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User’s manual FENA-01/-11/-21 Ethernet adapter module Table of contents 1. Safety instructions 4. Mechanical installation 5. Electrical installation Modbus/TCP protocol EtherNet/IP protocol PROFINET IO protocol 3AUA0000093568 Rev B EN EFFECTIVE: 2014-01-29 2014 ABB Oy All Rights Reserved.
Table of contents 5 Table of contents List of related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1. Safety instructions Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Use of warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Safety in installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 2. Introduction to the manual Contents of this chapter . . . . . . . . . . . .
Table of contents 4. Mechanical installation Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Necessary tools and instructions . . . . . . . . . . . . . . . . . . . . . . . . 39 Unpacking and examining the delivery . . . . . . . . . . . . . . . . . . . . 39 Installing the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 5. Electrical installation Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of contents 7 Starting up fieldbus communication for ACS850 and ACQ810 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter setting examples – ACS850 and ACQ810 . . . . . Speed control using the ABB Drives – Enhanced communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . Starting up fieldbus communication for ACS880 and ACS580 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of contents Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 ABB Drives profile - Classic . . . . . . . . . . . . . . . . . . . . . . . . . 99 ABB Drives profile - Enhanced . . . . . . . . . . . . . . . . . . . . . 100 Transparent 16-bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Transparent 32-bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 9. Modbus/TCP – Diagnostics Contents of this chapter . . . . . . . . . . .
Table of contents 9 Speed control using the ODVA AC/DC drive profile, Extended speed control assembly . . . . . . . . . . . . . . . . Starting up fieldbus communication for ACS880 and ACS580 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter setting examples – ACS880 and ACS580 . . . . Speed control using the ODVA AC/DC drive profile, Extended speed control assembly . . . . . . . . . . . . . . . . Configuring the client . . . . . . . . . . . . . . . . .
Table of contents State (Control supervisor object) . . . . . . . . . . . . . . . . . 167 Speed Actual (AC/DC drive object) . . . . . . . . . . . . . . . 169 Torque Actual (AC/DC drive object) . . . . . . . . . . . . . . . 171 ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . 172 Control word and Status word . . . . . . . . . . . . . . . . . . . . . . 172 Control word contents. . . . . . . . . . . . . . . . . . . . . . . . . . 172 Status word contents . . . . . . . . . . . . .
Table of contents 11 Transparent 16 with one assembly plus drive parameters 204 Transparent 16 with two assembly . . . . . . . . . . . . . . . . . . 206 Transparent 16 with two assembly plus drive parameters 207 Transparent 32 with one assembly . . . . . . . . . . . . . . . . . . 209 Transparent 32 with one assembly plus drive parameters 210 Transparent 32 with two assembly . . . . . . . . . . . . . . . . . . 213 Transparent 32 with two assembly plus drive parameters 214 Class objects . . . . . . . . . . .
Table of contents Connection object, class 05h . . . . . . . . . . . . . . . . . . . . . . . 237 Class attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238 Instance attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238 Acknowledge handler object, class 2Bh . . . . . . . . . . . . . . 240 Class attributes (Instance #0). . . . . . . . . . . . . . . . . . . . 240 Instance attributes (Instance #1) . . . . . . . . . . . . . . . . . 240 13.
Table of contents 13 Position control using the PROFIdrive communication profile with PPO Type 4 . . . . . . . . . . . . . . . . . . . . . . . . Speed and torque control using the ABB Drives communication profile with PPO Type 4 . . . . . . . . . . . Starting up fieldbus communication for ACS850 and ACQ810 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter setting examples – ACS850 and ACQ810 . . . .
Table of contents Actual values in positioning mode (ACSM1 only). . . . . 315 ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . 316 Control word and Status word . . . . . . . . . . . . . . . . . . . . . . 316 Control word contents. . . . . . . . . . . . . . . . . . . . . . . . . . 316 Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . 318 State machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320 References . . . . . . . . . . . . .
Table of contents 15 Example 3: Reading a PROFIdrive parameter. . . . . . . 347 Example 4: Configuring the process data written to the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348 Example 5: Determining the source of the process data read from the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350 Diagnostic and alarm mechanism . . . . . . . . . . . . . . . . . . . . . . 351 Alarm mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of contents 20. Appendix B – ABB IP configuration tool for FENA Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375 Finding adapter modules in the network . . . . . . . . . . . . . . . . . 376 Rewriting the IP configuration of adapter modules . . . . . . . . . . 377 21. Appendix C – FENA configuration web pages Contents of this chapter . . . . . . . . . . . . . . .
Safety instructions 17 1 Safety instructions Contents of this chapter The chapter contains the warning symbols used in this manual and the safety instructions which you must obey when you install or connect an optional module to a drive, converter or inverter. If you ignore the safety instructions, injury, death or damage can occur. Read this chapter before you start the installation.
Safety instructions Use of warnings Warnings tell you about conditions which can cause injury or death, or damage to the equipment. They also tell you how to prevent the danger. The manual uses these warning symbols: Electricity warning tells you about hazards from electricity which can cause injury or death, or damage to the equipment. General warning tells you about conditions, other than those caused by electricity, which can cause injury or death, or damage to the equipment.
Safety instructions 19 Safety in installation These instructions are for all who install or connect an optional module to a drive, converter or inverter and need to open its front cover or door to do the work. WARNING! Obey these instructions. If you ignore them, injury or death, or damage to the equipment can occur. • If you are not a qualified electrician, do not do installation or maintenance work. • Disconnect the drive, converter or inverter from all possible power sources.
Safety instructions
Introduction to the manual 21 2 Introduction to the manual Contents of this chapter This chapter introduces this manual. Applicability This manual applies to the FENA-01/-11/-21 Ethernet adapter module, SW version 3.00 and later. Compatibility Drives This table shows the compatibility of the FENA adapter module with the different ABB drives.
Introduction to the manual Protocols The FENA adapter module is compatible with Ethernet standards IEEE 802.3 and IEEE 802.3u. This table shows the protocols supported by the FENA adapter module from SW version 0.290 onwards. Modbus/TCP1) EtherNet/IP™ PROFINET IO FENA-01 x x x FENA-11 x x x FENA-21 x x x 1) In addition to Modbus/TCP, FENA-01/-11/-21 supports Modbus over UDP. This table specifies the clients/masters that are compatible with the supported protocols.
Introduction to the manual 23 Tools The FENA-11/-21 adapter module can be used in the Ethernet tool network for ACS880 and ACS580 drives. The Ethernet tool network enables commissioning and monitoring several single drives, or inverter and supply units of a multidrive from a single location by using the Drive composer pro PC tool. Note: When the FENA-11/-21 adapter module is used only in the Ethernet tool network, the recommended setting for parameters 50.21 FBA A timelevel sel and 50.
Introduction to the manual Contents The manual consists of the following chapters: • Safety instructions gives the safety instructions which you must obey when you install a fieldbus adapter module. • Overview of the Ethernet network and the FENA-01/-11/-21 module contains a short description of the Ethernet network and the adapter module. • Mechanical installation contains a delivery checklist and instructions on installing the adapter module.
Introduction to the manual 25 EtherNet/IP protocol • EtherNet/IP – Start-up presents the steps to take during the start-up of the drive with the adapter module and gives examples of configuring the EtherNet/IP client. • EtherNet/IP – Communication profiles describes the communication profiles used in the communication between the client, the adapter module and the drive. • EtherNet/IP – Communication protocol describes the EtherNet/IP communication protocol for the adapter module.
Introduction to the manual Terms and abbreviations Later in this manual, term drive substitutes for string drive/converter/inverter. General terms and abbreviations Term Explanation Command word See Control word. Control word 16-bit or 32-bit word from master to slave with bit-coded control signals (sometimes called the Command word). FENA-01/-11/-21 Ethernet adapter module One of the optional fieldbus adapter modules available for ABB drives.
Introduction to the manual 27 Abbreviation Explanation DHCP Dynamic Host Control Protocol. A protocol for automating the configuration of IP devices. DHCP can be used to automatically assign IP addresses and related network information.
Introduction to the manual Term Explanation I/O Assembly selection Smart networked devices (like FENA) can produce and/or consume more than one I/O value. Typically, they will produce and/or consume one or more I/O value, as well as status and diagnostic information. Each piece of data communicated by a device is represented by an attribute of one of the device’s internal objects.
Introduction to the manual 29 Term Explanation GSD file ASCII-format device description file in a specified form. Each different slave type on the PROFINET IO network needs to have its own GSD file. GSD files in PROFINET IO are written in GSDML. Index Access reference for objects in PROFINET IO I/O controller Control system with bus initiative. In PROFINET IO terminology, I/O controllers are also called master stations. Master Control system with bus initiative.
Introduction to the manual The text in italics is the original German term. Abbreviation Explanation ACT Actual value Istwert DAP Device access point DP Decentralised Periphery Dezentrale Peripherie DP-V0 PROFINET IO extension to the EN 50170 standard, providing the basic functionality of DP, including cyclic data exchange DP-V1 PROFINET IO extension to the EN 50170 standard, including, eg, acyclic data exchange GSDML General Station Description Markup Language ISW See ACT.
Introduction to the manual 31 Abbreviation Explanation SOW Reference Sollwert STW Control word Steuerwort ZSW Status word Zustandswort
Introduction to the manual
Overview of the Ethernet network and the FENA-01/-11/-21 module 33 3 Overview of the Ethernet network and the FENA-01/-11/21 module Contents of this chapter This chapter contains a short description of the Ethernet network and the FENA adapter module. Ethernet network Ethernet standards support a variety of physical media (coaxial cable, twisted pair, fiber optics) and topologies (bus and star). The FENA-01/-11/-21 adapter module supports twisted pair as the physical media in a star topology.
Overview of the Ethernet network and the FENA-01/-11/-21 module Example topology of the Ethernet link This figure shows an example of an allowable topology for an Ethernet network with FENA-01/-11. Other slave device ABB drive Other slave device Switch or router This figure shows an example of an allowable topology for an Ethernet network with FENA-21.
Overview of the Ethernet network and the FENA-01/-11/-21 module 35 FENA-01/-11/-21 Ethernet adapter module The FENA-01/-11/-21 Ethernet adapter module is an optional device for ABB drives which enables the connection of the drive to an Ethernet network.
Overview of the Ethernet network and the FENA-01/-11/-21 module Layout of the adapter module This figure shows the layout of FENA-01/-11. 1 4 2 3 No.
Overview of the Ethernet network and the FENA-01/-11/-21 module 37 This figure shows the layout of FENA-21. 1 5 2 3 No.
Overview of the Ethernet network and the FENA-01/-11/-21 module
Mechanical installation 39 4 Mechanical installation Contents of this chapter This chapter contains a delivery checklist and instructions to install the adapter module. Necessary tools and instructions See the applicable drive hardware manual. Unpacking and examining the delivery 1. Open the option package. 2. Make sure that the package contains: • • Ethernet adapter module, type FENA-01/-11/-21 this manual. 3. Make sure that there are no signs of damage.
Mechanical installation Installing the adapter module WARNING! Obey the safety instructions. See chapter Safety instructions on page 17. If you ignore the safety instructions, injury or death can occur. The adapter module has a specific position in the drive. Plastic pins, a lock and one screw hold the adapter module in place. The screw also makes an electrical connection between the module and drive frame for cable shield termination.
Mechanical installation 41 2. Put the adapter module carefully into its position on the drive. 3. Push in the lock. 3 4 4. Tighten the screw. Note: It is necessary to tighten the screw properly to fulfill the EMC requirements and to ensure the proper operation of the module. See the applicable drive manual for further instructions on how to install the adapter module to the drive.
Mechanical installation
Electrical installation 43 5 Electrical installation Contents of this chapter This chapter contains: • general cabling instructions • instructions on connecting the adapter module to the Ethernet network. Warnings WARNING! Obey the safety instructions. See chapter Safety instructions on page 17. If you ignore the safety instructions, injury or death can occur. If you are not a qualified electrician, do not do electrical work. Necessary tools and instructions See the applicable drive hardware manual.
Electrical installation General cabling instructions • Arrange the bus cables as far away from the motor cables as possible. • • Avoid parallel runs. Use bushings at cable entries. Connecting the adapter module to the Ethernet network The network cable can be CAT5 or higher, and type UTP, FTP or STP. When CAT5 FTP or STP is used, the cable shield is connected to the drive frame through an RC network.
Electrical installation 45 Connection procedure 1. Connect the network cable to the RJ-45 connector (X1) on the adapter module. 2. If you want to create a daisy chain with FENA-21 adapter modules, connect the X2 connector of the first adapter module to X1 on the next adapter module, and so on.
Electrical installation
Modbus/TCP protocol Modbus/TCP – Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Modbus/TCP – Communication profiles . . . . . . . . . . . . . . . . . . . 85 Modbus/TCP – Communication protocol . . . . . . . . . . . . . . . . . . 95 Modbus/TCP – Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modbus/TCP – Start-up 49 6 Modbus/TCP – Start-up Contents of this chapter This chapter contains: • information on configuring the drive for operation with the adapter module • drive-specific instructions on starting up the drive with the adapter module • information on configuring the client for communication with the adapter module. Warnings WARNING! Obey the safety instructions given in this manual and the drive documentation.
Modbus/TCP – Start-up Drive configuration The information in this section applies to all drive types compatible with the adapter module, unless otherwise stated. Modbus/TCP connection configuration After the adapter module has been mechanically and electrically installed according to the instructions in chapters Mechanical installation and Electrical installation, you must prepare the drive for communication with the module.
Modbus/TCP – Start-up 51 FENA-01/-11-/21 configuration parameters – group A (group 1) Note: The actual parameter group number depends on the drive type. Group A (group 1) corresponds to: • parameter group 51 in ACS355, ACSM1, ACS850 and ACQ810 • parameter group 51 in ACS880 and ACS580 if the adapter is installed as fieldbus adapter A or group 54 if the adapter is installed as fieldbus adapter B. No. Name/Value Description Default 01 FBA TYPE Read-only.
Modbus/TCP – Start-up No. Name/Value Description Default 03 COMM RATE Sets the bit rate for the Ethernet interface.
Modbus/TCP – Start-up 53 No. Name/Value Description Default 08 IP ADDRESS 4 See parameter 05 IP ADDRESS 1. 0 ACS355: FB PAR 8 ACSM1: FBA PAR8 ACS850/ACQ810: FBA par8 ACS880/ACS580: IP address 4 09 0…255 IP address SUBNET CIDR Subnet masks are used for splitting networks into smaller networks called subnets. A subnet mask is a 32-bit binary number that splits the IP address into a network address and host address.
Modbus/TCP – Start-up No. Name/Value Description Default 10 GW ADDRESS 1 IP gateways connect individual physical IP subnets into a unified IP network. When an IP node needs to communicate with an IP node on another subnet, the IP node sends the data to the IP gateway for forwarding. Parameters 10…13 define the four octets of the gateway address.
Modbus/TCP – Start-up 55 No. Name/Value Description Default 19 T16 SCALE 99 ACS880/ACS580: T16 scale Defines the reference multiplier/actual value divisor for the adapter module. The parameter is effective only when the Transparent 16 profile is selected AND the drive is using the native communication profile (eg, DCU or FBA) and a 16-bit transparent Reference 1/Actual value 1. With an ACS355 drive, the speed reference from the PLC is multiplied by the value of this parameter plus one.
Modbus/TCP – Start-up No. Name/Value Description Default 21 TIMEOUT MODE Selects which Modbus/TCP register accesses reset the timeout counter. 2= Control RW ACS355: FB PAR 21 ACSM1: FBA PAR21 ACS850/ACQ810: FBA par21 ACS880/ACS580: Timeout mode 22 0 = None The Modbus/TCP timeout feature is disabled. 1 = Any message The timeout counter is reset when any Modbus register of the drive is accessed.
Modbus/TCP – Start-up 57 No. Name/Value Description Default 27 FBA PAR REFRESH Validates any changed adapter module configuration parameter settings. After refreshing, the value reverts automatically to 0 = Done. Note: This parameter cannot be changed while the drive is running. 0 = Done ACS355/ACSM1: FBA PAR REFRESH ACS850/ACQ810: FBA par refresh ACS880/ACS580: FBA A/B par refresh 28 0 = Done Refreshing done 1 = Refresh Refreshing PAR TABLE VER Read-only.
Modbus/TCP – Start-up No. Name/Value Description Default 30 MAPPING FILE VER Read-only. Displays the fieldbus adapter module mapping file revision stored in the memory of the drive in decimal format. N/A ACS355: FILE CONFIG REV ACSM1: MAPPING FILE VER ACS850/ACQ810: Mapping file ver ACS880/ACS580: FBA A/B mapping file ver Mapping file revision 31 D2FBA COMM STA ACS355: FBA STATUS Read-only. Displays the status of the fieldbus adapter module communication.
Modbus/TCP – Start-up 59 No. Name/Value Description Default 32 FBA COMM SW VER Read-only. Displays the common program revision of the adapter module in format axyz, where: a = major revision number xy = minor revision numbers z = correction number or letter.
Modbus/TCP – Start-up FENA-01/-11/-21 configuration parameters – group B (group 2) Note: The actual parameter group number depends on the drive type. Group B (group 2) corresponds to: • parameter group 55 in ACS355 • • parameter group 53 in ACSM1, ACS850 and ACQ810 parameter group 53 in ACS880 and ACS580 if the adapter is installed as fieldbus adapter A or group 56 if the adapter is installed as fieldbus adapter B. No.
Modbus/TCP – Start-up 61 FENA-01/-11/-21 configuration parameters – group C (group 3) Note: The actual parameter group number depends on the drive type. Group C (group 3) corresponds to: • parameter group 54 in ACS355 • • parameter group 52 in ACSM1, ACS850 and ACQ810 parameter group 52 in ACS880 and ACS580 if the adapter is installed as fieldbus adapter A or group 55 if the adapter is installed as fieldbus adapter B. No.
Modbus/TCP – Start-up Control locations ABB drives can receive control information from multiple sources including digital inputs, analog inputs, the drive control panel and a fieldbus adapter module. ABB drives allow the user to separately determine the source for each type of control information (Start, Stop, Direction, Reference, Fault reset, etc.). To give the fieldbus client the most complete control over the drive, you must select the adapter module as the source of this information.
Modbus/TCP – Start-up 63 Starting up fieldbus communication for ACS355 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive with parameter 9802 COMM PROT SEL. 3. Set the module configuration parameters in group 51. • Select the communication protocol and profile with parameter 5102 and configure the network settings with parameters 5103…5113. • With parameters 5120 and 5121, select how the adapter module detects fieldbus communication breaks. 4.
Modbus/TCP – Start-up Parameter setting examples – ACS355 Speed and torque control using the ABB Drives – Enhanced communication profile This example shows how to configure a speed and torque control application that uses the ABB Drives - Enhanced profile. In addition, some application-specific data is added to the communication. The start/stop commands and reference are according to the ABB Drives profile. For more information, see section ABB Drives communication profile on page 87.
Modbus/TCP – Start-up 65 Drive parameter Setting for ACS355 drives Description 5102 FB PAR 2 (PROTOCOL/PROFILE) 1 (= MB/TCP ABB E) Selects the Modbus/TCP protocol and the ABB Drives Enhanced profile. 5103 FB PAR 3 (COMMRATE) 0 (= Auto)2) Ethernet communication rate is negotiated automatically by the device. 5104 FB PAR 4 (IP CONFIGURATION) 0 (= Static IP) Configuration will be obtained from parameters 05…13.
Modbus/TCP – Start-up Drive parameter Setting for ACS355 drives Description 9904 MOTOR CTRL MODE 2 = VECTOR: TORQ Selects the vector control mode as the motor control mode. 1001 EXT1 COMMANDS 10 = COMM Selects the fieldbus interface as the source of the start and stop commands for external control location 1. 1002 EXT2 COMMANDS 10 = COMM Selects the fieldbus interface as the source of the start and stop commands for external control location 2.
Modbus/TCP – Start-up 67 Starting up fieldbus communication for ACSM1 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA ENABLE. 3. With parameter 50.02 COMM LOSS FUNC, select how the drive reacts to a fieldbus communication break. Note that this function monitors both communication between the fieldbus master and the adapter module and communication between the adapter module and the drive. 4. With parameter 50.
Modbus/TCP – Start-up 7. Define the process data transferred to and from the drive in parameter groups 52 and 53. Note: The adapter module assigns the Control word, Status word, references 1…2 and actual values 1…2 automatically to Modbus registers. Process data groups are not available in the ABB Drives - Classic communication profile. 8. Validate the settings made in parameter groups 51, 52 and 53 with parameter 51.27 FBA PAR REFRESH. 9.
Modbus/TCP – Start-up 69 The minimum and maximum 16-bit integer values that can be given through the fieldbus are -32768 and 32767 respectively.
Modbus/TCP – Start-up Drive parameter Setting for ACSM1 drives Description 51.05 FBA PAR5 (IP ADDRESS 1) 1922) First part of the IP address 51.06 FBA PAR6 (IP ADDRESS 2) 1682) Second part of the IP address 51.07 FBA PAR7 (IP ADDRESS 3) 02) Third part of the IP address 51.08 FBA PAR8 (IP ADDRESS 4) 162) Last part of the IP address 51.09 FBA PAR9 (SUBNET CIDR) 242) Sets the network mask as 255.255.255.0, allowing access only to the last subnet. 51.
Modbus/TCP – Start-up 71 Drive parameter Setting for ACSM1 drives Description 32.02 TORQ REF ADD SEL FBA REF2 Selects the fieldbus reference 2 as the source for torque reference 1. 34.01 EXT1/EXT2 SEL P.FBA MAIN CW.15 Enables external control location 1/2 selection through the fieldbus only (bit 15 in the fieldbus Control word). 34.03 EXT1 CTRL MODE1 Speed Selects speed control as the control mode 1 for external control location 1. 34.
Modbus/TCP – Start-up Starting up fieldbus communication for ACS850 and ACQ810 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA enable. 3. With parameter 50.02 Comm loss func, select how the drive reacts to a fieldbus communication break. Notes: • This function monitors both communication between the fieldbus master and the adapter module and communication between the adapter module and the drive.
Modbus/TCP – Start-up 73 7. Define the process data transferred to and from the drive in parameter groups 52 and 53. Note: The adapter module assigns the Control word, Status word, references 1…2 and actual values 1…2 automatically to Modbus registers. Process data groups are not available in the ABB Drives - Classic communication profile. 8. Validate the settings made in parameter groups 51, 52 and 53 with parameter 51.27 FBA par refresh. 9.
Modbus/TCP – Start-up The minimum and maximum 16-bit integer values that can be given through the fieldbus are -32768 and 32767 respectively.
Modbus/TCP – Start-up 75 Drive parameter Setting for ACS850/ACQ810 drives Description 51.05 FBA par5 (IP ADDRESS 1) 1922) First part of the IP address 51.06 FBA par6 (IP ADDRESS 2) 1682) Second part of the IP address 51.07 FBA par7 (IP ADDRESS 3) 02) Third part of the IP address 51.08 FBA par8 (IP ADDRESS 4) 162) Last part of the IP address 51.09 FBA par9 (SUBNET CIDR) 242) Sets the network mask as 255.255.255.0, allowing access only to the last subnet. 51.
Modbus/TCP – Start-up The start sequence for the parameter example above is given below. Control word: • Reset the fieldbus communication fault (if active). • Enter 47Eh (1150 decimal) –> READY TO SWITCH ON. • Enter 47Fh (1151 decimal) –> OPERATING (Speed mode). Starting up fieldbus communication for ACS880 and ACS580 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive by selecting the correct slot number in parameter 50.01 FBA A enable.
Modbus/TCP – Start-up 77 5. Select application-specific values for the rest of the parameters in group 50, starting from 50.04. Examples of appropriate values are shown in the tables below. 6. Set the module configuration parameters in group 51. • Select the communication protocol and profile with parameter 51.02 and configure the network settings with parameters 51.03…51.13. • With parameters 51.20 and 51.21, select how the adapter module detects fieldbus communication breaks. 7.
Modbus/TCP – Start-up Parameter setting examples – ACS880 Speed control using the ABB Drives – Enhanced communication profile This example shows how to configure a speed control application that uses the ABB Drives - Enhanced profile. In addition, some application-specific data is added to the communication. The start/stop commands and reference are according to the ABB Drives profile. For more information, see section ABB Drives communication profile on page 87.
Modbus/TCP – Start-up 79 Drive parameter Setting for ACS880 drives Description 50.03 FBA A comm loss t out 3.0 s2) Defines the fieldbus A communication break supervision time. 50.04 FBA A ref1 type 4 = Speed Selects the fieldbus A reference 1 type and scaling. 51.01 FBA A type 128 = ETHERNET1) Displays the type of the fieldbus adapter module. 51.02 Protocol/Profile 1 = MB/TCP ABB E Selects the Modbus/TCP protocol and the ABB Drives - Enhanced profile. 51.
Modbus/TCP – Start-up Drive parameter Setting for ACS880 drives Description 20.01 Ext1 commands 12 = Fieldbus A Selects the fieldbus A interface as the source of the start and stop commands for external control location 1. 22.11 Speed ref1 source 4 = FB A ref1 Selects the fieldbus A reference 1 as the source for speed reference 1. 31.11 Fault reset selection 06.1.7 Selects the fieldbus interface as the source for the fault reset signal.
Modbus/TCP – Start-up 81 Parameter setting examples – ACS580 Frequency control using the ABB Drives – Enhanced communication profile This example shows how to configure a frequency control application that uses the ABB Drives - Enhanced profile. In addition, some application-specific data is added to the communication. The start/stop commands and reference are according to the ABB Drives profile. For more information, see section ABB Drives communication profile on page 87.
Modbus/TCP – Start-up Drive parameter Setting for ACS580 drives Description 50.03 FBA A comm loss t out 3.0 s2) Defines the fieldbus A communication break supervision time. 50.04 FBA A ref1 type 0 = Speed or frequency Selects the fieldbus A reference 1 type and scaling. 51.01 FBA A type 128 = ETHERNET1) Displays the type of the fieldbus adapter module. 51.02 Protocol/Profile 1 = MB/TCP ABB E Selects the Modbus/TCP protocol and the ABB Drives - Enhanced profile. 51.
Modbus/TCP – Start-up 83 Drive parameter Setting for ACS580 drives Description 20.01 Ext1 commands 12 = Fieldbus A Selects the fieldbus A interface as the source of the start and stop commands for external control location 1. 22.11 Speed ref1 source 4 = FB A ref1 Selects the fieldbus A reference 1 as the source for speed reference 1. 31.11 Fault reset selection 06.1.7 Selects the fieldbus interface as the source for the fault reset signal.
Modbus/TCP – Start-up Client configuration After the adapter module has been initialized by the drive, you must prepare the client for communication with the module. Due to the large number of different Modbus clients, specific instructions cannot be provided here. Refer to the documentation of your client for more information. Modbus register maps The Modbus register map which the adapter module presents to the Modbus client is selected with parameter 02 PROTOCOL/ PROFILE (see page 51).
Modbus/TCP – Communication profiles 85 6 Modbus/TCP – Communication profiles Contents of this chapter This chapter describes the communication profiles used in the communication between the Modbus/TCP client, the adapter module and the drive. Communication profiles Communication profiles are ways of conveying control commands (Control word, Status word, references and actual values) between the Modbus client and the drive.
Modbus/TCP – Communication profiles The figure below illustrates the profile selection: Modbus/TCP network FENA Profile selection: ABB Drives ABB Drives profile Drive Native profile (eg, DCU, FBA) Data conversion Transparent16 Drive-specific profile1) (with 16-bit words) Optional reference/ actual value scaling Drive-specific profile1) (with 32-bit words) Transparent32 1) Can be used if the native profile is supported by the drive.
Modbus/TCP – Communication profiles 87 ABB Drives communication profile Control word and Status word The Control word is the principal means for controlling the drive from a fieldbus system. It is sent by the fieldbus client station to the drive through the adapter module. The drive switches between its states according to the bit-coded instructions in the Control word and returns status information to the client in the Status word.
Modbus/TCP – Communication profiles Bit 3 4 5 6 7 Name INHIBIT_ OPERATION RAMP_OUT_ ZERO RAMP_HOLD RAMP_IN_ ZERO RESET Value STATE/Description 1 Proceed to OPERATION ENABLED. Note: Run enable signal must be active; see drive documentation. If the drive is set to receive the Run enable signal from the fieldbus, this bit activates the signal. 0 Inhibit operation. Proceed to OPERATION INHIBITED. 1 Normal operation. Proceed to RAMP FUNCTION GENERATOR: OUTPUT ENABLED.
Modbus/TCP – Communication profiles 89 Bit Name 10 REMOTE_ CMD 1 Fieldbus control enabled. 0 Control word and reference not getting through to the drive, except for CW bits OFF1, OFF2 and OFF3. EXT_CTRL_ LOC 1 Select External Control Location EXT2. Effective if control location parameterized to be selected from fieldbus. 0 Select External Control Location EXT1. Effective if control location parameterized to be selected from fieldbus.
Modbus/TCP – Communication profiles Bit 7 8 9 10 11 12 Name ALARM AT_ SETPOINT REMOTE ABOVE_ LIMIT EXT_CTRL_ LOC EXT_RUN_ ENABLE Value STATE/Description 1 Warning/Alarm 0 No warning/alarm 1 OPERATION. Actual value equals reference (= is within tolerance limits, ie, in speed control, speed error is 10% max. of nominal motor speed). 0 Actual value differs from reference (= is outside tolerance limits.
Modbus/TCP – Communication profiles 91 State machine The state machine for the ABB Drives communication profile is shown below.
Modbus/TCP – Communication profiles References References are 16-bit words containing a sign bit and a 15-bit integer. A negative reference (indicating reversed direction of rotation) is formed by calculating the two’s complement from the corresponding positive reference. ABB drives can receive control information from multiple sources including analog and digital inputs, the drive control panel and a fieldbus adapter module (for example, FENA).
Modbus/TCP – Communication profiles 93 Actual values Actual values are 16-bit words containing information on the operation of the drive. The functions to be monitored are selected with a drive parameter. Scaling Actual values are scaled as shown below. Note: The values of REF1 MAX and REF2 MAX are set with drive parameters. See the drive manuals for further information.
Modbus/TCP – Communication profiles
Modbus/TCP – Communication protocol 95 6 Modbus/TCP – Communication protocol Contents of this chapter This chapter describes the Modbus/TCP communication protocol for the adapter module. Modbus/TCP Modbus/TCP is a variant of the Modbus family of simple, vendor neutral communication protocols intended for supervision and control of automation equipment. Specifically, it covers the use of Modbus messaging over TCP connection on an IP network.
Modbus/TCP – Communication protocol Register addressing The address field of Modbus Requests for accessing Holding registers is 16 bits. This allows the Modbus protocol to support addressing of 65536 Holding registers. Historically, Modbus client devices used 5-digit decimal addresses from 40001 to 49999 to represent Holding register addresses. 5-digit decimal addressing limited to 9999 the number of holding registers that could be addressed.
Modbus/TCP – Communication protocol 97 Function code 2Bh/0Eh Name Description Encapsulated Interface Transport / Read Device Identification Allows reading identification and other information of the server. Parameter "Read Device ID code" allows one to define three access types: • 01: Request to get the basic device identification (stream access) • 02: Request to get the regular device identification (stream access) • 04: Request to get one specific identification object (individual access).
Modbus/TCP – Communication protocol Exception codes The adapter module supports the Modbus exception codes shown below. Exception Code Name Description 01h ILLEGAL FUNCTION The function code received in the query is not an allowable action for the server. 02h ILLEGAL DATA ADDRESSS The data address received in the query is to an allowable address for the server. 03h ILLEGAL DATA VALUE A value contained in the query data field is not an allowable value for the server.
Modbus/TCP – Communication protocol 99 ABB Drives profile - Classic The ABB Drives profile - Classic communication profile provides register mapped access to the control, status, reference and actual values of the ABB Drives profile in the classic format for backward compatibility.
Modbus/TCP – Communication protocol ABB Drives profile - Enhanced The ABB Drives profile - Enhanced communication profile provides register mapped access to the control, status, reference and actual values of the ABB Drives profile. The mapping of the registers has been enhanced to allow writing of control and reading of status in a single Read/Write Multiple Register request.
Modbus/TCP – Communication protocol 101 Register Address 1), 2) Register Data (16-bit) (4)00060 DATA IN 7 (4)00061 DATA IN 8 (4)00062 DATA IN 9 (4)00063 DATA IN 10 (4)00064 DATA IN 11 (4)00065 DATA IN 12 (4)00101…(4)09999 Drive Parameter Access (16-bit) Register Address = (4)00000 + 100 × Group + Index Example for Drive Parameter 3.
Modbus/TCP – Communication protocol Transparent 16-bit The Transparent 16-bit communication profile provides unaltered 16-bit access to the configured drive profile.
Modbus/TCP – Communication protocol 103 Register Address 1), 2) Register Data (16-bit) (4)00062 DATA IN 9 (4)00063 DATA IN 10 (4)00064 DATA IN 11 (4)00065 DATA IN 12 (4)00101…(4)09999 Drive Parameter Access (16-bit) Register Address = 400000 + 100 × Group + Index Example for Drive Parameter 3.18: (4)00000 + 100 × 3 + 18 = 400318 (4)20000…(4)29999 Drive Parameter Access (32-bit) (not supported with ACS355): Register Address = (4)20000 + 200 × Group + 2 × Index Example for Drive Parameter 1.
Modbus/TCP – Communication protocol Register Address 1), 2) Register Data (16-bit) (4)00004 Native Drive Profile Reference 1 - Most Significant 16-bits (4)00005 Native Drive Profile Reference 2 - Least Significant 16-bits (4)00006 Native Drive Profile Reference 2 - Most Significant 16-bits (4)00007 DATA OUT 1 (4)00008 DATA OUT 2 (4)00009 DATA OUT 3 (4)00010 DATA OUT 4 (4)00011 DATA OUT 5 (4)00012 DATA OUT 6 (4)00013 DATA OUT 7 (4)00014 DATA OUT 8 (4)00015 DATA OUT 9 (4)00016 D
Modbus/TCP – Communication protocol 105 Register Address 1), 2) Register Data (16-bit) (4)00059 DATA IN 3 (4)00060 DATA IN 4 (4)00061 DATA IN 5 (4)00062 DATA IN 6 (4)00063 DATA IN 7 (4)00064 DATA IN 8 (4)00065 DATA IN 9 (4)00066 DATA IN 10 (4)00067 DATA IN 11 (4)00068 DATA IN 12 (4)00101…(4)09999 Drive Parameter Access (16-bit) Register Address = (4)00000 + 100 × Group + Index Example for Drive Parameter 3.
Modbus/TCP – Communication protocol
Modbus/TCP – Diagnostics 107 9 Modbus/TCP – Diagnostics Contents of this chapter This chapter explains how to trace faults with the status LEDs on the adapter module when the module is used for Modbus/TCP communication. Fault and warning messages For the fault and warning messages concerning the adapter module, see the drive firmware manual.
Modbus/TCP – Diagnostics LEDs The adapter module is equipped with three bicolor diagnostic LEDs. The LEDs are described below. Name HOST Color Function Blinking green Establishing communication to host Green Connection to host OK Blinking red Communication to host lost temporarily Flashing orange, alternating with the MODULE flashing orange Internal file system error. The error may be cleared by cycling drive power. If the error persists, contact your local ABB representative.
Modbus/TCP – Diagnostics 109 Name MODULE Color Function Off There is no power applied to the device. Flashing orange Device is attempting to obtain IP configuration from the DHCP server. Orange Device is executing Duplicate Address Detection. Flashing green Device is waiting for a Modbus request. Green Device has received a Modbus request within the Modbus/TCP Timeout period. Flashing red Ethernet link is down. Red Ethernet interface is disabled.
Modbus/TCP – Diagnostics Internal error code registers A Modbus query can fail in many ways in the drive. The Modbus standard does not specify detailed error descriptions. In addition to the standard error codes, the FENA adapter module provides an internal error register area for more detailed diagnostics. The internal error register area is used if Modbus error code 0x04 occurs. The registers contain information about the last query.
Modbus/TCP – Diagnostics 111 Error code Description Situation 0x71 Parameter group ended An attempt to write to multiple parameter groups 0x72 MSB is not zero An attempt to write a 16-bit parameter with a 32-register address and the MSB bytes are not zero 0x73 LSB query start An attempt to access only the LSB register of the 32-bit parameter 0x74 MSB query end An attempt to access only the MSB register of the 32-bit parameter
Modbus/TCP – Diagnostics
EtherNet/IP protocol EtherNet/IP – Start-up. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 EtherNet/IP – Communication profiles . . . . . . . . . . . . . . . . . . . 159 EtherNet/IP – Communication protocol. . . . . . . . . . . . . . . . . . . 181 EtherNet/IP – Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EtherNet/IP – Start-up 115 6 EtherNet/IP – Start-up Contents of this chapter This chapter contains: • information on configuring the drive for operation with the adapter module • drive-specific instructions on starting up the drive with the adapter module • examples of configuring the client for communication with the adapter module. Warnings WARNING! Obey the safety instructions given in this manual and the drive documentation.
EtherNet/IP – Start-up Drive configuration The information in this section applies to all drive types compatible with the adapter module, unless otherwise stated. EtherNet/IP connection configuration After the adapter module has been mechanically and electrically installed according to the instructions in chapters Mechanical installation and Electrical installation, you must prepare the drive for communication with the module.
EtherNet/IP – Start-up 117 FENA-01/-11/-21 configuration parameters – group A (group 1) Note: The actual parameter group number depends on the drive type. Group A (group 1) corresponds to: • parameter group 51 in ACS355, ACSM1, ACS850 and ACQ810 • parameter group 51 in ACS880 and ACS580 if the adapter is installed as fieldbus adapter A or group 54 if the adapter is installed as fieldbus adapter B. No. Name/Value Description Default 01 FBA TYPE Read-only.
EtherNet/IP – Start-up No. Name/Value Description Default 03 COMM RATE Sets the bit rate for the Ethernet interface.
EtherNet/IP – Start-up 119 No. Name/Value Description Default 08 IP ADDRESS 4 See parameter 05 IP ADDRESS 1. 0 ACS355: FB PAR 8 ACSM1: FBA PAR8 ACS850/ACQ810: FBA par8 ACS880/ACS580: IP address 4 09 0…255 IP address SUBNET CIDR Subnet masks are used for splitting networks into smaller networks called subnets. A subnet mask is a 32-bit binary number that splits the IP address into a network address and host address.
EtherNet/IP – Start-up No. Name/Value Description Default 10 GW ADDRESS 1 IP gateways connect individual physical IP subnets into a unified IP network. When an IP node needs to communicate with an IP node on another subnet, the IP node sends the data to the IP gateway for forwarding. Parameters 10…13 define the four octets of the gateway address.
EtherNet/IP – Start-up 121 No. Name/Value Description Default 19 T16 SCALE 99 ACS880/ACS580: T16 scale Defines the reference multiplier/actual value divisor for the adapter module. The parameter is effective only when the Transparent 16 profile is selected AND the drive is using the native communication profile (eg, DCU or FBA) and a 16-bit transparent Reference 1/Actual value 1. With an ACS355 drive, the speed reference from the PLC is multiplied by the value of this parameter plus one.
EtherNet/IP – Start-up No. Name/Value Description Default 20 CONTROL TIMEOUT Defines the control timeout value. The EtherNet/IP protocol specifies connection timeout for I/O messaging (Class 1) and Connected explicit messaging (Class 3), but not Unconnected explicit messaging. This parameter provides a timeout for Unconnected explicit messaging and for instances of Connected explicit messaging (Class 3), where the client breaks the connection in between requests.
EtherNet/IP – Start-up 123 No. Name/Value Description Default Control timeout events: • Write of an output assembly object instance • Write of control bits (Run1, Run2, NetCtrl, NetRef and FaultReset) • Write Speed Reference • Write Torque Reference • Reset Control Supervisor object • Write Force Fault via Control Supervisor object If a timeout occurs, the adapter module signals the drive that communication with the client has been lost. The drive configuration then determines how to respond.
EtherNet/IP – Start-up No. Name/Value Description Default 22 ODVA STOP FUNCTION Determines how the motor is to be stopped when a stop command is received via EtherNet/IP. This parameter only applies to the ODVA AC/DC drive profile. 0= Ramp ACS355: FB PAR 22 ACSM1: FBA PAR22 ACS850/ACQ810: FBA par22 ACS880/ACS580: Stop function 0 = Ramp The motor decelerates along the active deceleration ramp. 1 = Coast The motor comes to a stop by coasting.
EtherNet/IP – Start-up 125 No. Name/Value Description Default 23 ODVA SPEED SCALE This parameter only applies to the ODVA AC/DC drive profile. The units of reference and actual speeds for the ODVA AC/DC drive profile are given by the formula below.
EtherNet/IP – Start-up No. Name/Value Description Default 24 ODVA TORQUE SCALE This parameter only applies to the ODVA AC/DC drive profile. The units of reference and actual torques for the ODVA AC/DC drive profile are given by the formula below.
EtherNet/IP – Start-up 127 No. Name/Value Description Default 27 FBA PAR REFRESH Validates any changed adapter module configuration parameter settings. After refreshing, the value reverts automatically to 0 = Done. Note: This parameter cannot be changed while the drive is running. 0 = Done ACS355/ACSM1: FBA PAR REFRESH ACS850/ACQ810: FBA par refresh ACS880/ACS580: FBA A/B par refresh 28 0 = Done Refreshing done 1 = Refresh Refreshing PAR TABLE VER Read-only.
EtherNet/IP – Start-up No. Name/Value Description Default 30 MAPPING FILE VER Read-only. Displays the fieldbus adapter module mapping file revision stored in the memory of the drive in decimal format. N/A ACS355: FILE CONFIG REV ACSM1: MAPPING FILE VER ACS850/ACQ810: Mapping file ver ACS880/ACS580: FBA A/B mapping file ver Mapping file revision 31 D2FBA COMM STA ACS355: FBA STATUS Read-only. Displays the status of the fieldbus adapter module communication.
EtherNet/IP – Start-up 129 No. Name/Value Description Default 32 FBA COMM SW VER Read-only. Displays the common program revision of the adapter module in format axyz, where: a = major revision number xy = minor revision numbers z = correction number or letter.
EtherNet/IP – Start-up FENA-01/-11/-21 configuration parameters – group B (group 2) Note: The actual parameter group number depends on the drive type. Group B (group 2) corresponds to: • parameter group 55 in ACS355 • • parameter group 53 in ACSM1, ACS850 and ACQ810 parameter group 53 in ACS880 if the adapter is installed as fieldbus adapter A or group 56 if the adapter is installed as fieldbus adapter B. No.
EtherNet/IP – Start-up 131 FENA-01/-11/-21 configuration parameters – group C (group 3) Note: The actual parameter group number depends on the drive type. Group C (group 3) corresponds to: • parameter group 54 in ACS355 • • parameter group 52 in ACSM1, ACS850 and ACQ810 parameter group 52 in ACS880 if the adapter is installed as fieldbus adapter A or group 55 if the adapter is installed as fieldbus adapter B. No.
EtherNet/IP – Start-up Control locations ABB drives can receive control information from multiple sources including digital inputs, analog inputs, the drive control panel and a fieldbus adapter module. ABB drives allow the user to separately determine the source for each type of control information (Start, Stop, Direction, Reference, Fault reset, etc.). To give the fieldbus client the most complete control over the drive, you must select the adapter module as the source of this information.
EtherNet/IP – Start-up 133 Starting up fieldbus communication for ACS355 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive with parameter 9802 COMM PROT SEL. 3. Set the module configuration parameters in group 51. At the minimum, select the communication protocol and profile with parameter 5102 and configure the network settings with parameters 5103…5113. 4. With parameter 3018 COMM FAULT FUNC, select how the drive reacts to a fieldbus communication break.
EtherNet/IP – Start-up Parameter setting examples – ACS355 Speed control using the ODVA AC/DC drive profile, Extended speed control assembly This example shows how to configure a speed control application that uses the ODVA AC/DC drive profile, Extended speed control assembly. In addition, some application-specific data is added to the communication. The start/stop commands and reference scaling are according to the ODVA AC/DC drive profile.
EtherNet/IP – Start-up 135 Drive parameter Setting for ACS355 drives Description 5103 FB PAR 3 (COMMRATE) 0 (= Auto)2) Ethernet communication rate is negotiated automatically by the device. 5104 FB PAR 4 (IP CONFIGURATION) 0 (= Static IP)2) Configuration will be obtained from parameters 05...13.
EtherNet/IP – Start-up Drive parameter Setting for ACS355 drives Description 1601 RUN ENABLE 7 = COMM Selects the fieldbus interface as the source for the inverted Run enable signal (Run disable). 1604 FAULT RESET SEL 8 = COMM Selects the fieldbus interface as the source for the fault reset signal. 1) 2) Read-only or automatically detected/set Example The start sequence for the parameter example above is given below. Control word: • Reset the fieldbus communication fault (if active).
EtherNet/IP – Start-up 137 Starting up fieldbus communication for ACSM1 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA ENABLE. 3. With parameter 50.02 COMM LOSS FUNC, select how the drive reacts to a fieldbus communication break. Note that this function monitors both communication between the fieldbus master and the adapter module and communication between the adapter module and the drive. 4. With parameter 50.
EtherNet/IP – Start-up 9. Set the relevant drive control parameters to control the drive according to the application. Examples of appropriate values are shown in the tables below. Parameter setting examples – ACSM1 Speed control using the ODVA AC/DC drive profile, Extended speed control assembly This example shows how to configure a speed control application that uses the ODVA AC/DC drive profile, Extended speed control assembly.
EtherNet/IP – Start-up 139 The table below gives the recommended drive parameter settings. Drive parameter Setting for ACSM1 drives Description 50.01 FBA ENABLE Enable Enables communication between the drive and the fieldbus adapter module. 50.02 COMM LOSS FUNC Fault2) Enables fieldbus communication fault monitoring. 50.03 COMM LOSS T OUT 3.0 s2) Defines the fieldbus communication break supervision time. 50.04 FBA REF1 MODESEL Speed Selects the fieldbus reference 1 scaling. 51.
EtherNet/IP – Start-up Drive parameter Setting for ACSM1 drives Description 53.03 FBA DATA OUT3 24102) Speed reference for jogging function 1 51.27 FBA PAR REFRESH REFRESH Validates the FENA-11/-21 configuration parameter settings. 10.01 EXT1 START FUNC FBA Selects the fieldbus interface as the source of the start and stop commands for external control location 1. 24.01 SPEED REF1 SEL FBA REF1 Selects the fieldbus reference 1 as the source for speed reference 1. 34.01 EXT1/EXT2 SEL C.
EtherNet/IP – Start-up 141 Starting up fieldbus communication for ACS850 and ACQ810 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA enable. 3. With parameter 50.02 Comm loss func, select how the drive reacts to a fieldbus communication break. Notes: • This function monitors both communication between the fieldbus master and the adapter module and communication between the adapter module and the drive.
EtherNet/IP – Start-up 7. Define the process data transferred to and from the drive in parameter groups 52 and 53. Note: The adapter module assigns the Control word, Status word, references 1…2 and actual values 1…2 automatically to cyclical communication according to the selected assembly instances. 8. Validate the settings made in parameter groups 51, 52 and 53 with parameter 51.27 FBA par refresh. 9. Set the relevant drive control parameters to control the drive according to the application.
EtherNet/IP – Start-up 143 The minimum and maximum 16-bit integer values that can be given through the fieldbus are -32768 and 32767 respectively. Bytes Instance 121 Instance 171 0…1 Control word Status word 2…3 Speed reference 4…7 Constant speed 8…11 Constant speed 21) 1) 11) Speed actual value Power1) DC bus voltage1) Example The table below gives the recommended drive parameter settings. Drive parameter Setting for ACS850/ACQ810 drives Description 50.
EtherNet/IP – Start-up Drive parameter Setting for ACS850/ACQ810 drives Description 51.07 FBA par7 (IP ADDRESS 3) 02) Third part of the IP address 51.08 FBA par8 (IP ADDRESS 4) 162) Last part of the IP address 51.09 FBA par9 (SUBNET CIDR) 242) Sets the network mask as 255.255.255.0, allowing access only to the last subnet. 51.23 FBA par23 (ODVA SPEED SCALE) 1282) Sets the scaling for the ODVA speed reference. 52.01 FBA data in1 1222) Power 52.
EtherNet/IP – Start-up 145 Starting up fieldbus communication for ACS880 and ACS580 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive by selecting the correct slot number in parameter 50.01 FBA A enable. The selection must correspond to the slot where the adapter module is installed. For example, if the adapter module is installed in slot 1, you must select slot 1. 3. With parameter 50.
EtherNet/IP – Start-up 8. Save the valid parameter values to permanent memory with parameter 96.07 Parameter save manually. 9. Validate the settings made in parameter groups 51, 52 and 53 with parameter 51.27 FBA A par refresh. 10. Set the relevant drive control parameters to control the drive according to the application. Examples of appropriate values are shown in the tables below.
EtherNet/IP – Start-up 147 The table below gives the recommended drive parameter settings. Drive parameter Setting for ACS880 /ACS580 drives Description 50.01 FBA A enable 1 = Option slot 12) Enables communication between the drive and the fieldbus adapter module. 50.02 FBA A comm loss func 1 = Fault2) Enables fieldbus A communication fault monitoring. 50.03 FBA A comm loss t out 3.0 s2) Defines the fieldbus A communication break supervision time. 50.
EtherNet/IP – Start-up Drive parameter Setting for ACS880 /ACS580 drives Description 51.27 FBA A par refresh 1 = Refresh Validates the FENA-11/-21 configuration parameter settings. 20.01 Ext1 commands 12 = Fieldbus A Selects the fieldbus A interface as the source of the start and stop commands for external control location 1. 22.11 Speed ref1 source 4 = FB A ref1 Selects the fieldbus A reference 1 as the source for speed reference 1.
EtherNet/IP – Start-up 149 Configuring the client After the adapter module has been initialized by the drive, you must prepare the client for communication with the module. An example of an Allen-Bradley® PLC is given below. If you are using another client system, refer to its documentation for more information. The example applies to all drive types compatible with the module. Before you start Decide on these points before you start the client configuration.
EtherNet/IP – Start-up Name Output instance Input instance Size (bytes) Profile Enhanced Speed Control plus Drive Parameters 121 171 24 ODVA AC/DC drive Basic Speed and Torque Control plus Drive Parameters 122 172 26 ODVA AC/DC drive Enhanced Speed and Torque Control plus Drive Parameters 123 173 26 ODVA AC/DC drive ABB Drives Profile w/ Set Speed 1 51 4 ABB Drives profile ABB Drives Profile w/ Set Speed and Set Torque 2 52 6 ABB Drives profile ABB Drives Profile w/ Set Spe
EtherNet/IP – Start-up 151 Select connection method EtherNet/IP provides a variety of connection methods to communicate between devices. Not all methods are supported by all devices. Refer to the client documentation to determine which method(s) are supported by the client. Note: The choice of the connection method has a significant impact on the timeout behavior. Refer to configuration parameters 20 CONTROL TIMEOUT and 21 IDLE ACTION for more information.
EtherNet/IP – Start-up EDS files Electronic Data Sheet (EDS) files specify the properties of the device for the EtherNet/IP client. The client identifies the device by means of the product code, device type and major revision attributes. To enable the use of different ABB drive types on the same EtherNet/IP network, a unique product code has been given to each drive type and application combination. EDS files are available from the Document library (www.abb.com/drives).
EtherNet/IP – Start-up 153 Configuring an Allen-Bradley® PLC This example shows how to prepare an Allen-Bradley® ControlLogix5555™ PLC for communication with the adapter module by using the RSLogix 5000® software as the configuration tool. 1. Start the RSLogix software and open/create an RSLogix project. Note: It is assumed that the PLC configuration has already been established in the RSLogix project. 2. In the RSLogix I/O, right-click the EtherNet/IP communication module and select New Module.
EtherNet/IP – Start-up 3. In the Select Module window, select ETHERNET-MODULE.
EtherNet/IP – Start-up 155 4. Select the input and output assembly instances and the PLC I/O memory size to be used. The table below shows the available combinations. The example below uses the ODVA AC/DC assembly instances 121 and 171.
EtherNet/IP – Start-up 5. Enter the following information. The example below uses ODVA AC/DC assembly instances 121 and 171. The PLC will transmit and receive 12 words. Type a name for the adapter module. Type the Input and Output Assembly Instance numbers. Select the sizes of the Input and Output words for the adapter module. FENA uses 16-bit words. Change Comm Format to Data - INT (16 bits). Type the IP address of the adapter module. Set Configuration as 1 and Size as 0.
EtherNet/IP – Start-up 157 6. Click OK. The adapter module is now added to the PLC I/O. 7. Click the FENA module to open the Module Properties window.
EtherNet/IP – Start-up 8. On the Connection tab, select the Requested Packet Interval (RPI) for the adapter module I/O communication. 9. Download the new configuration to the PLC. The PLC is now ready for communication with the adapter module.
EtherNet/IP – Communication profiles 159 11 EtherNet/IP – Communication profiles Contents of this chapter This chapter describes the communication profiles used in the communication between the EtherNet/IP client, the adapter module and the drive. Communication profiles Communication profiles are ways of conveying control commands (Control word, Status word, references and actual values) between the master station and the drive.
EtherNet/IP – Communication profiles The figure below illustrates the profile selection: EtherNet/IP network ODVA AC/DC profile FENA Profile selection: ODVA AC/DC Data conversion ABB Drives ABB Drives profile Drive Native profile (eg, DCU, FBA) Native profile (eg, DCU, FBA) Data conversion Transparent16 Drive-specific profile1) (with 16-bit words) Optional reference/ actual value scaling Drive-specific profile1) (with 32-bit words) Transparent32 1) Can be used if the native profile is supp
EtherNet/IP – Communication profiles 161 ODVA AC/DC drive profile This section briefly describes the ODVA AC/DC drive profile. Additional information is available at www.odva.org. An EtherNet/IP node is modeled as a collection of abstract objects. Each object represents the interface to and behavior of a component within the product. The ODVA AC/DC drive profile defines a collection of objects suitable for the control of AC and DC drives.
EtherNet/IP – Communication profiles ODVA output attributes This section briefly describes the instances found in the output assemblies of the ODVA AC/DC drive profile. Note that all output assembly instances do not support all attributes listed here. Run Forward & Run Reverse (Control supervisor object) These attributes are used to assert run and stop commands to the Control supervisor object state machine according to the following Run/Stop event matrix.
EtherNet/IP – Communication profiles 163 Speed Reference (AC/DC drive object) This attribute is the speed reference for the drive. The units are scaled by the Speed Scale attribute of the AC/DC drive object. See parameter 23 ODVA SPEED SCALE for details. Scalar mode When the drive is operating in the scalar mode, the adapter module provides the drive with a frequency reference. The ODVA AC/DC drive profile uses rpm units for the speed reference.
EtherNet/IP – Communication profiles Vector mode When the drive is operating in the vector mode, the adapter module provides the drive with a speed reference. The ODVA AC/DC drive profile uses rpm units for the speed reference. The drive speed reference is calculated as follows: Dsr = Osr × Us where Dsr Osr Us = Drive Speed Reference in rpm = ODVA Speed Reference = ODVA Speed Unit (see 23 ODVA SPEED SCALE on page 125). For example, for an ODVA Speed Reference of 900 rpm with a unit of 0.
EtherNet/IP – Communication profiles 165 Torque Reference (AC/DC drive object) This attribute is the torque reference for the drive. The units are scaled by the Torque Scale attribute of the AC/DC drive object. See parameter 24 ODVA TORQUE SCALE for details. The adapter module provides the drive with a torque reference in percent of the motor nominal torque. The ODVA AC/DC drive profile uses Newton-meter (N·m) units for the torque reference.
EtherNet/IP – Communication profiles ODVA input attributes This section briefly describes the instances found in the ODVA AC/DC drive profile’s input assemblies. Note that all input assembly instances do not support all attributes listed here. Faulted (Control supervisor object) This attribute indicates that the drive has experienced a fault. The fault code may be read from the FaultCode attribute of the Control supervisor object.
EtherNet/IP – Communication profiles 167 At Reference (AC/DC drive object) This attribute indicates that the drive is operating at the specified speed or torque reference. State (Control supervisor object) This attribute indicates the current state of the Control supervisor object.
EtherNet/IP – Communication profiles The ODVA state transition diagram is shown below: Non Existent Power off ALM = Alarm DEC = Deceleration FWD = Forward REV = Reverse RDY = Ready Power on Startup Faulted ALM=1 Power on Not Ready FaultRst DEC=0 ALM=1 Power-on AND RDY Power-on AND not RDY Ready FWD OR REV DEC=0 FWD OR REV Enabled Fault stop DEC=1 ALM=1 Stopping ALM=1
EtherNet/IP – Communication profiles 169 Speed Actual (AC/DC drive object) This attribute indicates the actual speed at which the drive is operating. The units are scaled by the SpeedScale attribute of the AC/DC drive object. See parameter 23 ODVA SPEED SCALE for details. Scalar mode When the drive is operating in the scalar mode, the drive provides the adapter module with a frequency actual. The ODVA AC/DC drive profile uses rpm units for the speed actual.
EtherNet/IP – Communication profiles Vector mode When the drive is operating in the vector mode, the drive provides the adapter module with a speed actual. The ODVA AC/DC drive profile uses rpm units for the speed actual. The ODVA Speed Actual is calculated as follows: Osa = Dsa Us where Dsa = Drive Speed Actual in rpm Osa = ODVA Speed Actual Us = ODVA Speed Unit (see 23 ODVA SPEED SCALE on page 125). For example, for a Drive Speed Actual of 900 rpm with a unit of 0.
EtherNet/IP – Communication profiles 171 Torque Actual (AC/DC drive object) This attribute indicates the actual torque at which the drive is operating. The units are scaled by the Torque Scale attribute of the AC/DC drive object. See parameter 24 ODVA TORQUE SCALE for details. The drive provides the adapter module with a torque actual in percent of the Motor Nominal Torque. The ODVA AC/DC drive profile uses Newton-meter (N·m) units for the torque actual.
EtherNet/IP – Communication profiles ABB Drives communication profile Control word and Status word The Control word is the principal means for controlling the drive from a fieldbus system. It is sent by the fieldbus client station to the drive through the adapter module. The drive switches between its states according to the bit-coded instructions in the Control word and returns status information to the client in the Status word.
EtherNet/IP – Communication profiles 173 Bit 3 4 5 6 7 Name INHIBIT_ OPERATION RAMP_OUT_ ZERO RAMP_HOLD RAMP_IN_ ZERO RESET Value STATE/Description 1 Proceed to OPERATION ENABLED. Note: Run enable signal must be active; see drive documentation. If the drive is set to receive the Run enable signal from the fieldbus, this bit activates the signal. 0 Inhibit operation. Proceed to OPERATION INHIBITED. 1 Normal operation. Proceed to RAMP FUNCTION GENERATOR: OUTPUT ENABLED.
EtherNet/IP – Communication profiles Bit Name 10 REMOTE_ CMD 1 Fieldbus control enabled. 0 Control word and reference not getting through to the drive, except for CW bits OFF1, OFF2 and OFF3. EXT_CTRL_ LOC 1 Select External Control Location EXT2. Effective if control location parameterized to be selected from fieldbus. 0 Select External Control Location EXT1. Effective if control location parameterized to be selected from fieldbus.
EtherNet/IP – Communication profiles 175 Status word contents The table below shows the contents of the Status word for the ABB Drives communication profile. The upper case boldface text refers to the states shown in the state machine on page 177.
EtherNet/IP – Communication profiles Bit Name 10 ABOVE_ LIMIT 11 12 EXT_CTRL_ LOC EXT_RUN_ ENABLE Value STATE/Description 1 Actual frequency or speed equals or exceeds supervision limit (set by drive parameter). Valid in both directions of rotation. 0 Actual frequency or speed within supervision limit 1 External Control Location EXT2 selected. Note concerning ACS880: This bit is effective only if the fieldbus interface is set as the target for this signal by drive parameters.
EtherNet/IP – Communication profiles 177 State machine The state machine for the ABB Drives communication profile is shown below.
EtherNet/IP – Communication profiles References References are 16-bit words containing a sign bit and a 15-bit integer. A negative reference (indicating reversed direction of rotation) is formed by calculating the two’s complement from the corresponding positive reference. ABB drives can receive control information from multiple sources including analog and digital inputs, the drive control panel and a fieldbus adapter module (for example, FENA).
EtherNet/IP – Communication profiles 179 Actual values Actual values are 16-bit words containing information on the operation of the drive. The functions to be monitored are selected with a drive parameter. Scaling Actual values are scaled as shown below. Note: The values of REF1 MAX and REF2 MAX are set with drive parameters. See the drive manuals for further information.
EtherNet/IP – Communication profiles
EtherNet/IP – Communication protocol 181 12 EtherNet/IP – Communication protocol Contents of this chapter This chapter describes the EtherNet/IP communication protocol for the adapter module. EtherNet/IP EtherNet/IP is a variant of the Common Industrial Protocol (CIP) family of communication protocols intended for supervision and control of automation equipment. Specifically, it covers the use of CIP messaging over an IP network, typically using Ethernet as the media.
EtherNet/IP – Communication protocol Object modeling and functional profiles One of the main features of EtherNet/IP is object modeling. A group of objects can be described with a Functional Profile. The FENA adapter module realizes the ODVA AC/DC drive Functional Profile with additional features. Assembly objects I/O assembly instances may also be referred to as Block Transfer of data. Intelligent devices realizing a Functional Profile, such as FENA, have several objects.
EtherNet/IP – Communication protocol 183 The format of the input assembly is: Instance 70 (ODVA AC/DC profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 0 Bit 2 Bit 1 Running1 (Fwd) Bit 0 Faulted 1 2 Speed Actual (Low Byte) 3 Speed Actual (High Byte) Basic speed control plus drive parameters assembly The Basic speed control plus drive parameters assembly, defined by ABB, adds configurable drive parameters to the Basic speed control assembly of the ODVA AC/DC drive profile.
EtherNet/IP – Communication protocol Instance 120 (ODVA AC/DC profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 13 DATA OUT 5 Value (High Byte) 14 DATA OUT 6 Value (Low Byte) 15 DATA OUT 6 Value (High Byte) 16 DATA OUT 7 Value (Low Byte) 17 DATA OUT 7 Value (High Byte) 18 DATA OUT 8 Value (Low Byte) 19 DATA OUT 8 Value (High Byte) 20 DATA OUT 9 Value (Low Byte) 21 DATA OUT 9 Value (High Byte) 22 DATA OUT 10 Value (Low Byte) 23 DATA OUT 10 Value (High Byte) Bit 2 Bit 1 Bit 0 Bit
EtherNet/IP – Communication protocol 185 Instance 170 (ODVA AC/DC profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 12 DATA IN 5 Value (Low Byte) 13 DATA IN 5 Value (High Byte) 14 DATA IN 6 Value (Low Byte) 15 DATA IN 6 Value (High Byte) 16 DATA IN 7 Value (Low Byte) 17 DATA IN 7 Value (High Byte) 18 DATA IN 8 Value (Low Byte) 19 DATA IN 8 Value (High Byte) 20 DATA IN 9 Value (Low Byte) 21 DATA IN 9 Value (High Byte) 22 DATA IN 10 Value (Low Byte) 23 DATA IN 10 Value (High Byte) Bit 3 Bit
EtherNet/IP – Communication protocol The format of the input assembly is: Instance 71 (ODVA AC/DC profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Ready Running2 (Rev) Bit 2 Bit 1 Bit 0 Running1 (Fwd) Warning Faulted 0 Ctrl Ref At Refer- From From Net Net ence 1 Drive State. See section State (Control supervisor object) on page 167.
EtherNet/IP – Communication protocol 187 Instance 121 (ODVA AC/DC profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 11 DATA OUT 4 Value (High Byte) 12 DATA OUT 5 Value (Low Byte) 13 DATA OUT 5 Value (High Byte) 14 DATA OUT 6 Value (Low Byte) 15 DATA OUT 6 Value (High Byte) 16 DATA OUT 7 Value (Low Byte) 17 DATA OUT 7 Value (High Byte) 18 DATA OUT 8 Value (Low Byte) 19 DATA OUT 8 Value (High Byte) 20 DATA OUT 9 Value (Low Byte) 21 DATA OUT 9 Value (High Byte) 22 DATA OUT 10 Value (Low
EtherNet/IP – Communication protocol Instance 171 (ODVA AC/DC profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 9 DATA IN 3 Value (High Byte) 10 DATA IN 4 Value (Low Byte) 11 DATA IN 4 Value (High Byte) 12 DATA IN 5 Value (Low Byte) 13 DATA IN 5 Value (High Byte) 14 DATA IN 6 Value (Low Byte) 15 DATA IN 6 Value (High Byte) 16 DATA IN 7 Value (Low Byte) 17 DATA IN 7 Value (High Byte) 18 DATA IN 8 Value (Low Byte) 19 DATA IN 8 Value (High Byte) 20 DATA IN 9 Value (Low Byte) 21 DATA IN 9
EtherNet/IP – Communication protocol 189 Basic speed and torque control assembly The Basic speed and torque control assembly is defined by the ODVA AC/DC drive profile.
EtherNet/IP – Communication protocol Basic speed and torque control plus drive parameters assembly The Basic speed and torque control plus drive parameters assembly, defined by ABB, adds configurable drive parameters to the Basic speed and torque control assembly of the ODVA AC/DC drive profile.
EtherNet/IP – Communication protocol 191 Instance 122 (ODVA AC/DC profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 21 DATA OUT 8 Value (High Byte) 22 DATA OUT 9 Value (Low Byte) 23 DATA OUT 9 Value (High Byte) 24 DATA OUT 10 Value (Low Byte) 25 DATA OUT 10 Value (High Byte) Bit 3 Bit 2 Bit 1 Bit 0 The format of the input assembly is: Instance 172 (ODVA AC/DC profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 0 Bit 3 Bit 2 Running1 (Fwd) 1 2 Speed Actual (Low Byte) 3 Speed Actual (High Byte) 4 Torque
EtherNet/IP – Communication protocol Instance 172 (ODVA AC/DC profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 18 DATA IN 7 Value (Low Byte) 19 DATA IN 7 Value (High Byte) 20 DATA IN 8 Value (Low Byte) 21 DATA IN 8 Value (High Byte) 22 DATA IN 9 Value (Low Byte) 23 DATA IN 9 Value (High Byte) 24 DATA IN 10 Value (Low Byte) 25 DATA IN 10 Value (High Byte) Bit 3 Bit 2 Bit 1 Bit 0 Extended speed and torque control assembly The Extended speed and torque control assembly is defined by the ODV
EtherNet/IP – Communication protocol 193 The format of the input assembly is: Instance 73 (ODVA AC/DC profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Ready RunCtrl Ref ning2 From From (Rev) Net Net Bit 2 Bit 1 Bit 0 Running1 (Fwd) Warning Faulted 0 At Reference 1 Drive State See section State (Control supervisor object) on page 167.
EtherNet/IP – Communication protocol Instance 123 (ODVA AC/DC profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 9 DATA OUT 2 Value (High Byte) 10 DATA OUT 3 Value (Low Byte) 11 DATA OUT 3 Value (High Byte) 12 DATA OUT 4 Value (Low Byte) 13 DATA OUT 4 Value (High Byte) 14 DATA OUT 5 Value (Low Byte) 15 DATA OUT 5 Value (High Byte) 16 DATA OUT 6 Value (Low Byte) 17 DATA OUT 6 Value (High Byte) 18 DATA OUT 7 Value (Low Byte) 19 DATA OUT 7 Value (High Byte) 20 DATA OUT 8 Value (Low
EtherNet/IP – Communication protocol 195 Instance 173 (ODVA AC/DC profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 5 Torque Actual (High Byte) 6 DATA IN 1 Value (Low Byte) 7 DATA IN 1 Value (High Byte) 8 DATA IN 2 Value (Low Byte) 9 DATA IN 2 Value (High Byte) 10 DATA IN 3 Value (Low Byte) 11 DATA IN 3 Value (High Byte) 12 DATA IN 4 Value (Low Byte) 13 DATA IN 4 Value (High Byte) 14 DATA IN 5 Value (Low Byte) 15 DATA IN 5 Value (High Byte) 16 DATA IN 6 Value (Low Byte) 17 DATA IN 6 Value (
EtherNet/IP – Communication protocol ABB Drives profile with set speed assembly The ABB Drives profile with set speed assembly is defined by ABB.
EtherNet/IP – Communication protocol 197 ABB Drives profile with set speed plus drive parameters assembly The ABB Drives profile with set speed plus drive parameters assembly, defined by ABB, adds configurable drive parameters to the ABB Drives profile with set speed of the ABB Drives profile.
EtherNet/IP – Communication protocol Instance 101 (ABB Drives profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 19 DATA OUT 8 Value (High Byte) 20 DATA OUT 9 Value (Low Byte) 21 DATA OUT 9 Value (High Byte) 22 DATA OUT 10 Value (Low Byte) 23 DATA OUT 10 Value (High Byte) Bit 3 Bit 2 Bit 1 Bit 0 The format of the input assembly is: Instance 151 (ABB Drives profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 0 Alarm Swc On Inhib Off 3 Sta Off 2 Sta Tripped Rdy Ref 1 Fieldbus Error 2 Actual Sp
EtherNet/IP – Communication protocol 199 Instance 151 (ABB Drives profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 16 DATA IN 7 Value (Low Byte) 17 DATA IN 7 Value (High Byte) 18 DATA IN 8 Value (Low Byte) 19 DATA IN 8 Value (High Byte) 20 DATA IN 9 Value (Low Byte) 21 DATA IN 9 Value (High Byte) 22 DATA IN 10 Value (Low Byte) 23 DATA IN 10 Value (High Byte) Bit 3 Bit 2 Bit 1 Bit 0 ABB Drives profile with set speed and set torque assembly The ABB Drives profile with set speed and set torque
EtherNet/IP – Communication protocol The format of the input assembly is: Instance 52 (ABB Drives profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 Alarm Swc On Inhib Off 3 Sta Off 2 Sta Tripped Rdy Ref 1 Fieldbus Error Ext Run Enable Ext Ctrl Loc 2 Actual Speed (Low Byte) 3 Actual Speed (High Byte) 4 Actual Torque (Low Byte) 5 Actual Torque (High Byte) Bit 1 Bit 0 Rdy Run Rdy On Above Remote At Limit Setpoint ABB Drives profile with set speed and set torque plus drive p
EtherNet/IP – Communication protocol 201 Instance 102 (ABB Drives profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 6 DATA OUT 1 Value (Low Byte) 7 DATA OUT 1 Value (High Byte) 8 DATA OUT 2 Value (Low Byte) 9 DATA OUT 2 Value (High Byte) 10 DATA OUT 3 Value (Low Byte) 11 DATA OUT 3 Value (High Byte) 12 DATA OUT 4 Value (Low Byte) 13 DATA OUT 4 Value (High Byte) 14 DATA OUT 5 Value (Low Byte) 15 DATA OUT 5 Value (High Byte) 16 DATA OUT 6 Value (Low Byte) 17 DATA OUT 6 Value (High Byte) 18 DA
EtherNet/IP – Communication protocol The format of the input assembly is: Instance 152 (ABB Drives profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Swc On Inhib Off 3 Sta Off 2 Sta Tripped Rdy Ref Rdy Run Rdy On 0 Alarm 1 Fieldbus Error 2 Actual Speed (Low Byte) 3 Actual Speed (High Byte) 4 Actual Torque (Low Byte) 5 Actual Torque (High Byte) 6 DATA IN 1 Value (Low Byte) 7 DATA IN 1 Value (High Byte) 8 DATA IN 2 Value (Low Byte) 9 DATA IN 2 Value (High Byt
EtherNet/IP – Communication protocol 203 Instance 152 (ABB Drives profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 24 DATA IN 10 Value (Low Byte) 25 DATA IN 10 Value (High Byte) Bit 3 Bit 2 Bit 1 Bit 0 Transparent 16 with one assembly The Transparent 16 with one assembly, defined by ABB, provides unaltered 16-bit access to the configured drive profile.
EtherNet/IP – Communication protocol Transparent 16 with one assembly plus drive parameters The Transparent 16 with one assembly plus drive parameters, defined by ABB, adds configurable drive parameters to the Transparent 16 with one assembly.
EtherNet/IP – Communication protocol 205 Instance 111 (Transparent 16 profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 22 DATA OUT 10 Value (Low Byte) 23 DATA OUT 10 Value (High Byte) Bit 3 Bit 2 Bit 1 Bit 0 Bit 3 Bit 2 Bit 1 Bit 0 The format of the input assembly is: Instance 161 (Transparent 16 profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 0 Drive Profile 16-bit Status Word (Low Byte) 1 Drive Profile 16-bit Status Word (High Byte) 2 Drive Profile 16-bit Actual 1 Word (Low Byte) 3 Drive Profile 1
EtherNet/IP – Communication protocol Instance 161 (Transparent 16 profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 22 DATA IN 10 Value (Low Byte) 23 DATA IN 10 Value (High Byte) Bit 3 Bit 2 Bit 1 Bit 0 Transparent 16 with two assembly The Transparent 16 with two assembly, defined by ABB, provides unaltered 16-bit access to the configured drive profile.
EtherNet/IP – Communication protocol 207 Transparent 16 with two assembly plus drive parameters The Transparent 16 with two assembly plus drive parameters, defined by ABB, adds configurable drive parameters to the Transparent 16 with two assembly.
EtherNet/IP – Communication protocol Instance 112 (Transparent 16 profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 22 DATA OUT 9 Value (Low Byte) 23 DATA OUT 9 Value (High Byte) 24 DATA OUT 10 Value (Low Byte) 25 DATA OUT 10 Value (High Byte) Bit 3 Bit 2 Bit 1 Bit 0 Bit 3 Bit 2 Bit 1 Bit 0 The format of the input assembly is: Instance 162 (Transparent 16 profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 0 Drive Profile 16-bit Status Word (Low Byte) 1 Drive Profile 16-bit Status Word (High Byte) 2
EtherNet/IP – Communication protocol 209 Instance 162 (Transparent 16 profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 20 DATA IN 8 Value (Low Byte) 21 DATA IN 8 Value (High Byte) 22 DATA IN 9 Value (Low Byte) 23 DATA IN 9 Value (High Byte) 24 DATA IN 10 Value (Low Byte) 25 DATA IN 10 Value (High Byte) Bit 3 Bit 2 Bit 1 Bit 0 Transparent 32 with one assembly The Transparent 32 with one assembly, defined by ABB, provides unaltered 32-bit access to the configured drive profile.
EtherNet/IP – Communication protocol The format of the input assembly is: Instance 71 (Transparent 32 profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 Drive Profile 32-bit Status Word (Low Byte) 1 Drive Profile 32-bit Status Word 2 Drive Profile 32-bit Status Word 3 Drive Profile 32-bit Status Word (High Byte) 4 Drive Profile 32-bit Actual 1 Word (Low Byte) 5 Drive Profile 32-bit Actual 1 Word 6 Drive Profile 32-bit Actual 1 Word 7 Drive Profile 32-bit Actual 1 Word (High Byte)
EtherNet/IP – Communication protocol 211 Instance 121 (Transparent 32 profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 10 DATA OUT 2 Value (Low Byte) 11 DATA OUT 2 Value (High Byte) 12 DATA OUT 3 Value (Low Byte) 13 DATA OUT 3 Value (High Byte) 14 DATA OUT 4 Value (Low Byte) 15 DATA OUT 4 Value (High Byte) 16 DATA OUT 5 Value (Low Byte) 17 DATA OUT 5 Value (High Byte) 18 DATA OUT 6 Value (Low Byte) 19 DATA OUT 6 Value (High Byte) 20 DATA OUT 7 Value (Low Byte) 21 DATA OUT 7 Value (High Byte)
EtherNet/IP – Communication protocol Instance 171 (Transparent 32 profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 6 Drive Profile 32-bit Actual 1 Word 7 Drive Profile 32-bit Actual 1 Word (High Byte) 8 DATA IN 1 Value (Low Byte) 9 DATA IN 1 Value (High Byte) 10 DATA IN 2 Value (Low Byte) 11 DATA IN 2 Value (High Byte) 12 DATA IN 3 Value (Low Byte) 13 DATA IN 3 Value (High Byte) 14 DATA IN 4 Value (Low Byte) 15 DATA IN 4 Value (High Byte) 16 DATA IN 5 Value (Low Byte) 17 DA
EtherNet/IP – Communication protocol 213 Transparent 32 with two assembly The Transparent 32 with two assembly, defined by ABB, provides unaltered 32-bit access to the configured drive profile.
EtherNet/IP – Communication protocol Instance 72 (Transparent 32 profile) 8 Drive Profile 32-bit Actual 2 Word (Low Byte) 9 Drive Profile 32-bit Actual 2 Word 10 Drive Profile 32-bit Actual 2 Word 11 Drive Profile 32-bit Actual 2 Word (High Byte) Transparent 32 with two assembly plus drive parameters The Transparent 32 with two assembly plus drive parameters, defined by ABB, adds configurable drive parameters to the Transparent 32 with two assembly.
EtherNet/IP – Communication protocol 215 Instance 122 (Transparent 32 profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 16 DATA OUT 3 Value (Low Byte) 17 DATA OUT 3 Value (High Byte) 18 DATA OUT 4 Value (Low Byte) 19 DATA OUT 4 Value (High Byte) 20 DATA OUT 5 Value (Low Byte) 21 DATA OUT 5 Value (High Byte) 22 DATA OUT 6 Value (Low Byte) 23 DATA OUT 6 Value (High Byte) 24 DATA OUT 7 Value (Low Byte) 25 DATA OUT 7 Value (High Byte) 26 DATA OUT 8 Value (Low Byte) 27 DATA OUT 8 Value (High Byte)
EtherNet/IP – Communication protocol Instance 172 (Transparent 32 profile) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 8 Drive Profile 32-bit Actual 2 Word (Low Byte) 9 Drive Profile 32-bit Actual 2 Word 10 Drive Profile 32-bit Actual 2 Word 11 Drive Profile 32-bit Actual 2 Word (High Byte) 12 DATA IN 1 Value (Low Byte) 13 DATA IN 1 Value (High Byte) 14 DATA IN 2 Value (Low Byte) 15 DATA IN 2 Value (High Byte) 16 DATA IN 3 Value (Low Byte) 17 DATA IN 3 Value (High Byte) 18 DATA I
EtherNet/IP – Communication protocol 217 Class objects The following table lists the data types used in the class object descriptions of this manual. Legend Data type UINT8 Unsigned Integer 8 bit UINT16 Unsigned Integer 16 bit SINT16 Signed Integer 16 bit UINT32 Unsigned Integer 32 bit BOOL Boolean value Note: The adapter module is designed to provide EtherNet/IP communications for a variety of drives with different capabilities.
EtherNet/IP – Communication protocol Identity object, class 01h This object provides identification of and general information about the device.
EtherNet/IP – Communication protocol 219 Device Type The list of device types is managed by ODVA. It is used to identify the device profile that a particular product is using.
EtherNet/IP – Communication protocol Bit(s) Type/Name Definition 2 Configured TRUE indicates that the application of the device has been configured to do something that differs from the “out–of–box” default. This does not include configuration of the communications. 3 Reserved, set to 0 4, 5, 6, 7 Vendor-specific 8 Minor Recoverable Fault TRUE indicates the device detected a recoverable problem. The problem does not cause the device fault state.
EtherNet/IP – Communication protocol 221 Motor data object, class 28h The Motor data object can only be used if the ODVA AC/DC drive profile is in use. The object serves as a database for motor parameters. Different motor types require different data to describe the motor. For example, AC induction motors do not need field current data like a DC motor to describe the motor.
EtherNet/IP – Communication protocol # Attribute name 9 Services Description Motor type Data type Rated Get, Set Frequency Rated Electrical Frequency Units: [Hz] AC UINT16 12 Pole Count Get Number of poles in the motor AC UINT16 15 Base Speed Get, Set Nominal speed at rated frequency from nameplate Units [RPM] AC/DC UINT16 Control supervisor object, class 29h The Control supervisor object can only be used if the ODVA AC/DC drive profile is in use.
EtherNet/IP – Communication protocol 223 Instance attributes (Instance #1) # Attribute name Services Description Data type 3 Run 1 Get, Set 0 = Stop, 1 = Run. See the Run/Stop event matrix on page 162. BOOL 4 Run 2 Get, Set 0 = Stop, 1 = Run. See the Run/Stop event matrix on page 162. BOOL 5 Net Control Get, Set 0 = Local Control, 1 = Network Control BOOL 6 State Get State of Object. See section State (Control supervisor object) on page 167.
EtherNet/IP – Communication protocol # Attribute name Services Description Data type 14 Warning Code Get Code word indicating the warning present. If multiple warnings are present, the lowest code value is displayed. DRIVECOMM codes are reported. See the drive manual for further information on DRIVECOMM codes.
EtherNet/IP – Communication protocol 225 Instance attributes (Instance #1) # Attribute name Services Description Data type 3 At Reference Get Frequency arrival BOOL 4 NetRef Get, Set Requests torque or speed reference to be local or from the network. 0 = Set Reference not DN Control 1 = Set Reference at DN Control Note that the actual status of torque or speed reference is reflected in attribute 29, RefFromNet.
EtherNet/IP – Communication protocol Drive parameter object, class 90h With the FENA adapter module, drive parameters can also be accessed via Explicit Messaging. Explicit Messaging makes use of objects consisting of three parts: class, instance and attribute.
EtherNet/IP – Communication protocol 227 Fieldbus configuration object, class 91h The fieldbus configuration object allows you to configure the fieldbus configuration groups without the need to know the drivespecific groups associated with the configuration groups.
EtherNet/IP – Communication protocol # Attribute name Services Description Data type 4 Configuration Group A (Group 1) Parameter 4 Get, Set See 04 IP CONFIGURATION on page 118. UINT16 5 Configuration Group A (Group 1) Parameter 5 Get, Set See 05 IP ADDRESS 1 … 08 IP ADDRESS 4. UINT16 6 Configuration Group A (Group 1) Parameter 6 Get, Set See 05 IP ADDRESS 1 … 08 IP ADDRESS 4. UINT16 7 Configuration Group A (Group 1) Parameter 7 Get, Set See 05 IP ADDRESS 1 … 08 IP ADDRESS 4.
EtherNet/IP – Communication protocol 229 # Attribute name Services Description Data type 16 Configuration Group A (Group 1) Parameter 16 Get, Set See 14… 18 Reserved on page 120. UINT16 17 Configuration Group A (Group 1) Parameter 17 Get, Set See 14… 18 Reserved on page 120. UINT16 18 Configuration Group A (Group 1) Parameter 18 Get, Set See 14… 18 Reserved on page 120. UINT16 19 Configuration Group A (Group 1) Parameter 19 Get, Set See 19 T16 SCALE on page 121.
EtherNet/IP – Communication protocol # Attribute name Services Description Data type 28 Configuration Group A (Group 1) Parameter 28 Get See 28 PAR TABLE VER on page 127. UINT16 29 Configuration Group A (Group 1) Parameter 29 Get See 29 DRIVE TYPE CODE on page 127. UINT16 30 Configuration Group A (Group 1) Parameter 30 Get See 30 MAPPING FILE VER on page 128. UINT16 31 Configuration Group A (Group 1) Parameter 31 Get See 31 D2FBA COMM STA on page 128.
EtherNet/IP – Communication protocol 231 Instance #2: FENA-01/-11/-21 configuration parameters group B (group 2) The actual parameter group number depends on the drive type. Group B (group 2) corresponds to: • parameter group 55 in ACS355 • • parameter group 53 in ACSM1, ACS850 and ACQ810 parameter group 53 in ACS880 and ACS580 if the adapter is installed as fieldbus adapter A or group 56 if the adapter is installed as fieldbus adapter B.
EtherNet/IP – Communication protocol Instance #3: FENA-01/-11/-21 configuration parameters group C (group 3) The actual parameter group number depends on the drive type. Group C (group 3) corresponds to: • parameter group 54 in ACS355 • • parameter group 52 in ACSM1, ACS850 and ACQ810 parameter group 52 in ACS880 and ACS580 if the adapter is installed as fieldbus adapter A or group 55 if the adapter is installed as fieldbus adapter B.
EtherNet/IP – Communication protocol 233 TCP/IP interface object, class F5h This object provides the mechanism to configure the TCP/IP network interface of the device.
EtherNet/IP – Communication protocol # Attribute name Services 5 Interface Configuration Get Data type STRUCT of: IP Address IP Address UDINT Network Mask Network Mask UDINT Gateway Address Gateway Address UDINT Unused UDINT Unused UDINT Default Domain Name 6 Description Host Name Get Default Domain Name for unqualified host names.
EtherNet/IP – Communication protocol 235 Bit Name Description 4 Mcast pending Indicates a pending configuration change in the TTL Value and/or Mcast Config attributes. This bit is set when either the TTL Value or Mcast Config attribute is set, and cleared the next time the device starts. 5…31 Reserved, set to 0 Configuration Capability attribute (#2) bits Bit Name Description 0 BOOTP client 1 (True) = The device is capable of obtaining its network configuration via BOOTP.
EtherNet/IP – Communication protocol Configuration Control attribute (#3) bits Bit 0…3 Name Description Start-up configuration Determines how the device obtains its initial configuration and start-up. Value Description 0 The device uses the interface configuration values previously stored (eg, in non-volatile memory or via hardware switches). 1 The device obtains its interface configuration values via BOOTP. 2 The device obtains its interface configuration values via DHCP upon startup.
EtherNet/IP – Communication protocol 237 Instance attributes (Instance #1) # Attribute name Services Description Data type 1 Interface Speed Get, Set 10 or 100 Mbps UDINT 2 Interface Flags Get, Set Interface status flags: DWORD 3 Physical Address Get Bit Description 0 Link status 1 Half/Full duplex 2…4 Negotiation status 5 Manual setting requires reset 6 Local hardware fault 7…31 Reserved Ethernet MAC address of the module ARRAY 6XUSINT Connection object, class 05h Do no
EtherNet/IP – Communication protocol Class attributes # Attribute name Services Description Data type 1 Revision Get Revision of the connection object Array of UINT8 Instance attributes Instance number Description 1 Explicit messaging connection 2 Polled I/O connection 4 Change-of-State/Cyclic I/O connection # Attribute name Services Description 1 State Get State of the object. UINT8 See the state table on page 237.
EtherNet/IP – Communication protocol 239 # Attribute name Services Description Data type 8 Consumed Connection size Get Maximum number of bytes received across this connection UINT16 9 Expected Packet Rate Get, Set Defines the timing associated with this connection in milliseconds. A value of 0 deactivates the associated timers. UINT16 12 Watchdog Timeout Action Get, Set Defines how to handle Inactivity/Watchdog timeouts.
EtherNet/IP – Communication protocol Acknowledge handler object, class 2Bh The acknowledge handler object is used to manage the reception of message acknowledgements. This object communicates with a message producing application object within the device. The acknowledge handler object notifies the producing application of acknowledge reception, acknowledge timeouts and production retry limit.
EtherNet/IP – Diagnostics 241 13 EtherNet/IP – Diagnostics Contents of this chapter This chapter explains how to trace faults with the status LEDs on the adapter module when the module is used for EtherNet/IP communication. Fault and warning messages For the fault and warning messages concerning the adapter module, see the drive firmware manual.
EtherNet/IP – Diagnostics LEDs The adapter module is equipped with three bicolor diagnostic LEDs. The LEDs are described below. Name HOST Color Function Blinking green Establishing communication to host Green Connection to host OK Blinking red Communication to host lost temporarily Flashing orange, alternating with the MODULE Flashing orange Internal file system error. The error may be cleared by cycling drive power. If the error persists, contact your local ABB representative.
EtherNet/IP – Diagnostics 243 Name MODULE Color Function Off There is no power applied to the device. Green Device is operating in a normal condition. Flashing green Device needs commissioning due to configuration missing, incomplete or incorrect. The device may be in the Standby state. This may be caused by the adapter waiting for a response from a DHCP server or Duplicate Address Detection to complete. Flashing red Ethernet interface is disabled.
EtherNet/IP – Diagnostics Name Color Function NETWORK /NET Off Device is not on-line. • The device has not completed the Duplicate Address Detection yet. • The device may not be powered; look at the MODULE status LED. Flashing green Device is on-line but has no connections in the established state. • The device has passed Duplicate Address Detection, is on-line, but has no established connections to other nodes. Green Device is on-line and has connections in the established state.
PROFINET IO protocol PROFINET IO – Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247 PROFINET IO – Communication profiles . . . . . . . . . . . . . . . . . 305 PROFINET IO – Communication protocol . . . . . . . . . . . . . . . . 323 PROFINET IO – Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFINET IO – Start-up 247 14 PROFINET IO – Start-up Contents of this chapter This chapter contains: • information on configuring the drive for operation with the adapter module • drive-specific instructions on starting up the drive with the adapter module • examples of configuring the master station for communication with the adapter module. Warnings WARNING! Obey the safety instructions given in this manual and the drive documentation.
PROFINET IO – Start-up Drive configuration The information in this section applies to all drive types compatible with the adapter module, unless otherwise stated. PROFINET IO connection configuration After the adapter module has been mechanically and electrically installed according to the instructions in chapters Mechanical installation and Electrical installation, you must prepare the drive for communication with the module.
PROFINET IO – Start-up 249 FENA-01/-11/-21 configuration parameters – group A (group 1) Note: The actual parameter group number depends on the drive type. Group A (group 1) corresponds to: • parameter group 51 in ACS355, ACSM1, ACS850 and ACQ810 • parameter group 51 in ACS880 and ACS580 if the adapter is installed as fieldbus adapter A or group 54 if the adapter is installed as fieldbus adapter B. No. Name/Value Description Default 01 FBA TYPE Read-only.
PROFINET IO – Start-up No. Name/Value Description Default 03 COMM RATE Sets the bit rate for the Ethernet interface.
PROFINET IO – Start-up 251 No. Name/Value Description Default 05 IP ADDRESS 1 An IP address is assigned to each IP node on a network. An IP address is a 32-bit number that is typically represented in “dotted decimal” notation consisting of four decimal integers, on the range 0…255, separated by periods. Each integer represents the value of one octet (8bits) in the IP address. Parameters 05…08 define the four octets of the IP address.
PROFINET IO – Start-up No. Name/Value Description Default 09 SUBNET CIDR Subnet masks are used for splitting networks into smaller networks called subnets. A subnet mask is a 32-bit binary number that splits the IP address into a network address and host address. Subnet masks are typically represented in either dotted decimal notation or the more compact CIDR notation, as shown in the table below.
PROFINET IO – Start-up 253 No. Name/Value Description Default … … … … 13 GW ADDRESS 4 See parameter 10 GW ADDRESS 1. 0 ACS355: FB PAR 13 ACSM1: FBA PAR13 ACS850/ACQ810: FBA par13 ACS880/ACS580: GW address 4 0…255 GW address 14 … 18 Reserved These parameters are not used by the adapter module when the module is configured for PROFINET IO. N/A 19 T16 SCALE 99 ACS880/ACS580: T16 scale Defines the reference multiplier/actual value divisor for the adapter module.
PROFINET IO – Start-up No. Name/Value Description Default 20 TELEGRAM TYPE Read-only. Indicates the telegram type selected for PROFINET IO communication. The adapter module automatically detects the telegram type defined in the PLC. For more information on the supported PPO message types, see section PPO types on page 326.
PROFINET IO – Start-up 255 No. Name/Value Description Default 22 MAP SELECTION Defines the preferred data type of mapped parameters when mapping is done through PROFIdrive parameters. Supported with ACS880 and ACS580 drives. 1 = 16bit ACS355: FB PAR 22 ACSM1: FBA PAR22 ACS850/ACQ810: FBA par22 ACS880/ACS580: Map selection 0 = 32bit 32 bits 1 = 16bit 16 bits 23 … 26 Reserved These parameters are not used by the adapter module when the module is configured for PROFINET IO.
PROFINET IO – Start-up No. Name/Value Description Default 29 DRIVE TYPE CODE Read-only. Displays the drive type code of the fieldbus adapter module mapping file stored in the memory of the drive. N/A ACS355: FILE CONFIG ID ACSM1: DRIVE TYPE CODE ACS850/ACQ810: Drive type code ACS880/ACS580: FBA A/B drive type code Drive type code of the fieldbus adapter module mapping file 30 MAPPING FILE VER ACS355: FILE CONFIG REV Read-only.
PROFINET IO – Start-up 257 No. 32 Name/Value Description 3 = Conf.err Adapter configuration error: The major or minor revision code of the common program revision in the fieldbus adapter module is not the revision required by the module or mapping file upload has failed more than three times. 4 = Off-line Adapter is off-line. 5 = On-line Adapter is on-line. 6 = Reset Adapter is performing a hardware reset. FBA COMM SW VER Read-only.
PROFINET IO – Start-up FENA-01/-11/-21 configuration parameters – group B (group 2) Note: The actual parameter group number depends on the drive type. Group B (group 2) corresponds to: • parameter group 55 in ACS355 • • parameter group 53 in ACSM1, ACS850 and ACQ810 parameter group 53 in ACS880 and ACS580 if the adapter is installed as fieldbus adapter A or group 56 if the adapter is installed as fieldbus adapter B. No.
PROFINET IO – Start-up 259 No.1) Name/Value Description Default 02 DATA OUT 2 See parameter 01 DATA OUT 1. 0 or 24) 03… 10 DATA OUT 3… DATA OUT 10 See parameter 01 DATA OUT 1. 0 1) The number of parameters in this group may vary by drive type and drive firmware. 11 (CW 32bit) is the default setting if the Transparent 32 profile is used. 3) With an ACS355 drive, Control word and REF1 are always fixed to virtual addresses 1 and 2 respectively. If REF2 is used, its virtual address is always 3.
PROFINET IO – Start-up FENA-01/-11/-21 configuration parameters – group C (group 3) Note: The actual parameter group number depends on the drive type. Group C (group 3) corresponds to: • parameter group 54 in ACS355 • • parameter group 52 in ACSM1, ACS850 and ACQ810 parameter group 52 in ACS880 and ACS580 if the adapter is installed as fieldbus adapter A or group 55 if the adapter is installed as fieldbus adapter B. No.
PROFINET IO – Start-up 261 No.1) Name/Value Description Default 02 DATA IN 2 See parameter 01 DATA IN 1. 0 or 53) 03… 10 DATA IN 3… DATA IN 10 See parameter 01 DATA IN 1. 0 1) The number of parameters in this group may vary by drive type and drive firmware. 14 (SW 32bit) is the default setting if the Transparent 32 profile is used. 3) 5 (Act1 16bit) is a fixed setting with an ACS355 drive.
PROFINET IO – Start-up Control locations ABB drives can receive control information from multiple sources including digital inputs, analog inputs, the drive control panel and a fieldbus adapter module. ABB drives allow the user to separately determine the source for each type of control information (Start, Stop, Direction, Reference, Fault reset, etc.). To give the fieldbus master the most complete control over the drive, you must select the adapter module as the source of this information.
PROFINET IO – Start-up 263 Starting up fieldbus communication for ACS355 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive with parameter 9802 COMM PROT SEL. 3. Set the module configuration parameters in group 51. At the minimum, select the communication protocol and profile with parameter 5102 and configure the network settings with parameters 5103…5113. 4. With parameter 3018 COMM FAULT FUNC, select how the drive reacts to a fieldbus communication break.
PROFINET IO – Start-up Parameter setting examples – ACS355 Speed control using the PROFIdrive communication profile with PPO Type 4 This example shows how to configure a basic speed control application that uses the PROFIdrive profile. In addition, some application-specific data is added to the communication. The start/stop commands and reference are according to the PROFIdrive profile. For more information, see the PROFIdrive state machine on page 312.
PROFINET IO – Start-up 265 Drive parameter Setting for ACS355 drives Description 5106 FB PAR 6 (IP ADDRESS 2) 1682) Second part of the IP address 5107 FB PAR 7 (IP ADDRESS 3) 02) Third part of the IP address 5108 FB PAR 8 (IP ADDRESS 4) 162) Last part of the IP address 5109 FB PAR 9 (SUBNET CIDR) 242) Sets the network mask as 255.255.255.0, allowing access only to the last subnet. 3018 COMM FAULT FUNC 3 = LAST SPEED2) Enables fieldbus communication fault monitoring.
PROFINET IO – Start-up Drive parameter Setting for ACS355 drives Description 1604 FAULT RESET SEL 8 = COMM Selects the fieldbus interface as the source for the fault reset signal. 1) 2) Read-only or automatically detected/set Example The start sequence for the parameter example above is given below. Control word: • Reset the fieldbus communication fault (if active). • • Enter 47Eh (1150 decimal) –> READY TO SWITCH ON. Enter 47Fh (1151 decimal) –> OPERATING (Speed mode).
PROFINET IO – Start-up 267 The table below gives the recommended drive parameter settings. Drive parameter Setting for ACS355 drives Description 9802 COMM PROT SEL 4 = EXT FBA Enables communication between the drive and the fieldbus adapter module. 5101 FBA TYPE ETHERNET1) Displays the type of the fieldbus adapter module. 5102 FBAPAR 2 (PROTOCOL/PROFILE) 11 (= PNIO ABB Pro) Selects the PROFINET IO protocol and ABB Drives profile.
PROFINET IO – Start-up Drive parameter Setting for ACS355 drives Description 1002 EXT2 COMMANDS 10 = COMM Selects the fieldbus interface as the source of the start and stop commands for external control location 2. 1102 EXT1/EXT2 SEL 8 = COMM Enables external control location 1/2 selection through the fieldbus. 1103 REF1 SELECT 8 = COMM Selects the fieldbus reference 1 as the source for speed reference 1.
PROFINET IO – Start-up 269 Starting up fieldbus communication for ACSM1 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA ENABLE. 3. With parameter 50.02 COMM LOSS FUNC, select how the drive reacts to a fieldbus communication break. Note that this function monitors both communication between the fieldbus master and the adapter module and communication between the adapter module and the drive. 4. With parameter 50.
PROFINET IO – Start-up 9. Set the relevant drive control parameters to control the drive according to the application. Examples of appropriate values are shown in the tables below. Parameter setting examples – ACSM1 Speed control using the PROFIdrive communication profile with PPO Type 4 This example shows how to configure a basic speed control application that uses the PROFIdrive profile. In addition, some application-specific data is added to the communication.
PROFINET IO – Start-up 271 Drive parameter Setting for ACSM1 drives Description 51.01 FBA TYPE ETHERNET1) Displays the type of the fieldbus adapter module. 51.02 FBA PAR2 (PROTOCOL/PROFILE) 10 (= PNIO Pdrive) Selects the PROFINET IO protocol and PROFIdrive profile. 51.03 FBA PAR3 (COMMRATE) 0 (= Auto)2) Ethernet communication rate is negotiated automatically by the device. 51.
PROFINET IO – Start-up The start sequence for the parameter example above is given below. Control word: • Reset the fieldbus communication fault (if active). • Enter 47Eh (1150 decimal) –> READY TO SWITCH ON. • Enter 47Fh (1151 decimal) –> OPERATING (Speed mode). Position control using the PROFIdrive communication profile with PPO Type 4 This example shows how to configure a basic positioning application.
PROFINET IO – Start-up 273 Drive parameter Setting for ACSM1 drives Description 50.05 FBA REF2 MODESEL Velocity Selects the fieldbus reference 2 scaling. 51.01 FBA TYPE ETHERNET1) Displays the type of the fieldbus adapter module. 51.02 FBA PAR2 (PROTOCOL/PROFILE) 14 (= PNIO PdriveM) Selects the PROFINET IO protocol and PROFIdrive positioning mode. 51.03 FBA PAR3 (COMMRATE) 0 (= Auto2) Ethernet communication rate is negotiated automatically by the device. 51.
PROFINET IO – Start-up Drive parameter Setting for ACSM1 drives Description 34.04 EXT1 CTRL MODE2 Homing Selects homing control as the control mode 2 for external control location 1. 62.01 HOMING METHOD CAN Methodxx Selects the homing mode. Select the appropriate CAN Method. 62.03 HOMING START C.False Selects the fieldbus as the homing start source. 65.01 POS REFSOURCE Fieldbus Position reference and speed are read from the fieldbus. 65.03 POS START 1 C.
PROFINET IO – Start-up 275 The position set point and actual values are scaled with the above example values as follows: 1000 / 100 = 10.00 m 60.05 POS UNIT Physical value 60.06 POS2INT SCALE Set point value Example for velocity set point scale: Drive parameter Name Value Description 60.10 POS SPEED UNIT u/s1) Unit/s (in this case m/s) POS SPEED2INT 1001) Scales position speed values to integer values. Selections: 1/10/100/1000/10000/100000 60.
PROFINET IO – Start-up The start sequence for the above parameter example is given below: Control word: • Reset the fieldbus communication fault (if active). • Enter 406h (1030 decimal) –> READY TO SWITCH ON. • • • • Enter 40Fh (1039 decimal) –> OPERATING. Enter 43Fh (1087 decimal) –> OPERATING (Do reject traversing task with no intermediate stop). Enter 47Fh (1151 decimal) –> OPERATING (Activate traversing task). Enter C0Fh (3087 decimal) –> OPERATING (Start Homing procedure).
PROFINET IO – Start-up 277 The table below gives the recommended drive parameter settings. Drive parameter Setting for ACSM1 drives Description 50.01 FBA ENABLE Enable Enables communication between the drive and the fieldbus adapter module. 50.02 COMM LOSS FUNC Fault Enables fieldbus communication fault monitoring. 50.03 COMM LOSS T OUT 3.0 s Defines the fieldbus communication break supervision time. 50.04 FBA REF1 MODESEL Speed Selects the fieldbus reference 1 scaling. 50.
PROFINET IO – Start-up Drive parameter Setting for ACSM1 drives Description 10.01 EXT1 START FUNC FBA Selects the fieldbus interface as the source of the start and stop commands for external control location 1. 10.04 EXT2 START FUNC FBA Selects the fieldbus interface as the source of the start and stop commands for external control location 2. 24.01 SPEED REF1 SEL FBA REF 1 Selects the fieldbus reference 1 as the source for speed reference 1. 32.
PROFINET IO – Start-up 279 Starting up fieldbus communication for ACS850 and ACQ810 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA enable. 3. With parameter 50.02 Comm loss func, select how the drive reacts to a fieldbus communication break. Notes: • This function monitors both communication between the fieldbus master and the adapter module and communication between the adapter module and the drive.
PROFINET IO – Start-up 7. Define the process data transferred to and from the drive in parameter groups 52 and 53. Note: The adapter module automatically sets the communication profile-specific virtual address for the Status word in parameter 52.01 and for the Control word in parameter 53.01. 8. Validate the settings made in parameter groups 51, 52 and 53 with parameter 51.27 FBA par refresh. 9. Set the relevant drive control parameters to control the drive according to the application.
PROFINET IO – Start-up 281 The table below gives the recommended drive parameter settings. Drive parameter Setting for ACS850/ACQ810 drives Description 50.01 Fba enable Enable Enables communication between the drive and the fieldbus adapter module. 50.02 Comm loss func Fault2) Enables fieldbus communication fault monitoring. 50.03 Comm loss t out 3.0 s2) Defines the fieldbus communication break supervision time. 50.04 Fb ref1 modesel Speed Selects the fieldbus reference 1 scaling. 51.
PROFINET IO – Start-up Drive parameter Setting for ACS850/ACQ810 drives Description 21.01 Speed ref1 sel (ACS850) 21.01 Speed ref sel (ACQ810) FBA ref1 Selects the fieldbus reference 1 as the source for speed reference 1. 1) 2) FBA ref1 Read-only or automatically detected/set Example The start sequence for the parameter example above is given below. Control word: • Reset the fieldbus communication fault (if active). • Enter 47Eh (1150 decimal) –> READY TO SWITCH ON.
PROFINET IO – Start-up 283 Starting up fieldbus communication for ACS880 and ACS580 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive by selecting the correct slot number in parameter 50.01 FBA A enable. The selection must correspond to the slot where the adapter module is installed. For example, if the adapter module is installed in slot 1, you must select slot 1. 3. With parameter 50.
PROFINET IO – Start-up 7. Define the process data transferred to and from the drive in parameter groups 52 and 53. Note: The adapter module automatically sets the communication profile-specific virtual address for the Status word in parameter 52.01 and for the Control word in parameter 53.01. 8. Save the valid parameter values to permanent memory with parameter 96.07 Parameter save manually. 9. Validate the settings made in parameter groups 51, 52 and 53 with parameter 51.27 FBA A par refresh. 10.
PROFINET IO – Start-up 285 The table below gives the recommended drive parameter settings. Drive parameter Setting for ACS880 drives Description 50.01 FBA A enable 1 = Option slot 12) Enables communication between the drive and the fieldbus adapter module. 50.04 FBA A ref1 type 4 = Speed Selects the fieldbus A reference 1 type and scaling. 50.07 FBA A act1 type 0 = Auto Selects the actual value type and scaling according to the currently active Ref1 mode defined in parameter 50.04. 51.
PROFINET IO – Start-up Drive parameter Setting for ACS880 drives Description 20.01 Ext1 commands 12 = Fieldbus A Selects the fieldbus A interface as the source of the start and stop commands for external control location 1. 22.11 Speed ref1 source 4 = FB A ref1 Selects the fieldbus A reference 1 as the source for speed reference 1. 1) 2) Read-only or automatically detected/set Example The start sequence for the parameter example above is given below.
PROFINET IO – Start-up 287 The table below gives the recommended drive parameter settings. Drive parameter Setting for ACS580 drives Description 50.01 FBA A enable 1 = Option slot 12) Enables communication between the drive and the fieldbus adapter module. 50.04 FBA A ref1 type 0 = Speed or frequency Selects the fieldbus A reference 1 type and scaling. 50.07 FBA A act1 type 0 = Auto Selects the actual value type and scaling according to the currently active Ref1 mode defined in parameter 50.04.
PROFINET IO – Start-up Drive parameter Setting for ACS580 drives Description 20.01 Ext1 commands 12 = Fieldbus A Selects the fieldbus A interface as the source of the start and stop commands for external control location 1. 22.11 Speed ref1 source 4 = FB A ref1 Selects the fieldbus A reference 1 as the source for speed reference 1. 1) 2) Read-only or automatically detected/set Example The start sequence for the parameter example above is given below.
PROFINET IO – Start-up 289 Configuring the master station After the adapter module has been initialized by the drive, you must prepare the master station for communication with the module. Examples of an ABB AC500 PLC and Siemens SIMATIC S7 PLC are given below. If you are using another master system, refer to its documentation for more information. The examples apply to all drive types compatible with the module.
PROFINET IO – Start-up 3. In the window that opens, click Install... and browse for the GSD file. 4. Open or create the PLC project that is used to control the drive. 5. Add the CM579-PNIO PROFINET master device to the PLC project, if necessary. 6. Add the adapter module to the PROFINET IO network. 7. Add the I/O module, for example, PPO Type 4 to the adapter module to define cyclical communication between the module and the PLC.
PROFINET IO – Start-up 291 8. Define the CM579-PNIO master properties, such as the IP address and address settings for slaves. 9. Define the adapter module properties: On the PNIO identification tab, select the IP address and Subnet mask, and type the Station name. Note: Use only small letters for the Station name.
PROFINET IO – Start-up 10. Open the PLC program. 11. Compile the project and download it to the PLC. This is necessary for you to be able to configure the CM579PNIO master device and allow it to scan the network. 12. Return to the CM579-PNIO master properties. On the Assign station name tab, do the following tasks: • Click Connect to PLC (Login) and select the communication link used between Control Builder and the PLC. Then, click Scan slaves to find all PROFINET slaves connected to the network.
PROFINET IO – Start-up 293 13. Define the I/O module properties: • On the PNIO parameters tab, configure the Stop mode and Control-zero mode functionalities, and define fail safe values for the PLC output process data (PZDs). • On the PNIO Module I/O Mapping tab, type names for the variables that refer to the drive's signals in the PLC program.
PROFINET IO – Start-up 14. Open the PLC program and create a program that controls the drive. 15. Compile the project and download it to the PLC. Note: Make sure that the variable names defined for the drive's signals are used in the PLC program. Otherwise the communication will not work.
PROFINET IO – Start-up 295 Configuring a Siemens SIMATIC S7 PLC This example shows how to configure communication between a Siemens SIMATIC S7 PLC and the adapter module using SIMATIC Manager Step 7. Before you start, make sure that you have downloaded the FENA GSD file from the Document library. 1. Start the SIMATIC manager and open/create a SIMATIC program. 2. Open the hardware configuration of the project.
PROFINET IO – Start-up 3. Install the FENA GSD file: • • On the Options menu, select Install GSD Files. Browse for the GSD file downloaded from the Document library and click Install.
PROFINET IO – Start-up 297 4. Click and drag the FENA object from the device catalog to the Ethernet (1): PROFINET-IO-System.
PROFINET IO – Start-up 5. Click and drag the PP0 Type 7 object to Slot 1. Then, double-click FENA to open the Properties window.
PROFINET IO – Start-up 299 6. On the General tab, type a name for the adapter module in the Device name box. This is the IP address that will be assigned to the adapter module. You can modify the IP address by clicking the Ethernet button. The IP address will be assigned by the IO controller.
PROFINET IO – Start-up 7. In the hardware configuration, double-click PPO Type 7 in Slot 1 to open the Properties window. 8. On the Parameters tab, configure the stop mode and controlzero mode functionality, and define fail safe values for the PLC output process data (PZDs).
PROFINET IO – Start-up 301 9. Assign the device name (defined in step 6) to the adapter module: • • In the hardware configuration, click FENA. On the PLC menu, select Ethernet, and then select Assign Device Name.
PROFINET IO – Start-up • Click the available device with the correct MAC address to which the device name is to be assigned. This will assign the name to the FENA adapter module. Then click Assign name.
PROFINET IO – Start-up 303 10. Download the hardware configuration to the PLC. The PLC is now ready for communication with the adapter module.
PROFINET IO – Start-up
PROFINET IO – Communication profiles 305 15 PROFINET IO – Communication profiles Contents of this chapter This chapter describes the communication profiles used in the communication between the PROFINET IO master, the adapter module and the drive. Communication profiles Communication profiles are ways of conveying control commands (Control word, Status word, references and actual values) between the master station and the drive.
PROFINET IO – Communication profiles The figure below illustrates the profile selection: Drive FENA Profile selection: PROFIdrive Data conversion 1) ABB Drives Select PROFINET CW REF1 REF2 SW ACT1 ACT2 PZDx • • 16/32 • -bit • PZD10 1) 1) Select Transparent16 Optional reference/actual value scaling 16/32 -bit PROFINET Data conversion Group A Par. 02 Group A Par.
PROFINET IO – Communication profiles 307 PROFIdrive communication profile Control word and Status word The Control word (PROFIdrive parameter 967) is the principal means for controlling the drive from a fieldbus system. It is sent by the fieldbus master station to the drive through the adapter module. The drive switches between its states according to the bitcoded instructions in the Control word and returns status information to the master in the Status word (PROFIdrive parameter 968).
PROFINET IO – Communication profiles STATE/Description Bit Name Value 2 OFF3 1 Continue operation (OFF3 inactive). 0 Emergency stop, stop according to fastest possible deceleration mode. Proceed to OFF3 ACTIVE; proceed further to SWITCH-ON INHIBIT. Warning: Ensure motor and driven machine can be stopped using this stop mode. 1 Proceed to ENABLE OPERATION. 0 Inhibit operation. Proceed to OPERATION INHIBIT. 1 Normal operation. Proceed to RAMP FUNCTION GENERATOR: ENABLE OUTPUT.
PROFINET IO – Communication profiles 309 Bit Name 6 7 RESET Value STATE/Description Speed control mode Positioning mode 1 Normal operation. Proceed to OPERATING. Note: This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters. Activate traversing task (0 –> 1). This is a toggle bit; each rising edge of signal enables a traversing task or a new set point. 0 Force Ramp Function Generator input to zero.
PROFINET IO – Communication profiles Bit Name Value 15 STATE/Description Speed control mode Positioning mode Vendor-specific bit as defined by PROFIdrive parameter 937 Status word contents The table below shows the contents of the Status word for the PROFIdrive communication profile (PROFIdrive parameter 968). The upper case boldface text refers to the states shown in the state machine on page 312.
PROFINET IO – Communication profiles 311 Bit Name 8 AT_SETPOINT 9 10 11 REMOTE Value OPERATING. Actual value equals reference value (= is within tolerance limits). 0 Actual value differs from reference value (= is outside tolerance limits). 1 Drive control location: REMOTE 0 Drive control location: LOCAL 1 Actual frequency or speed value equals or is greater than supervision limit. Target position reached. 0 Actual frequency or speed value is within supervision limit.
PROFINET IO – Communication profiles State machine for all operating modes The general PROFIdrive state machine for all operating modes is shown below.
PROFINET IO – Communication profiles 313 State machine for the positioning mode The PROFIdrive state machine for the positioning mode is shown below.
PROFINET IO – Communication profiles References ABB drives can receive control information from multiple sources including analog and digital inputs, the drive control panel and a fieldbus adapter module (for example, FENA). To have the drive controlled through PROFINET, you must select the module as the source for control information, for example, reference.
PROFINET IO – Communication profiles 315 Actual values Actual values are 16-bit or 32-bit words containing information on the operation of the drive. The functions to be monitored are selected with a drive parameter.
PROFINET IO – Communication profiles ABB Drives communication profile Control word and Status word The Control word is the principal means for controlling the drive from a fieldbus system. It is sent by the fieldbus master station to the drive through the adapter module. The drive switches between its states according to the bit-coded instructions in the Control word and returns status information to the master in the Status word.
PROFINET IO – Communication profiles 317 Bit 3 4 5 6 7 Name INHIBIT_ OPERATION RAMP_OUT_ ZERO RAMP_HOLD RAMP_IN_ ZERO RESET Value STATE/Description 1 Proceed to OPERATION ENABLED. Note: Run enable signal must be active; see drive documentation. If the drive is set to receive the Run enable signal from the fieldbus, this bit activates the signal. 0 Inhibit operation. Proceed to OPERATION INHIBITED. 1 Normal operation. Proceed to RAMP FUNCTION GENERATOR: OUTPUT ENABLED.
PROFINET IO – Communication profiles Bit Name 10 REMOTE_ CMD 1 Fieldbus control enabled 0 Control word and reference not getting through to the drive, except for CW bits OFF1, OFF2 and OFF3. EXT_CTRL_ LOC 1 Select External Control Location EXT2. Effective if control location parameterized to be selected from fieldbus. 0 Select External Control Location EXT1. Effective if control location parameterized to be selected from fieldbus.
PROFINET IO – Communication profiles 319 Bit 7 8 9 10 11 12 13… 14 15 Name ALARM AT_SETPOINT REMOTE ABOVE_ LIMIT EXT_CTRL_ LOC EXT_RUN_ ENABLE Value STATE/Description 1 Warning/Alarm 0 No warning/alarm 1 OPERATION. Actual value equals reference (= is within tolerance limits, ie, in speed control, speed error is 10% max. of nominal motor speed). 0 Actual value differs from reference (= is outside tolerance limits).
PROFINET IO – Communication profiles State machine The state machine for the ABB Drives communication profile is shown below.
PROFINET IO – Communication profiles 321 References References are 16-bit words containing a sign bit and a 15-bit integer. A negative reference (indicating reversed direction of rotation) is formed by calculating the two’s complement from the corresponding positive reference. ABB drives can receive control information from multiple sources including analog and digital inputs, the drive control panel and a fieldbus adapter module (for example, FENA).
PROFINET IO – Communication profiles Actual values Actual values are 16-bit words containing information on the operation of the drive. The functions to be monitored are selected with a drive parameter. Scaling Actual values are scaled as shown below. Note: The values of REF1 MAX and REF2 MAX are set with drive parameters. See the drive manuals for further information.
PROFINET IO – Communication protocol 323 16 PROFINET IO – Communication protocol Contents of this chapter This chapter describes the PROFINET IO communication protocol for the adapter module. For detailed information on PROFINET IO communication, refer to PROFINET specification Application Layer protocol for decentralized periphery and distributed automation v2.0.
PROFINET IO – Communication protocol PROFINET IO uses three different communication channels to exchange data: • The standard UDP/IP and TCP/IP channel is used for parameterization and configuration of devices and for acyclic operations. • The real time (RT) channel is used for cyclic data transfer and alarms. • The isochronous real time (IRT) channel is used, for example, in motion control applications (not implemented in FENA).
PROFINET IO – Communication protocol 325 PROFINET IO in FENA When PROFINET IO is selected as the communication protocol, the FENA adapter module can employ the ABB Drives, Transparent 16 and Transparent 32 communication profiles or the PROFIdrive profile. You can select the profile with a GSD file in a PROFINET IO hardware configuration tool. You can select the appropriate device access point (DAP) and functional module with the tool as well. The adapter module uses slots 0 and 1.
PROFINET IO – Communication protocol Cyclic message types Parameter identification OUT area IN area ID IND IND Process data Fixed area VALUE CW VALUE SW Freely mappable area REF PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 PZD11 PZD12 ACT PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 PZD11 PZD12 PKW Parameter channel PPO types PZD Type 3 DP-V1 Type 4 DP-V1 Type 6 DP-V1 Type 71) DP-V1 OUT area – Data sent from master to slave (control data) IN area – Data sent from slave to master (actual d
PROFINET IO – Communication protocol 327 Standard telegram (ST) types (DP-V1) ST1 PZD1 PZD2 OUT area STW1 Control word 1 NSOLL_A Speed set point A IN area ZSW1 Status word 1 NIST_A Speed actual value A PZD1 PZD2…3 OUT area STW1 Control word 1 NSOLL_B STW2 Speed set point B Control word 2 IN area ZSW1 Status word 1 NIST_B Speed actual value B ST2 PZD4 ZSW2 Status word 2 Note: For the contents of the Control word, the Status word, references and actual values, see chapter PROFINET IO –
PROFINET IO – Communication protocol Header and frame structures PROFINET IO uses the DCE RPC (Distributed Computing Environment Remote Procedure Call) protocol for acyclic read and write services. I/O controllers and supervisors take care of formulating most of the request frames. However, it is possible that handling the PROFIdrive request and response headers must be performed in the application logic. The acyclic frame structure, headers and error codes are described further below.
PROFINET IO – Communication protocol 329 ErrorCode1 The table below lists the ErrorCode1 with PNIORW decoding.
PROFINET IO – Communication protocol DP-V1 read/write request sequence A read/write service on a drive parameter is illustrated below. Master PROFIdrive Parameter request DP-V1 Slave Write request DB47 Parameter request Write response without data Read request DB47 without data Read response (–) without data Parameter processing Read request DB47 without data PROFIdrive Parameter response Read response with data Parameter response The messaging employs DP-V1 data units.
PROFINET IO – Communication protocol 331 Read and write blocks A read block is used in read requests and responses, while a write block is used in write requests and responses. A request consists of unique identifiers for the connection, addressing information and the length of the record data. A response also contains two additional fields for transferring information. The table below shows the structure of the read and write blocks in detail.
PROFINET IO – Communication protocol Field(s) Description Range Type Additional value 1 Field for transferring (response only) additional data UI16 Additional value 2 Field for transferring (response only) additional data UI16 Padding 24 bytes for request, 20 bytes for response. Data block Used only with write request and read response. Data block The data block contains a PROFIdrive-specific request or response header. The table below shows the contents of the PROFIdrive request.
PROFINET IO – Communication protocol 333 Field(s) Description Range Byte/ Word Parameter Index Address of the parameter that is being accessed. “0” is allowed by FENA. 1…65535 Word Subindex Addresses • the first array element of the parameter or • the beginning of a string access or • the text array or • the description element that is being accessed 0…65535 Word Format1) See the table on page 335. See the table on page 335.
PROFINET IO – Communication protocol The table below shows the contents of the PROFIdrive response. Field(s) Description Range Request Reference (mirrored) Mirrored from the request. 1…255 Response ID Response from the slave. In case any requested services fail, a “not acknowledged” (NAK) response will be indicated. Request Param OK (01h) Request Param NAK (81h) Change Param OK (02h) Change Param NAK (82h) Drive Object ID To be set to 1. 0…255 No.
PROFINET IO – Communication protocol 335 The table below shows the data types for the Format field in the PROFIdrive response.
PROFINET IO – Communication protocol The table below shows the PROFIdrive parameter request error codes.
PROFINET IO – Communication protocol 337 Error # Meaning Used at 16h Parameter address impermissible Illegal value or value that is not supported for the attribute, number of elements, parameter number or sub-index, or a combination 17h Illegal format Write request: Illegal format or format of parameter data that is not supported 18h Number of values inconsistent Write request: Number of values of the parameter data does not match the number of elements at the parameter address.
PROFINET IO – Communication protocol Error # Meaning Used at 96h Internal buffer Buffer overflow A0h Internal communication Communication error between the module and the drive Function blocks for sending DP-V1 messages (Siemens S7) In IEC 61131-3 compatible systems, function blocks are available for accessing data non-cyclically. In Siemens S7, SFB 52 "RDREC" can be used for reading and SFB53 "WRREC" for writing data records as follows: • On INDEX: Connect the value 0xB02F, 0xB02E or 0x2F.
PROFINET IO – Communication protocol 339 Parameter data transfer examples The following examples show how parameter data is transferred using the DP-V1 mechanisms READ and WRITE. Note: Only the data block part of the request is presented in the examples. See section Read and write blocks on page 331.
PROFINET IO – Communication protocol • Positive Read response to DP-V1 Read request: Slot number Subslot number Index Data length Response reference (mirrored) Response ID Drive object ID Number of parameters Format (42h = Word) Number of values Parameter value DP header • 01 01 B0 2F 08 05 01 01 01 42 01 05 64 DP-V1 Response PROFIdrive V3 Parameter Channel DP trailer Negative response to PROFIdrive Read request: Slot number Subslot number Index Data length Response reference (mirrored) Response
PROFINET IO – Communication protocol 341 Example 1b: Reading 3 drive parameters (multi-parameter) In this example, three parameters (12.04, 20.08 and 30.19) are read using one telegram.
PROFINET IO – Communication protocol • Positive Read response to DP-V1 Read request: Slot number Subslot number Index Data length Response reference (mirrored) Response ID Drive object ID Number of parameters Format (42h = Word) Number of values Parameter value DP header 01 01 B0 2F 10 06 01 01 03 42 01 01 90 DP-V1 Response PROFIdrive V3 Parameter Channel ••• 42 01 01 F4 ••• (Par. Channel cont’d) 42 01 00 30 ••• (Par.
PROFINET IO – Communication protocol 343 Example 2a: Writing a drive parameter (one array element) Drive parameters are addressed so that the drive parameter group corresponds to the Parameter index (PNU), and the drive parameter number within that group corresponds to the Subindex (IND). In the following example, a value is written to drive parameter 12.02 (0C.02h).
PROFINET IO – Communication protocol Slot number Slot number Index Data length Request reference (mirrored) Response ID Drive object ID (mirrored) Number of parameters DP header 01 01 B0 2F DP-V1 Response 04 07 02 01 01 PROFIdrive V3 Parameter Channel DP trailer
PROFINET IO – Communication protocol 345 Example 2b: Writing 2 drive parameters (multi-parameter) In this example, the values 300 (12Ch) and 500 (1F4h) are written to drive parameters 12.02 (0C.02h) and 20.08 (14.08h) respectively using one telegram.
PROFINET IO – Communication protocol Slot number Subslot number Index Data length Request reference (mirrored) Response ID Drive object ID (mirrored) Number of parameters DP header 01 01 B0 2F DP-V1 Response 04 08 02 01 02 PROFIdrive V3 Parameter Channel DP trailer
PROFINET IO – Communication protocol 347 Example 3: Reading a PROFIdrive parameter In this example, PROFIdrive parameter 919 (397h) is used to read the device system number of the slave, which is the product code of the drive.
PROFINET IO – Communication protocol Example 4: Configuring the process data written to the drive PROFIdrive parameter 915 (393h) can be used to define which data is written cyclically to a drive parameter as application-specific process data. In the example below, the value of drive parameter 12.06 (0C.06h) is selected to be taken from PZD3. The parameter will continue to be updated with the contents of PZD3 in each Request frame until a different selection is made.
PROFINET IO – Communication protocol 349 • DP-V1 Read response: Slot number Subslot number Index Data length Request reference (mirrored) Response ID Drive object ID (mirrored) Number of parameters Format (42h = Word) Number of values Value of error values DP header 01 01 B0 2F 08 DP-V1 Response 0A 01 01 01 42 01 00 68 PROFIdrive V3 Parameter Channel DP trailer Subsequently, the contents of PZD3 in each Request frame are written to drive parameter 12.
PROFINET IO – Communication protocol Example 5: Determining the source of the process data read from the drive PROFIdrive parameter 916 (394h) can be used to define which data is read cyclically from the drive as application-specific process data. In the example below, the parameter is used to determine which drive parameter the contents of PZD3 are taken from. Subindex (IND) defines which process data word the required data is transmitted in.
PROFINET IO – Communication protocol 351 • DP-V1 Read response: Slot number Subslot number Index Data length Request reference (mirrored) Response ID Drive object ID (mirrored) Number of parameters Format (42h = Word) Number of values Value of error values DP header 01 01 B0 2F 08 DP-V1 Response 0B 01 01 01 42 01 0C 05 PROFIdrive V3 Parameter Channel DP trailer Value indicates the source of PZD3 as drive parameter 12.05 (0C.05h).
PROFINET IO – Communication protocol Alarm mechanism When a fault situation occurs, the adapter module sends an alarm notification, which the master station has to acknowledge. Alarm notifications can be acknowledged, viewed and handled, for example, with Siemens S7 blocks OB82, OB83, OB86 and OB122. • Block OB82 is used to make sure that the drive does not go to the stop mode during a diagnostic alarm.
PROFINET IO – Communication protocol 353 ChannelErrorType Description DRIVECOM fault numbers 0x9004 Power electronics 2211, 2281, 2310, 2312, 2340, 2381, 3180, 3181, 3182, 3183, 3184, 3185, 3186, 3187, 3381, 3385, 5400, 5482, 5682, 5692, FF56 0x9005 Overtemperature electronic device 4110, 4210, 4212, 4290, 4310, 4313, 4981, 7182, 42F1, 4380 0x9006 Earth/ground fault 2330 0x9007 Motor overload 7121 0x9008 Fieldbus system 0x9009 Safety channel 8182, 8183, 5090, 5091, FA81, FA82, FF7A, FFA0,
PROFINET IO – Communication protocol ChannelErrorType Description DRIVECOM fault numbers 0x900F External 9000, 9001, 9081, FF81, FF82, FF8E, FF90 0x9010 Technology 6382 0x9011 Engineering 0x9012 Other 5080, 5093, 5210, 5300, 6200, 7583, 8110, 8500, 8582, 8583, FF61, FF69, FF6A, FF83, FF84, FF95 Fault buffer mechanism The PROFIdrive profile has a mechanism that can store eight fault situations to PROFIdrive parameters.
PROFINET IO – Communication protocol 355 The table below illustrates the structure of a fault buffer. The fault buffer consists of two parameters: fault number (PNU 947) and fault code (PNU 945). The rows of the fault buffer are represented by the parameter subindices. Fault messages are entered into the buffer in the sequence they are detected. Each line in the fault buffer represents a fault message, which is a part of a fault situation.
PROFINET IO – Communication protocol Fault situation n-7 PNU947 PNU945 Fault number Fault code Subindex 0 0 56 0 0 57 0 0 58 0 0 59 0 0 60 0 0 61 0 0 62 0 0 63
PROFINET IO – Diagnostics 357 17 PROFINET IO – Diagnostics Contents of this chapter This chapter explains how to trace faults with the status LEDs on the adapter module when the module is used for PROFINET IO communication. Fault and warning messages For the fault and warning messages concerning the adapter module, see the drive firmware manual.
PROFINET IO – Diagnostics LEDs The adapter module is equipped with three bicolor diagnostic LEDs. The LEDs are described below. Name HOST Color Function Blinking green Establishing communication to host Green Connection to host OK Blinking red Communication to host lost temporarily Flashing orange, alternating with the MODULE flashing orange Internal file system error. The error may be cleared by cycling drive power. If the error persists, contact your local ABB representative.
PROFINET IO – Diagnostics 359 Name Color Function Off There is no power applied to the device. Green Device is operating in a normal condition. Flashing green Device needs commissioning due to configuration missing, incomplete or incorrect. The device may be in the Standby state. This may be caused by the adapter waiting for a response from a DHCP server or Duplicate Address Detection to complete. Flashing red Recoverable fault Red Ethernet interface is disabled.
PROFINET IO – Diagnostics Name Color Function Off Device is not on-line. • The device has not completed the Duplicate Address Detection yet. • The device may not be powered; look at the MODULE status LED. Flashing green Device is receiving/transmitting on the Ethernet.
Technical data 361 18 Technical data Contents of this chapter This chapter contains the technical specifications of the adapter module and the Ethernet link. FENA-01/-11/-21 The figure below shows the enclosure of the adapter module from the front and side.
Technical data Installation Into an option slot on the drive control unit Degree of protection IP20 Ambient conditions The applicable ambient conditions specified for the drive in its manuals are in effect. Package Cardboard. Plastic wrapping: Antistatic air bubble sheet (PE).
Appendix A – PROFIdrive parameters and I&M records of PROFINET IO 19 Appendix A – PROFIdrive parameters and I&M records of PROFINET IO Contents of this chapter This chapter contains: • PROFIdrive parameters of the PROFINET IO communication protocol • telegram and response structures for the I&M (Identification & Maintenance) records of the PROFINET IO communication protocol.
Appendix A – PROFIdrive parameters and I&M records of PROFINET IO PROFIdrive parameters Par. no. R/W1) Data type Description 915 R/W Array [12] Unsigned16 Assignment PZD1 to PZD12 in PPOwrite 916 R/W Array [12] Unsigned16 Assignment PZD1 to PZD12 in PPOread 919 R Octet String4 Device system number 922 R Unsigned16 Telegram selection 923 R Array [n] Unsigned16 List of all parameters for signals.
Appendix A – PROFIdrive parameters and I&M records of PROFINET IO Par. no.
Appendix A – PROFIdrive parameters and I&M records of PROFINET IO Par. no. R/W1) Data type Description 929 Unsigned16 Selected PPO type R Value PPO type 1 PPO1 2 PPO2 3 PPO3 4 PPO4 5 PPO5 6 PPO6 7 PPO7 Note: This parameter is not available if Standard telegram ST1 or ST2 is selected. 930 933 R/W R/W Unsigned16 Unsigned16 Selection switch for communication profile.
Appendix A – PROFIdrive parameters and I&M records of PROFINET IO Par. no. R/W1) Data type Description 936 R/W Unsigned16 Selection switch for Control word, bit 14. (See parameter 933 for coding.) 937 R/W Unsigned16 Selection switch for Control word, bit 15. (See parameter 933 for coding.) 939 R/W Unsigned16 Selection switch for Status word, bit 11. Value Module Status word bit 0 None 1 to 4 Vendor specific 1 to 42) 940 R/W Unsigned16 Selection switch for Status word, bit 12.
Appendix A – PROFIdrive parameters and I&M records of PROFINET IO Par. no. R/W1) Data type Description 946 R Array [n] Unsigned16 Fault code list. Contains the mapping between DRIVECOM fault codes and Channel Error Types. If you use a DRIVECOM fault code as an index when reading PNU946, the corresponding Channel Error Type is returned. 947 R Array [64] Unsigned16 Fault number (coded according to the DRIVECOM profile). Subindex Contents See parameter 945.
Appendix A – PROFIdrive parameters and I&M records of PROFINET IO Par. no. R/W1) Data type Description 970 Load parameter record R/W Unsigned16 Value Description 0 No action 1 Restore factory settings The parameter must do a zero-to-one transition and the motor must be stopped. 971 R/W Unsigned16 Save parameter record Value Description 0 No action 1 Save the drive parameters to nonvolatile memory The parameter must do a zero-to-one transition and the motor must be stopped.
Appendix A – PROFIdrive parameters and I&M records of PROFINET IO Par. no. R/W1) Data type Description 1000 Unsigned16 Map 16-bit selection3). Used to request the data type for mapped parameters if mapping is done with parameter 915 or 916. 50000 R/W R/W Unsigned16 Value Description 1 Use 16-bit mapping, if available. Disable alarms. Value Description 0 PNIO alarms enabled. 1 PNIO alarms disabled.
Appendix A – PROFIdrive parameters and I&M records of PROFINET IO I&M records I&M (Identification & Maintenance) records can be read, for example, with the DTM tool. The FENA adapter module supports the mandatory I&M0 record as well as the optional I&M1, I&M2, I&M3 and I&M4 records.
Appendix A – PROFIdrive parameters and I&M records of PROFINET IO Response structure for I&M0 (Read-only) Contents Header I&M block Size Coding 10 Octets – MANUFACTURER_ID 2 Octets 0x1A = ABB Automation ORDER_ID 20 Octets For instance, “68469422” for FENA01 kit) SERIAL_NUMBER 16 Octets Serial number of FENA module HARDWARE_REVISION 2 Octets Hardware version of FENA module SOFTWARE_REVISION 4 Octets Format: V255.255.255 Eg, V1.0.
Appendix A – PROFIdrive parameters and I&M records of PROFINET IO Response structure for I&M2 (Read/Write) Contents Header I&M block Size Coding 10 Octets – INSTALLATION_DATE 16 Octets Installation date. Eg, 2011-01-01 16:23 RESERVED Reserved 38 Octets Note: I&M1, I&M2 and I&M3 are blank (0x20) by default.
Appendix A – PROFIdrive parameters and I&M records of PROFINET IO
Appendix B – ABB IP configuration tool for FENA 375 20 Appendix B – ABB IP configuration tool for FENA Contents of this chapter This chapter shows how to use the ABB IP configuration tool to: • find configured and unconfigured FENA adapter modules in the network • rewrite the IP configuration of the adapter modules. Installation The ABB IP configuration tool is part of the Control Builder Plus software. No separate installation is needed.
Appendix B – ABB IP configuration tool for FENA Finding adapter modules in the network 1. Open the ABB IP configuration tool. 2. Click the Scan button. The FENA adapter modules present in the network appear on the results list.
Appendix B – ABB IP configuration tool for FENA 377 Rewriting the IP configuration of adapter modules 1. Scan the network for adapter modules. For instructions, see section Finding adapter modules in the network on page 376. 2. On the results list, click to select the adapter module whose IP configuration you want to modify. 3. Below New configuration, define the IP configuration settings according to your network configuration. 4.
Appendix B – ABB IP configuration tool for FENA 5. To apply the new settings, click the Send Configuration button. The new current IP address and configured IP address appear on the results list.
Appendix C – FENA configuration web pages 379 21 Appendix C – FENA configuration web pages Contents of this chapter This chapter presents the FENA configuration web pages. Browser requirements Any web browser can be used. Compatibility The web pages work with all drives compatible with the FENA adapter module. For a compatibility table, see section Drives on page 21.
Appendix C – FENA configuration web pages Logging in 1. Open a web browser and type the IP address of the adapter module in the address field. Example: http://192.168.0.24/ 2. Log in with a user name and a password. Default user name: Admin. Password: The last six digits of the MAC ID of the adapter module, without hyphens. The MAC ID is visible on the cover of the adapter module and in the ABB IP configuration tool (see Appendix B – ABB IP configuration tool for FENA).
Appendix C – FENA configuration web pages 381 Menu overview To navigate on the web pages, use the menu items available: • Status • • • Configuration Support Password (only visible when Support is clicked).
Appendix C – FENA configuration web pages Status page The Status page shows various version information, as well as the serial number and MAC address (MAC ID) of the adapter module.
Appendix C – FENA configuration web pages 383 Configuration page On the Configuration page, you can modify parameter settings in the configuration parameter groups A (1), B (2) and C (3).
Appendix C – FENA configuration web pages After you have changed any setting in any of the groups, you have to click Save and reboot at the bottom of Group A to validate the settings.
Appendix C – FENA configuration web pages 385 Support page On the Support page, you can access documentation related to the adapter module, and the EDS and GSDML files. The latest files corresponding to the drive firmware are available through the hyperlinks given below WWW documentation and downloads.
Appendix C – FENA configuration web pages Password page The Password menu item becomes visible only after you have clicked the Support menu item.
Further information Product and service inquiries Address any inquiries about the product to your local ABB representative, quoting the type designation and serial number of the unit in question. A listing of ABB sales, support and service contacts can be found by navigating to www.abb.com/searchchannels. Product training For information on ABB product training, navigate to www.abb.com/drives and select Training courses. Providing feedback on ABB Drives manuals Your comments on our manuals are welcome.
Contact us www.abb.com/drives www.abb.com/solar www.abb.com/windpower www.abb.com/drivespartners 3AUA0000093568 Rev B (EN) 2014-01-29 ABB Oy ABB Inc. ABB Beijing Drive Systems Co.
