PU communication Internal communication error. Contact your local ABB representative. internal 5691 Measurement circuit Measurement circuit fault. If the control unit is externally powered, check the setting of parameter 95.04...
Page 369 95.13 is set to 0 (reduced run function disabled). 5696 PU state feedback State feedback from output Contact your local ABB representative, phases does not match control quoting the auxiliary code. signals. 5697 Charging feedback Incorrect parameter setting.
Page 370 If the problem persists, contact your local ABB representative. 64A2 Internal record load Internal record load error. Contact your local ABB representative. 64A3 Application loading Application file incompatible or Check the auxiliary code. See actions for corrupted.
Page 371 0024 002A Too many blocks. Edit the program to reduce the number of blocks. Other – Contact your local ABB representative, quoting the auxiliary code. 64B0 Memory unit detached The memory unit was Switch off the power to the control unit detached when the control unit and reinstall the memory unit.
Page 372 Version mismatch between EFB protocol firmware and drive firmware. 6881 Text data overflow Internal fault. Reset the fault. Contact your local ABB representative if the fault persists. 6882 Text 32-bit table Internal fault. Reset the fault. Contact your local ABB overflow representative if the fault persists.
Page 373 Fault tracing 373 Code Fault Cause What to do (hex) 7085 Incompatible option Option module not supported. Check the auxiliary code. The code module (For example, type Fxxx-xx-M specifies the interface to which the fieldbus adapter modules are unsupported module is connected: not supported.) 1: Fieldbus interface A, 2: Fieldbus interface B.
Page 374 Reduced Standstill ID run. See parameter 99.13 ID run requested (page 308). 7380 Encoder internal Internal fault. Contact your local ABB representative. 7381 Encoder Encoder feedback fault. A7E1 Encoder (page 356). Programmable fault: 90.45 Motor feedback fault 73A0...
Page 375 23 Speed reference ramp. 73F0 Overfrequency Maximum allowed output Without a dual-use license, the fault limit frequency exceeded. is 598 Hz. Contact your local ABB representative for dual-use licensing information. 7510 FBA A communication Cyclical communication Check status of fieldbus communication.
Page 376 376 Fault tracing Code Fault Cause What to do (hex) 80A0 AI supervision An analog signal is outside the Check the auxiliary code (format XXXX limits specified for the analog XYZZ). “Y” specifies the location of the Programmable fault: 12.03 AI supervision input.
Page 377 Fault tracing 377 Code Fault Cause What to do (hex) FA81 Drive interlock 1 loss Drive interlock function is Check safety circuit connections. For active, ie. DIL circuit 1 is more information, see appropriate drive broken. hardware manual and description of parameter 31.22 Drive interlocked (page...
Page 378 Limits. Make sure that the maximum torque limit in force is greater than 100%. 0004 Current measurement Contact your local ABB representative. calibration did not finish within reasonable time. 0005…0008 Internal error. Contact your local ABB representative. 0009 (Asynchronous motors only) Contact your local ABB representative.
Page 379 Fault tracing 379 Code Fault Cause What to do (hex) FF81 FB A force trip A fault trip command has been Check the fault information provided by received through fieldbus the PLC. adapter A. FF8E EFB force trip A fault trip command has been Check the fault information provided by received through the the Modbus controller.
Page 380 380 Fault tracing...
Page 381 Fault tracing 381...
Page 382 382 Fault tracing...
Page 383: Fieldbus Control Through The Embedded Fieldbus Interface (Efb)
Fieldbus control through the embedded fieldbus interface (EFB) 383 Fieldbus control through the embedded fieldbus interface (EFB) What this chapter contains The chapter describes how the drive can be controlled by external devices over a communication network (fieldbus) using the embedded fieldbus interface. System overview The drive can be connected to an external control system through a communication link using either a fieldbus adapter or the embedded fieldbus interface.
Page 384: Connecting The Fieldbus To The Drive
Control unit Control unit Termination OFF Termination OFF Termination ON ACS860 ACS860 ACS860 Connecting the fieldbus to the drive Connect the fieldbus to terminal XD2D on the control unit of the drive. See the appropriate Hardware Manual for more information on the connection, chaining and termination of the link.
Page 385: Setting Up The Embedded Fieldbus Interface
58.17 Transmit delay 0 ms (default) Defines a response delay for the drive. 58.25 Control profile ABB Drives Selects the control profile used by the drive. (default), See section Basics of the embedded fieldbus Transparent interface (page 389).
Page 386: Setting The Drive Control Parameters
386 Fieldbus control through the embedded fieldbus interface (EFB) Setting for Parameter Function/Information fieldbus control 58.33 Addressing Mode 0 Defines the mapping between parameters mode (default) and holding registers in the 400001…465536 (100…65535) Modbus register range. 58.34 Word order LO-HI (default) Defines the order of the data words in the Modbus message frame.
Page 387 Fieldbus control through the embedded fieldbus interface (EFB) 387 Setting for Parameter Function/Information fieldbus control 22.12 Speed ref2 EFB ref1 EFB ref2 Selects a reference received through the source embedded fieldbus interface as speed reference 2. TORQUE REFERENCE SELECTION 26.11 Torque ref1 EFB ref1 EFB ref2 Selects a reference received through the...
Page 388 388 Fieldbus control through the embedded fieldbus interface (EFB) Setting for Parameter Function/Information fieldbus control SYSTEM CONTROL INPUTS 96.07 Parameter save Save (reverts to Saves parameter value changes (including manually Done) those made through fieldbus control) to permanent memory.
Page 389: Basics Of The Embedded Fieldbus Interface
Fieldbus control through the embedded fieldbus interface (EFB) 389 Basics of the embedded fieldbus interface The cyclic communication between a fieldbus system and the drive consists of 16-bit data words or 32-bit data words (with the transparent control profiles). The diagram below illustrates the operation of the embedded fieldbus interface. The signals transferred in the cyclic communication are explained further below the diagram.
Page 390: Control Word And Status Word
390 Fieldbus control through the embedded fieldbus interface (EFB)  Control word and Status word The Control Word (CW) is a 16-bit or 32-bit packed boolean word. It is the principal means of controlling the drive from a fieldbus system. The CW is sent by the fieldbus controller to the drive.
Page 391: Register Addressing
Fieldbus control through the embedded fieldbus interface (EFB) 391 dedicated storage parameter (13.91 AO1 data storage 13.92 AO2 data storage), which are available in the source selection parameters 13.12 AO1 source 13.22 source.  Register addressing The address field of Modbus requests for accessing holding registers is 16 bits. This allows the Modbus protocol to support addressing of 65536 holding registers.
Page 392: About The Control Profiles
• if packed boolean words are converted and how • how drive register addresses are mapped for the fieldbus master. You can configure the drive to receive and send messages according to the ABB Drives profile or the Transparent profile. With the ABB Drives profile, the embedded fieldbus interface of the drive converts the control word and status word to and from the native data used in the drive.
Page 393: The Abb Drives Profile
 Control Word The table below shows the contents of the fieldbus Control Word for the ABB Drives control profile. The embedded fieldbus interface converts this word to the form in which it is used in the drive. The upper case boldface text refers to the states shown State transition diagram on page 396.
Page 394 394 Fieldbus control through the embedded fieldbus interface (EFB) Name Value STATE/Description JOGGING_1 Accelerate to jogging 1 reference. Notes: • Bits 4…6 must be 0. • See also section Jogging (page 47). Jogging 1 disabled. JOGGING_2 Accelerate to jogging 2 reference. See notes at bit 8.
Page 395: Status Word
 Status Word The table below shows the fieldbus Status Word for the ABB Drives control profile. The embedded fieldbus interface converts the drive Status Word into this form for the fieldbus. The upper case boldface text refers to the states shown in...
Page 396: State Transition Diagram
The diagram below shows the state transitions in the drive when the drive is using the ABB Drives profile, and configured to follow the commands of the control word from the embedded fieldbus interface. The upper case texts refer to the states which are used in the tables representing the fieldbus Control and Status words.
Page 397: References
 References The ABB drives profile supports the use of two references, EFB reference 1 and EFB reference 2. The references are 16-bit words each containing a sign bit and a 15-bit integer. A negative reference is formed by calculating the two’s complement from the corresponding positive reference.
Page 398: Actual Values
 Actual values The ABB Drives profile supports the use of two fieldbus actual values, ACT1 and ACT2. The actual values are 16-bit words each containing a sign bit and a 15-bit integer. A negative value is formed by calculating the two’s complement from the corresponding positive value.
Page 399: Modbus Holding Register Addresses
Fieldbus control through the embedded fieldbus interface (EFB) 399  Modbus holding register addresses The table below shows the default Modbus holding register addresses for drive data. This profile provides a converted 16-bit access to the data. Register address Register data (16-bit words) 400001 Control word.
Page 400: The Transparent Profile
Whether references or actual values are scaled depends on the setting of parameters 58.26…58.29. The references received from the fieldbus are visible in parameters 03.09 EFB reference 1 03.10 EFB reference The Modbus holding register addresses for the Transparent profile are as with the ABB Drives profile (see page 399).
Page 401: Modbus Function Codes
Fieldbus control through the embedded fieldbus interface (EFB) 401 Modbus function codes The table below shows the Modbus function codes supported by the embedded fieldbus interface. Code Function name Description Read Coils Reads the 0/1 status of coils (0X references). Read Discrete Inputs Reads the 0/1 status of discrete inputs (1X references).
Page 402: Exception Codes
• 02h: Major Minor Revision (combination of contents of parameters 07.05 Firmware version 58.02 Protocol ID). • 03h: Vendor URL (“www.abb.com”) • 04h: Product name (for example, “ACS860”) Exception codes The table below shows the Modbus exception codes supported by the embedded fieldbus interface. Code Name Description...
Page 403: Coils (0Xxxx Reference Set)
Fieldbus control through the embedded fieldbus interface (EFB) 403 Coils (0xxxx reference set) Coils are 1-bit read/write values. Control Word bits are exposed with this data type. The table below summarizes the Modbus coils (0xxxx reference set). Reference ABB drives profile Transparent profile 00001 OFF1_CONTROL...
Page 404: Discrete Inputs (1Xxxx Reference Set)
404 Fieldbus control through the embedded fieldbus interface (EFB) Reference ABB drives profile Transparent profile 00035 Reserved 10.99 RO/DIO control word, bit 2 00036 Reserved 10.99 RO/DIO control word, bit 3 00037 Reserved 10.99 RO/DIO control word, bit 4 00038 Reserved 10.99 RO/DIO control...
Page 405 Fieldbus control through the embedded fieldbus interface (EFB) 405 Reference ABB drives profile Transparent profile 10025 Reserved Status Word bit 24 10026 Reserved Status Word bit 25 10027 Reserved Status Word bit 26 10028 Reserved Status Word bit 27 10029...
Page 406: Error Code Registers (Holding Registers 400090
406 Fieldbus control through the embedded fieldbus interface (EFB) Error code registers (holding registers 400090…400100) These registers contain information about the last query. The error register is cleared when a query has finished successfully. Reference Name Description Reset Error Registers 1 = Reset internal error registers (91…95).
Page 407: Fieldbus Control Through A Fieldbus Adapter
Fieldbus control through a fieldbus adapter 407 Fieldbus control through a fieldbus adapter What this chapter contains This chapter describes how the drive can be controlled by external devices over a communication network (fieldbus) through an optional fieldbus adapter module. The fieldbus control interface of the drive is described first, followed by a configuration example.
Page 408 408 Fieldbus control through a fieldbus adapter Fieldbus adapters are available for various communication systems and protocols, for example • CANopen (FCAN-01 adapter) • DeviceNet (FDNA-01 adapter) • EtherNet/IP (FENA-11 or FENA-21 adapter) • Modbus/RTU (FSCA-01 adapter) • Modbus/TCP (FENA-11 or FENA-21 adapter) •...
Page 409: Basics Of The Fieldbus Control Interface
Fieldbus control through a fieldbus adapter 409 Basics of the fieldbus control interface The cyclic communication between a fieldbus system and the drive consists of 16- or 32-bit input and output data words. The drive is able to support a maximum of 12 data words (16 bits) in each direction.
Page 410: Control Word And Status Word
The drive switches between its states according to the bit-coded instructions in the Control word, and returns status information to the master in the Status word. For the ABB Drives communication profile, the contents of the Control word and the Status word are detailed on pages respectively.
Page 411: Actual Values
50.17 FBA A actual value 1 50.18 FBA A actual value Scaling of actual values Note: The scalings described below are for the ABB Drives communication profile. Fieldbus-specific communication profiles may use different scalings. For more information, see the manual of the fieldbus adapter.
Page 412 412 Fieldbus control through a fieldbus adapter Fieldbus Drive 46.01 (with speed reference) 20000 46.02 (with frequency reference) 46.03 (with torque reference) 10000 46.04 (with power reference) -(46.03) (with torque reference) -10000 -(46.04) (with power reference) -(46.01) (with speed reference) -20000 -(46.02) (with frequency reference)
Page 413: Contents Of The Fieldbus Control Word (Abb Drives Profile)
Fieldbus control through a fieldbus adapter 413  Contents of the fieldbus Control word (ABB Drives profile) The upper case boldface text refers to the states shown in the state diagram (page 415). Name Value STATE/Description Off1 control Proceed to READY TO OPERATE.
Page 414: Contents Of The Fieldbus Status Word (Abb Drives Profile)
414 Fieldbus control through a fieldbus adapter  Contents of the fieldbus Status word (ABB Drives profile) The upper case boldface text refers to the states shown in the state diagram (page 415). Name Value STATE/Description Ready to switch READY TO SWITCH ON.
Page 415: The State Diagram (Abb Drives Profile)
Fieldbus control through a fieldbus adapter 415  The state diagram (ABB Drives profile) SWITCH-ON from any state MAINS OFF INHIBITED SW b6=1 Fault Power ON CW b0=0 FAULT NOT READY TO SW b3=1 SWITCH ON SW b0=0 B C D...
Page 416: Setting Up The Drive For Fieldbus Control
416 Fieldbus control through a fieldbus adapter Setting up the drive for fieldbus control 1. Install the fieldbus adapter module mechanically and electrically according to the instructions given in the User’s manual of the module. 2. Power up the drive. 3.
Page 417: Parameter Setting Example: Fpba (Profibus Dp)
Speed actual value Motor current DC voltage The table below gives the recommended drive parameter settings. Drive parameter Setting for ACS860 Description drives 50.01 FBA A enable 1…3 = [slot number] Enables communication between the drive and the fieldbus adapter module.
Page 418 418 Fieldbus control through a fieldbus adapter Drive parameter Setting for ACS860 Description drives 53.03 FBA data out3 23.12 Acceleration time 1 53.05 FBA data out5 23.13 Deceleration time 1 51.27 FBA A par refresh Refresh Validates the configuration parameter settings.
Page 419: Control Chain Diagrams
Control chain diagrams 419 Control chain diagrams What this chapter contains The chapter presents the reference chains of the drive. The control chain diagrams can be used to trace how parameters interact and where parameters have an effect within the drive parameter system. For a more general diagram, see section Operating modes of the drive (page 22).
Page 420: Speed Reference Source Selection I
420 Control chain diagrams Speed reference source selection I > > > > > > > > >...
Page 421: Speed Reference Source Selection Ii
Control chain diagrams 421 Speed reference source selection II > > > > > > > > > >...
Page 422: Speed Reference Ramping And Shaping
422 Control chain diagrams Speed reference ramping and shaping > > > >...
Page 423: Motor Feedback Configuration
Control chain diagrams 423 Motor feedback configuration...
Page 424: Load Feedback And Position Counter Configuration
424 Control chain diagrams Load feedback and position counter configuration > > > > >...
Page 425: Speed Error Calculation
Control chain diagrams 425 Speed error calculation >...
Page 426: Speed Controller
426 Control chain diagrams Speed controller > > >...
Page 427: Torque Reference Source Selection And Modification
Control chain diagrams 427 Torque reference source selection and modification > > > > >...
Page 428: Operating Mode Selection
428 Control chain diagrams Operating mode selection > >...
Page 429: Reference Selection For Torque Controller
Control chain diagrams 429 Reference selection for torque controller > > > > > > > >...
Page 430: Torque Limitation
430 Control chain diagrams Torque limitation > > > >...
Page 431: Torque Controller
Control chain diagrams 431 Torque controller > > > > >...
Page 432: Frequency Reference Selection
432 Control chain diagrams Frequency reference selection > > > > > > > > > >...
Page 433: Frequency Reference Modification
Control chain diagrams 433 Frequency reference modification > > > > >...
Page 434: Master/Follower Communication I (Master)
434 Control chain diagrams Master/Follower communication I (Master) > > > > > >...
Page 435: Master/Follower Communication Ii (Follower)
Control chain diagrams 435 Master/Follower communication II (Follower) > > > > > > > >...
Page 436 436 Control chain diagrams...
Page 437 Address any inquiries about the product to your local ABB representative, quoting the type designation and serial number of the unit in question. A listing of ABB sales, support and service contacts can be found by navigating to abb.com/searchchannels. Product training For information on ABB product training, navigate to new.abb.com/service/training.

ABB ACS860 Firmware Manual

Table of Contents

Introduction to the Manual

Using the Control Panel

Control Locations and Operating Modes

Program Features

Application Macros

Parameters

Parameters 93 Summary of Parameter Groups

Additional Parameter Data

Fault Tracing

Fieldbus Control through the Embedded Fieldbus Interface (EFB)

Fieldbus Control through a Fieldbus Adapter

Control Chain Diagrams

Quick Links

Chapters

Related Manuals for ABB ACS860

Summary of Contents for ABB ACS860