OPTION FOR ABB DRIVES, CONVERTERS AND INVERTERS FDNA-01 DeviceNet adapter module User s manual

OPTION FOR ABB DRIVES, CONVERTERS AND INVERTERS FDNA-01 DeviceNet adapter module User s manual

List of related manuals See section Related manuals on page 15. You can find manuals and other product documents in PDF format on the Internet. See section Document library on the Internet on the inside of the back cover. For manuals not available in the Document library, contact your local ABB representative. The code below opens an online listing of the manuals applicable to the product: FDNA-01 manual Fieldbus connectivity webpage

User s manual FDNA-01 DeviceNet adapter module Table of contents 1. Safety instructions 4. Mechanical installation 5. Electrical installation 6. Start-up 3AFE68573360 Rev G EN EFFECTIVE: 2018-12-24 2018 ABB Oy All Rights Reserved.

Table of contents Table of contents 5 1. Safety instructions What this chapter contains............................. 11 Use of warnings..................................... 11 Safety in installation.................................. 12 2. About the manual What this chapter contains............................. 13 Purpose of the manual................................ 13 Applicability........................................ 13 Compatibility....................................... 14 Target audience..................................... 14 Before you start..................................... 15 Related manuals.................................... 15 Contents........................................... 16 Cyber Security Disclaimer............................. 17 Terms and abbreviations used in this manual.............. 18 General terms and abbreviations.................... 18 DeviceNet terms and abbreviations................... 19 3. Overview of the DeviceNet network and the FDNA-01 module What this chapter contains............................. 21 DeviceNet network................................... 21 Example topology of the DeviceNet link............... 22 FDNA-01 DeviceNet adapter module.................... 23 Layout of the adapter module....................... 24 4. Mechanical installation What this chapter contains............................. 25 Necessary tools and instructions........................ 25 Unpacking and examining the delivery................... 25 Installing the adapter module........................... 26

6 Table of contents 5. Electrical installation What this chapter contains............................. 29 Necessary tools and instructions........................ 29 General cabling instructions............................ 30 Connecting the module to the DeviceNet network........... 30 Terminal block description.......................... 30 Connection examples............................. 30 Switching on the bus termination........................ 31 6. Start-up What this chapter contains............................. 33 Drive configuration................................... 34 DeviceNet connection configuration.................. 34 FDNA-01 configuration parameters group A (group 1) 35 FDNA-01 configuration parameters group B (group 2) 45 FDNA-01 configuration parameters group C (group 3) 46 Control locations................................. 47 Starting up ACS355 drives............................. 47 Parameter setting examples ACS355................ 48 ABB Drives profile............................. 48 ODVA AC/DC drive profile....................... 50 Starting up ACSM1 drives............................. 52 Parameter setting examples ACSM1................ 53 ABB Drives profile............................. 53 ODVA AC/DC drive profile....................... 55 Starting up ACS850 and ACQ810 drives.................. 57 Parameter setting examples ACS850 and ACQ810..... 58 ABB Drives profile............................. 58 ODVA AC/DC drive profile....................... 61 Starting up ACS880, ACS580, ACQ580, ACH580, ACS580 drives 63 Parameter setting examples ACS880................ 63 ABB Drives profile............................. 63 ODVA AC/DC drive profile....................... 65 Configuring the master station.......................... 68 EDS files....................................... 68

Table of contents 7 Configuring an Allen-Bradley PLC.................. 69 7. Communication profiles What this chapter contains............................. 75 Communication profiles............................... 75 ODVA AC/DC drive profile............................. 77 ODVA output attributes............................ 77 Run Forward & Run Reverse (Control supervisor object)....................... 78 Fault Reset (Control supervisor object)............. 78 Net Ctrl (Control supervisor object)................ 78 Net Ref (AC/DC drive object)..................... 78 Speed Reference (AC/DC drive object)............. 78 Torque Reference (AC/DC drive object)............ 80 ODVA input attributes............................. 81 Faulted (Control supervisor object)................ 81 Warning (Control supervisor object)................ 81 Running Forward (Control supervisor object)........ 81 Running Reverse (Control supervisor object)........ 81 Ready (Control supervisor object)................. 81 Ctrl From Net (Control supervisor object)........... 81 Ref From Net (AC/DC drive object)................ 81 At Reference (AC/DC drive object)................ 82 State (Control supervisor object).................. 82 Speed Actual (AC/DC drive object)................ 84 Torque Actual (AC/DC drive object)................ 85 ABB Drives communication profile....................... 86 Control word and Status word....................... 86 Control word contents.......................... 86 Status word contents........................... 89 State machine................................ 91 References..................................... 92 Scaling...................................... 92 Actual values.................................... 93 Scaling...................................... 93

8 Table of contents 8. Communication protocol What this chapter contains............................. 95 DeviceNet.......................................... 95 Object modeling and functional properties................. 95 Assembly objects.................................... 96 Basic speed control assembly....................... 96 Basic speed control plus drive parameters assembly..... 97 Extended speed control assembly.................... 99 Extended speed control plus drive parameters assembly. 100 Basic speed and torque control assembly............. 102 Basic speed and torque control plus drive parameters assembly.................... 103 Extended speed and torque control assembly.......... 106 Extended speed and torque control plus drive parameters assembly.................... 107 ABB Drives profile with set speed assembly........... 109 ABB Drives profile with set speed plus drive parameters assembly.................... 110 ABB Drives profile with set speed and set torque assembly.............................. 113 ABB Drives profile with set speed and set torque plus drive parameters assembly.................... 114 Transparent 16 with one assembly.................. 116 Transparent 16 with one assembly plus drive parameters 117 Transparent 16 with two assembly.................. 119 Transparent 16 with two assembly plus drive parameters. 120 Transparent 32 with one assembly.................. 123 Transparent 32 with one assembly plus drive parameters 124 Transparent 32 with two assembly.................. 126 Transparent 32 with two assembly plus drive parameters. 128 Class objects...................................... 131 Identity object, class 01h.......................... 132 Class attributes (Instance #0).................... 132 Instance attributes (Instance #1)................. 133 Attribute explanations.......................... 133 DeviceNet object, class 03h........................ 135

Table of contents 9 Class attributes.............................. 135 Instance attributes............................ 136 Connection object, class 05h....................... 136 Class attributes.............................. 137 Instance attributes............................ 137 Acknowledge handler object, class 2Bh.............. 139 Class attributes (Instance #0)................... 139 Instance attributes (Instance #1)................. 139 Motor data object, class 28h....................... 140 Class attributes (Instance #0)................... 140 Instance attributes (Instance #1)................. 141 Control supervisor object, class 29h................. 141 Class attributes (Instance #0)................... 142 Instance attributes (Instance #1)................. 142 AC/DC-drive object, class 2Ah..................... 144 Class attributes (Instance #0)................... 144 Instance attributes (Instance #1)................. 144 Drive parameter object, Class 90h.................. 145 Fieldbus configuration object 91h................... 146 Class attributes.............................. 146 Instance #1: FDNA-01 configuration parameters group A (group 1)............................. 146 Instance #2: FDNA-01 configuration parameters group B (group 2)............................. 149 Instance #3: FDNA-01 configuration parameters group C (group 3)............................. 150 9. Diagnostics What this chapter contains............................ 153 Fault and warning messages.......................... 153 LED indications.................................... 154 10. Technical data What this chapter contains............................ 157 FDNA-01......................................... 158 DeviceNet link..................................... 159

10 Table of contents 11. Appendix A Varying the number of drive parameters What this chapter contains............................ 161 Modification of the EDS file........................... 161 Further information

Safety instructions 11 1 Safety instructions What this chapter contains 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. Use of warnings Warnings tell you about conditions which can cause injury or death and, 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.

12 Safety instructions General warning tells you about conditions, other than those caused by electricity, which can cause injury or death, or damage to the equipment. Safety in installation These instructions are for all who install or connect an optional module to a drive, converter or inverter and need to open its front cover or door to do the work. WARNING! Obey these instructions. If you ignore them, injury or death, or damage to the equipment can occur. If you are not a qualified electrician, do not do installation or maintenance work. Disconnect the drive, converter or inverter from all possible power sources. After you have disconnected the drive, converter or inverter, always wait for 5 minutes to let the intermediate circuit capacitors discharge before you continue. Disconnect all dangerous voltages connected to other control signal connectors in reach. For example, it is possible that 230 V AC is connected from outside to a relay output of the drive, converter or inverter. Always use a multimeter to make sure that there are no parts under voltage in reach. The impedance of the multimeter must be at least 1 Mohm.

About the manual 13 2 About the manual What this chapter contains This chapter introduces this manual. Purpose of the manual The manual provides information on installing, commissioning and using an FDNA-01 DeviceNet adapter module. Applicability This manual applies to the FDNA-01 DeviceNet adapter module (+K451), SW version 2.30 or later.

14 About the manual Compatibility The FDNA-01 DeviceNet adapter module is compatible with the following drives: ACS355 ACSM1 ACS380 ACH580 ACQ580 ACS580 ACS850 ACQ810 ACS880. The FDNA-01 DeviceNet adapter module is compatible with all master stations that support the DeviceNet protocol. Note: The adapter module is compatible with more drives that may not be listed here. For details of compatibility, check the drive s firmware manual. Target audience This manual is intended for people who plan the installation, install, start up, use and service the adapter module. Before you do work on the module, read this manual and the applicable drive manual that contains the hardware and safety instructions for the product in question. You are expected to know the fundamentals of electricity, wiring, electrical components and electrical schematic symbols. The manual is written for readers worldwide. Both SI and imperial units are shown.

About the manual 15 Before you start It is assumed that the drive is installed and ready to operate before you start the installation of the adapter module. In addition to conventional installation tools, have the drive manuals available during the installation as they contain important information not included in this manual. The drive manuals are referred to at various points of this manual. Related manuals The related manuals are listed below. Drive manuals and guides Code (EN/Multilingual) ACSM1 manuals 00578051 ACS380-04 manuals 9AAK10103A6193 ACH580-01 manuals 9AKK10103A0587 ACH580-04 manuals 9AKK106930A9059 ACH580-07 manuals 9AKK106930A5241 ACQ580-01 manuals 9AKK106713A2709 ACQ580-04 manuals 9AKK106930A9053 ACQ580-07 manuals 9AKK106930A3150 ACS580-01 manuals 9AKK105713A8085 ACS580-04 manuals 9AKK106930A9060 ACS580-07 (75 to 250 kw) manuals 9AKK106930A5239 ACS580-07 (250 to 500 kw) 9AKK106713A0278 ACQ810 manuals 00598718 ACS850-04 manuals 00592009 ACS880-01 manuals 9AKK105408A7004 ACS880-04 manuals 9AKK105713A4819 ACS880-07 manuals (45 to 710 kw) 9AKK105408A8149 ACS880-07 (560 to 2800 kw) 9AKK105713A6663 ACS880-17 (132 to 355 kw) 9AKK106930A3466 ACS880-17 (160 to 3200 kw) 9AKK106354A1499 ACS880-37 (132 to 355 kw) 9AKK106930A3467 ACS880-37 (160 to 3200 kw) 9AKK106354A1500 Option manuals and guides FDNA-01 DeviceNet adapter module user s manual FDNA-01 DeviceNet adapter module quick guide 3AFE68573360 3AXD50000158515

16 About the manual Contents The manual consists of the following chapters: Safety instructions contains the safety instructions which you must follow when installing a fieldbus adapter module. About the manual introduces this manual. Overview of the DeviceNet network and the FDNA-01 module contains a short description of the DeviceNet network and the adapter module. Mechanical installation contains a delivery checklist and instructions to install the adapter module. Electrical installation contains cabling and bus termination instructions and instructions on connecting the module to the DeviceNet network. Start-up presents the steps to take during the start-up of the drive with the adapter module and gives examples of configuring the master system. Communication profiles describes the communication profiles used in the communication between the DeviceNet network, the adapter module and the drive. Communication protocol describes the DeviceNet communication protocol for the adapter module and the configuration of the scanner. Diagnostics explains how to trace faults with the status LEDs on the adapter module. Technical data contains the technical data of the adapter module and the DeviceNet link. Appendix A Varying the number of drive parameters describes how to reduce the number of drive parameter members in FDNA-01 assemblies by modifying the EDS file.

About the manual 17 Cyber Security Disclaimer This product is designed to be connected to and to communicate information and data via a network interface. It is Customer's sole responsibility to provide and continuously ensure a secure connection between the product and Customer network or any other network (as the case may be). Customer shall establish and maintain any appropriate measures (such as but not limited to the installation of firewalls, application of authentication measures, encryption of data, installation of anti-virus programs, etc.) to protect the product, the network, its system and the interface against any kind of security breaches, unauthorized access, interference, intrusion, leakage and/or theft of data or information. ABB and its affiliates are not liable for damages and/or losses related to such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or information. Note: The web pages are meant only for configuring the device during commissioning. For security reasons, it is recommended to disable the web pages after commissioning.

18 About the manual Terms and abbreviations used in this manual General terms and abbreviations Term Command word Communication module Control word DCU profile DTC FBA profile FDNA-01 DeviceNet adapter module LSW MSW Parameter Profile Explanation See Control word. Communication module is a name for a device (eg, a fieldbus adapter) through which the drive is connected to an external communication network (eg, a fieldbus). The communication with the module is activated with a drive parameter. 16-bit or 32-bit word from master to slave with bit-coded control signals (sometimes called the Command word). Drive Control Unit profile, native profile used in the ACS350 and ACS355 drives Direct Torque Control is a motor control method for AC drives. DTC allows accurate control of both motor speed and torque without pulse encoder feedback from the motor shaft. Fieldbus Adapter profile, native profile used in the ACQ810, ACS850 and ACSM1 drives One of the optional fieldbus adapter modules available for ABB drives. FDNA-01 is a device through which an ABB drive is connected to a DeviceNet serial communication bus. Least significant word Most significant word An operating instruction for the drive. Parameters can be read and programmed with the drive control panel, drive PC tools or through the adapter module. Adaptation of the protocol for certain application field, for example, drives. In this manual, drive-internal profiles (eg, DCU or FBA) are called native profiles.

About the manual 19 Term RFG Status word Explanation Ramp Function Generator 16-bit or 32-bit word from slave to master with bit-coded status messages DeviceNet terms and abbreviations Term Change of State/Cyclic Message CIP EDS File Input I/O assembly selection MAC ID Explanation Change of State/Cyclic Message is transmitted by either the master or the slave. A Change of State/Cyclic Message is directed towards a single specific node (point-to-point). An Acknowledge Message may be returned in response to this message. Common Industrial Protocol (CIP) is an industrial protocol for industrial automation applications. It is managed by ODVA. Electronic Data Sheet (EDS) file identifies the properties of the device to the DeviceNet Scanner. Each type of drive and application program requires its own EDS file. In the ODVA DeviceNet specification the word input is used to describe data flow from a device (such as FDNA-01) to the network. Smart networked devices (like FDNA-01) can produce and/or consume more than one I/O value. Typically, they produce and/or consume one or more I/O value, as well as status and diagnostic information. Each piece of data communicated by a device is represented by an attribute of one of the device s internal objects. Communicating multiple pieces of data (attributes) across a single I/O connection requires that the attributes be grouped or assembled together into a single block. Every node on DeviceNet network has to have a unique identifier. This node number is called MAC ID (Media Access Control Identifier).

20 About the manual Term ODVA Output Poll Message Scanlist Explanation ODVA stands for Open DeviceNet Vendor Association. ODVA is an independent organization that promotes interoperativity between different manufacturers DeviceNet products. ABB is an Associate Member at ODVA. In the ODVA DeviceNet specification the word output is used to describe data flow from the network into a device (such as FDNA-01). Most DeviceNet Scanners as well as the FDNA- 01 module support two different data services. These are Poll and Change of State/Cyclic messages. The Poll Command is an I/O Message that is transmitted by the master. A Poll Command is directed towards a single, specific slave (pointto-point, FDNA-01 always acts as a slave). A master must transmit a separate Poll Command Message for each of its slaves that is to be polled. The Poll Response is an I/O Message that a slave transmits back to the master when the Poll Command is received. DeviceNet Scanner communicates with the DeviceNet slaves in a user-defined order. This order of communication is the scanlist. The scanlist contains a complete list of the slave nodes and the order in which the slaves are accessed.

Overview of the DeviceNet network and the FDNA-01 module 21 3 Overview of the DeviceNet network and the FDNA-01 module What this chapter contains This chapter contains a short description of the DeviceNet network and the FDNA-01 DeviceNet adapter module. DeviceNet network The DeviceNet network has a linear bus topology. Terminating resistors are required on each end of the trunk line. Drop lines as long as 6 metres (20 feet) each are permitted, allowing one or more nodes to be attached. DeviceNet allows branching structures only on drop lines. The maximum length of the trunk cable depends on the data rate and on the type of the cable used (see chapter Technical data).

22 Overview of the DeviceNet network and the FDNA-01 module Example topology of the DeviceNet link The figure below shows an example of an allowable topology of FDNA-01. Trunk line Tap Node Node Node Terminating Resistor Tap Tap Node Node Node Tap Node Node Node Drop line Node Node

Overview of the DeviceNet network and the FDNA-01 module 23 FDNA-01 DeviceNet adapter module The FDNA-01 DeviceNet Adapter module is an optional device for ABB drives. It enables the connection of the drive to a DeviceNet network. The drive is considered a slave in the DeviceNet network. Through the adapter module you can: give control commands to the drive (for example, Start, Stop, Run enable) feed a motor speed or torque reference to the drive give the actual value or reference of the process to the PID controller of the drive read status information and actual values from the drive change drive parameter values reset a drive fault. The adapter module acts as a class 2 slave only with predefined master-slave connection set services. These include the explicit messaging, the poll-response service and the change of state/ cyclic service. The DeviceNet commands and services supported by the adapter module are described in chapter Communication protocol. The adapter module is mounted into an option slot on the motor control board of the drive. See the drive manuals for the module placement options.

24 Overview of the DeviceNet network and the FDNA-01 module Layout of the adapter module The figure shows the layout of FDNA-01. 1 2 4 3 No. Description See chapter 1 Lock Mechanical installation 2 Mounting screw Mechanical installation 3 Bus connector X1 Electrical installation 4 Diagnostic LEDs Diagnostics

Mechanical installation 25 4 Mechanical installation What this chapter contains This chapter contains a delivery checklist and instructions to install the adapter module. Necessary tools and instructions You will need a Torx TX10 screwdriver to secure the FDNA adapter module to the drive. See also, the applicable drive hardware manual. Unpacking and examining the delivery 1. Open the option package. 2. Make sure that the package contains: DeviceNet adapter module, type FDNA-01 this manual. 3. Make sure that there are no signs of damage.

26 Mechanical installation Installing the adapter module WARNING! Obey the safety instructions. See chapter Safety instructions on page 11. If you ignore the safety instructions, injury or death can occur. The adapter module has a specific position in the drive. You can plug and unplug the adapter when the drive is power off and no external 24 voltage supplied to the control board. Plastic pins, a lock and one screw to hold the adapter module in place. The screw also makes an electrical connection between the module and drive frame for cable shield termination. When the adapter module is installed, it makes the signal and power connection to the drive through a 20-pin connector. When you install or remove the adapter module from the control unit: 1. Pull out the lock. 1

Mechanical installation 27 2. Put the adapter module carefully into its position on the drive. 3. Push in the lock. 3 4 4. Tighten the screw to torque 0.8 N m using a Torx TX10 screwdriver. Note: A too high torque may break the screws. 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.

28 Mechanical installation

Electrical installation 29 5 Electrical installation What this chapter contains This chapter contains: general cabling instructions instructions on connecting the module to the DeviceNet network instructions on switching on the bus termination. WARNING! Obey the safety instructions. See chapter Safety instructions on page 11. 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.

30 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 module to the DeviceNet network Connect the bus cable to terminal block X1 on the adapter module. Terminal block description X1 Description 1 V- Network power supply ground (0V DC) 2 CAN_L CAN_L bus line 3 SHLD Network cable shield 4 CAN_H CAN_H bus line 5 V+ Network power supply source (24V DC) Connection examples 5-pin micro-style connector: Network 0 V power supply +24 V Male micro-style connector 2 1 4 3 5 5 4 1 2 3 V- CAN_L SHLD CAN_H V+ 1 2 3 4 5 FDNA X1

Electrical installation 31 5-pin mini-style connector: Network power supply Male mini-style connector 2 3 1 4 2 5 4 5 1 3 0 V +24 V V- CAN_L SHLD CAN_H V+ 1 2 3 4 5 FDNA X1 Standard open-style screw connector: Network power supply +24 V 0 V 1 2 3 4 5 V- CAN_L SHLD CAN_H V+ 1 2 3 4 5 FDNA X1 Switching on the bus termination The adapter module does not provide bus termination. The DeviceNet network should be terminated at both ends of the trunk cable with a 121 ohm, ¼ W, 1% metal film resistor. Connect the resistor between the two signal wires (CAN_H, CAN_L) on the DeviceNet cable, as shown in the figure below. Scanner Node 1 Node n CAN_H 121 Ω 1% Metal Film 1/4 W CAN_L 121 Ω 1% Metal Film 1/4 W Further information on the DeviceNet protocol is available at www.odva.org.

32 Electrical installation

Start-up 33 6 Start-up What this chapter contains This chapter contains: information on configuring the drive for operation with the adapter module drive-specific instructions on starting up the drive with the adapter module examples of configuring the master station for communication with the adapter module. WARNING! Obey the safety instructions given in this manual and the drive documentation.

34 Start-up Drive configuration The following information applies to all drive types compatible with the adapter module, unless otherwise stated. DeviceNet connection configuration After the adapter module has been mechanically and electrically installed according to the instructions in chapters Mechanical installation and Electrical installation, the drive must be prepared for communication with the module. The detailed procedure of activating the module for DeviceNet communication with the drive depends on the drive type. Normally, a parameter must be adjusted to activate the communication. See the drive-specific start-up procedures starting on page 47. Once communication between the drive and the adapter module has been established, several configuration parameters are copied to the drive. These parameters are shown in the tables below and must be checked first and adjusted where necessary. Note: Not all drives display descriptive names for the configuration parameters. To help you identify the parameters in different drives, the names displayed by each drive are given in grey boxes in the tables. Note: The new settings take effect only when the adapter module is powered up the next time or when the fieldbus adapter refresh parameter is activated. Note: If communication between the adapter module and DeviceNet master is established, changes to the configuration parameters can be done also through Fieldbus configuration object 91h.

Start-up 35 FDNA-01 configuration parameters group A (group 1) Note: The actual parameter group number depends on the drive type. Group A (group 1) corresponds to: parameter group 51 in ACS355, ACSM1, ACS850 and ACQ810 parameter group 51 in ACS880 if the adapter is installed as fieldbus adapter A or group 54 if the adapter is installed as fieldbus adapter B. No. Name/Value Description Default 01 FBA TYPE Read-only. Shows the fieldbus adapter type as detected by the drive. Value cannot be adjusted by the user. If the value is 0 = None, the communication between the drive and the module has not been established. 02 MAC ID Defines the MAC ID number for the drive the adapter module is connected to. Each device on the DeviceNet network must have a unique MAC ID number. 0 63 MAC ID 03 Baud rate Indicates the detected communication speed in kbit/s. 0 = 125 kbit/s Communication speed is 125 kbit/s. 1 = 250 kbit/s Communication speed is 250 kbit/s. 2 = 500 kbit/s Communication speed is 500 kbit/s. 04 Drive profile Defines the communication used between the module and the drive (not fieldbus and module). If a drive supports more than one drive profile, this parameter is used to select the preferred profile. Presently, to use the ODVA and ABB Drives profiles, the drive must support a native profile (eg, DCU or FBA). Transparent16 and Transparent32 profiles may be used with any drive profile. 0 = Native prof Native profile of the drive selected 05 ODVA stop func Used with the ODVA AC/DC drive profile. Determines how the motor is stopped when a stop command is received via DeviceNet. 0 = Ramp stop Motor decelerates along the active deceleration ramp. 1 = DeviceNet 63 0 = 125 kbit/s 0 = Native prof 0 = Ramp stop

36 Start-up No. Name/Value Description Default 1 = Coast stop Motor comes to a stop by coasting. 06 Output instance Configures the output assembly instances used by the adapter module. Tables below list the supported assemblies and allowed combinations. For the descriptions of the assembly instances, see section Assembly objects on page 96. 20 Name Output instance Input Default instance input size (bytes) Profile Basic speed control 20 70 4 ODVA AC/DC drive Extended speed 21 71 4 ODVA AC/DC drive control Basic speed and 22 72 6 ODVA AC/DC drive torque control Extended speed and 23 73 6 ODVA AC/DC drive torque control Basic speed control 120 170 24 ODVA AC/DC drive plus drive parameters Extended speed control plus drive parameters 121 171 24 ODVA AC/DC drive Basic speed and torque control plus drive parameters Extended speed and torque control plus drive parameters ABB Drives profile with set speed ABB Drives profile with set speed and set torque (continued) 122 172 26 ODVA AC/DC drive 123 173 26 ODVA AC/DC drive 801 851 4 ABB Drives 802 852 6 ABB Drives

Start-up 37 No. Name/Value Description Default Name (continued) ABB Drives profile with set speed plus drive parameters ABB Drives profile with set speed and set torque plus drive parameters ABB Drives profile with set speed plus drive parameters Transparent16 with one Transparent16 with two Transparent16 with one plus drive parameters Transparent16 with two plus drive parameters Transparent32 with one Transparent32 with two Transparent32 with one plus drive parameters Transparent32 with two plus drive parameters Output instance Input Default instance input size (bytes) Profile 901 951 24 ABB Drives 902 952 26 ABB Drives 901 951 24 ABB Drives 811 861 4 Transparent16 812 862 6 Transparent16 911 961 24 Transparent16 912 962 26 Transparent16 821 871 8 Transparent32 822 872 12 Transparent32 921 971 28 Transparent32 922 972 32 Transparent32

38 Start-up No. Name/Value Description Default Note: With ACSM1, ACQ810, ACS850 and ACS880, when using the ODVA AC/DC drive or ABB Drives profile, make sure that drive parameter 50.04 FBA REF MODESEL is set to SPEED. With ACSM1, ACS850 and ACS880, make sure that 50.05 FBA REF2 MODESEL is set to TORQUE. Output Input ODVA ABB DRIVES TRANSPARENT16 TRANSPARENT32 (70-73; 170-173) (851-852; 951-952 (861-862; 961-962) (871-872; 971-972) ODVA (20-23; 120-123) x ABB DRIVES (801-802; 901-902) x TRANSPARENT16 (811-812; 911-912) x TRANSPARENT32 (821-822; 921-922) x For alternative values, see column Output instance in the table describing parameter 06 Output instance. 07 Output num pars Some assembly instances support transferring drive parameter values between the I/O scanner and drive. Parameters 07 Output num pars and 09 Input num pars specify how many drive parameter values should be included in the respective assembly instance. Changing the numbers of the drive parameters to values other than the defaults also changes the lengths of the associated assembly instances. This requires manual changes to either the EDS file or I/O scanner configuration. Before changing these parameters, consult Appendix A Varying the number of drive parameters. Note: This parameter is only used when the output assembly instance is 120, 121, 122, 123, 901, 902, 911, 912, 921, 922. It must always be set to the default, 10, except as described in Appendix A Varying the number of drive parameters. 1 10 Number or drive parameter values to be included in the assembly instance. 08 Input instance Configures the input assembly instances used by the adapter module. See parameter 06 Output instance. For alternative values, see parameter 06 Output instance. 10 70

Start-up 39 No. Name/Value Description Default 09 Input num pars See parameter 07 Output num pars. Note: This parameter is only used when the input assembly instance is 170, 171, 172, 173, 951, 952, 961, 962, 971, 972. It must always be set to the default, 10, except as described in Appendix A Varying the number of drive parameters. 1 10 Number or drive parameter values to be included in the assembly instance. 10

40 Start-up No. Name/Value Description Default 10 ODVA speed scale Defines the speed scale in the ODVA AC/DC drive profile. Units of reference and actual speeds for the ODVA AC/DC drive profile are given by the formula below. No effect on the ABB Drives profiles. Note: While a wide range of resolutions may be configured, the actual performance is limited to the performance capabilities of the drive. (-1 X ODVA speed scale value) Speed unit = RPM X 2 128 Table below shows how the values of drive parameter ODVA SPEED SCALE correspond to the ODVA Speed Scale units. ODVA speed scale value 1) Speed scale value of Unit drive parameter 2) -5 123 32 RPM -4 124 16 RPM -3 125 8 RPM -2 126 4 RPM -1 127 2 RPM 0 (default) 128 1 RPM 1 129 0.5 RPM 2 130 0.25 RPM 3 131 0.125 RPM 4 132 0.0625 RPM 5 133 0.03125 RPM 1) Use the ODVA speed scale value when reading/writing parameter ODVA speed scale via AC/DC-drive object, class 2Ah. When written via the AC/DC drive object, the new value takes effect immediately. 2) Use the speed scale value of the drive parameter when reading/writing parameter ODVA speed scale via the drive control panel, Drive parameter object, Class 90h and Fieldbus configuration object 91h. When written via these methods, the new value takes effect after the drive is repowered or a Fieldbus Adapter Parameter refresh is given. 123 133 Speed scale value of the drive parameter

Start-up 41 No. Name/Value Description Default 128 11 ODVA torque scale Defines the torque scale in the ODVA AC/DC drive profile. Units of reference and actual torques for the ODVA AC/DC drive profile are given by the formula below. No effect on the ABB Drives profiles. Note: While a wide range of resolutions may be configured, the actual performance is limited to the performance capabilities of the drive. (N m = Newton x Meter) (-1 X ODVA torque scale) Torque unit = N m x 2 Table below shows how the values of drive parameter ODVA TORQUE SCALE correspond to the ODVA Torque Scale units. ODVA torque scale value 1) Torque scale value of Unit drive parameter 2) -5 123 32 N m -4 124 16 N m -3 125 8 N m -2 126 4 N m -1 127 2 N m 0 (default) 128 1 N m 1 129 0.5 N m 2 130 0.25 N m 3 131 0.125 N m 4 132 0.0625 N m 5 133 0.03125 N m 1) Use the ODVA torque scale value when reading/writing parameter ODVA torque scale via AC/DC-drive object, class 2Ah. When written via the AC/DC drive object, the new value takes effect immediately. 2) Use the torque scale value of the drive parameter when reading/writing parameter ODVA torque scale via the drive control panel, Drive parameter object, Class 90h and Fieldbus configuration object 91h. When written via these methods, the new value takes effect after the drive is repowered or a Fieldbus Adapter Parameter refresh is given. 12 25 123 133 Torque scale value of the drive parameter Reserved Not used by the adapter module. N/A

42 Start-up No. Name/Value Description Default 26 Unrecover. error Read-only. Shows information about the cause of an unrecoverable error in the adapter module. Bit field parameter, that is, several status bits can be set at a time. Value 0 indicates that there are no errors. Bit Name Value Description 1 DUP_MAC_ERROR 0x0001 Duplicate MAC ID error 2 RX_QUEUE_OVERRUN 0x0002 Message receive queue is full. 3 TX_QUEUE_OVERRUN 0x0004 Message transmit queue is full. 4 IO_SEND_ERROR 0x0008 Transmitting I/O data has failed. 5 CAN_BUS_OFF 0x0010 Bus-off is detected. 6 CAN_OVERRUN 0x0020 CAN message was lost. 7 DNS_RESET 0x0040 DeviceNet driver of the module is reset. 8 DNS_BUS_SENSE_ERROR 0x0080 No voltage detected in the network. 9 DNS_SWITCH_ERROR 0x0100 DeviceNet driver reset failed due to an invalid MAC ID or baud rate. 13 SYS_FILE_ERR 0x1000 Initialization with the drive failed. 0 0 65535 Active unrecoverable errors 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 Refreshing done 1 = Refreshing Refresh/Configure 28 Par table ver Read-only. Displays the parameter table revision of the fieldbus adapter module mapping file stored in the memory of the drive. In format xyz, where x = major revision number y = minor revision number z = correction number OR in format axyz, where a = major revision number xy = minor revision numbers z = correction number or letter. 0x0000 0xFFFF Parameter table revision 0 = Done N/A

Start-up 43 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. 0 65535 Drive type code of the fieldbus adapter module mapping file 30 Mapping file ver Read-only. Displays the fieldbus adapter module mapping file revision stored in the memory of the drive in decimal format. Example: 0x107 = revision 1.07. 0 65535 Mapping file revision 31 D2FBA comm sta Read-only. Displays the status of the fieldbus adapter module communication. Note: The value names may vary by drive. 0 = Idle Adapter is not configured. 1 = Exec.init Adapter is initializing. 2 = Time out Time-out has occurred in the communication between the adapter and the drive. 3 = Conf.err Adapter configuration error: 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. 32 FBA comm SW ver 0x0000 0xFFFF 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. Example: 190A = revision 1.90A Common program version of the adapter module N/A N/A 0 = Idle N/A

44 Start-up No. Name/Value Description Default 33 FBA appl SW ver Read-only. Displays the application program revision of the adapter module in format axyz, where: a = major revision number xy = minor revision numbers z = correction number or letter. Example: 190A = revision 1.90A 0x0000 0xFFFF Application program revision of the adapter module N/A

Start-up 45 FDNA-01 configuration parameters group B (group 2) Note: The actual parameter group number depends on the drive type. Group B (group 2) corresponds to: parameter group 55 in ACS355 parameter group 53 in ACSM1, ACS380, ACH580, ACQ580, ACS580, ACS850 and ACQ810 parameter group 53 in ACS880 if the adapter is installed as fieldbus adapter A or group 56 if the adapter is installed as fieldbus adapter B. No. 1) Name/Value Description Default 01 FBA data out1 (master to drive) 02 10 In the output assembly instances that include drive parameters, this parameter specifies which parameter s value is placed in location DATA OUT 1 value received by the drive from the DeviceNet network. Content is defined by a decimal number in the range of 0 to 9999 as follows: Note: The FDNA-01 configuration parameters are 16-bit parameters. If the mapped parameter is a 32-bit parameter, it automatically reserves two consecutive parameters. For example, mapping a 32-bit parameter to parameter no. 1 also reserves parameter no. 2. 0 Not used 101 9999 Parameter index with format xxyy, where xx is the parameter group number (1 99) and yy is the parameter number index within that group (01 99). DATA OUT 2 DATA OUT 10 0 Not used 1 99 Virtual address area of drive control. Not used with the FDNA-01 module. 101 Parameter area of the drive 9999 See parameter FBA data out1. 0 1) The number of parameters in this group may vary by drive type and drive firmware. 0

46 Start-up FDNA-01 configuration parameters group C (group 3) Note: The actual parameter group number depends on the drive type. Group C (group 3) corresponds to: parameter group 54 in ACS355 parameter group 52 in ACSM1, ACS380, ACH580, ACQ580, ACS580, ACS850 and ACQ810 parameter group 52 in ACS880 if the adapter is installed as fieldbus adapter A or group 55 if the adapter is installed as fieldbus adapter B. No. 1) Name/Value Description Default 01 FBA data in1 (drive to master) 02 10 In input assembly instances that include drive parameters, this parameter specifies which parameter s value is placed in location DATA IN 1 value sent by the drive to the DeviceNet network. Content is defined by a decimal number in the range of 0 to 9999 as follows: Note: The FDNA-01 configuration parameters are 16-bit parameters. If the mapped parameter is a 32-bit parameter, it automatically reserves two consecutive parameters. For example, mapping a 32-bit parameter to parameter no. 1 also reserves parameter no. 2. 0 Not used 101 9999 Parameter index with format xxyy, where xx is the parameter group number (1 99) and yy is the parameter number index within that group (01 99). DATA IN 2 DATA IN 10 0 Not used 1 99 Virtual address area of drive control. Not used with the FDNA-01 module. 101 Parameter area of the drive 9999 See parameter FBA data in1. 0 1) The number of parameters in this group may vary by drive type and drive firmware. 0

Start-up 47 Control locations ABB drives can receive control information from multiple sources including digital inputs, analog inputs, the drive control panel and a communication module (for example, the adapter module). ABB drives allow the user to separately determine the source for each type of control information (Start, Stop, Direction, Reference, Fault Reset, and so on). To give the fieldbus master station the most complete control over the drive, the communication module must be selected as the source for this information. The parameter setting examples below contain the drive control parameters needed in the examples. For a complete parameter list, see the drive documentation. Starting up ACS355 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive by setting parameter 9802 COMM PROT SEL to EXT FBA. 3. Set the FDNA-01 configuration parameters in parameter group 51. At the minimum, set the required number in parameter 5102 MAC ID and the required baud rate in 5103 BAUD RATE. In addition, select the communication profile in 5104 DRIVE PROFILE. With the ODVA AC/DC drive profile select the way in which the motor is stopped in 5105 ODVA STOP FUNC. 4. Define the process data transferred to and from the drive in FDNA-01 parameter groups 54 and 55. Note: If communication between the FDNA-01 and DeviceNet master is established, changes to the configuration parameters can be done also through Fieldbus configuration object 91h. 5. Validate the settings made in parameter group 51 by setting parameter 5127 FBA PAR REFRESH to REFRESH.

48 Start-up 6. Set the relevant drive control parameters to control the drive according to the application. Examples of appropriate values are shown in the tables below. Parameter setting examples ACS355 ABB Drives profile This example shows how to configure the ACS355 drive to use the ABB Drives profile with set speed and set torque plus drive parameters assembly. The used I/O assembly instances are 902 and 952. The table below gives the recommended drive parameter settings. Drive parameter Setting for Description ACS355 drives 9802 COMM PROT SEL 4 = EXT FBA Enables communication between drive and adapter module. 5101 FBA TYPE DEVICENET 1) Displays the type of the adapter module. 5102 FB PAR 2 (MAC ID) 5103 FB PAR 3 (BAUD RATE) 5104 FB PAR 4 (DRIVE PROFILE) 5105 FB PAR 5 (ODVA STOP FUNC) 5106 FB PAR 6 (OUTPUT INSTANCE) 5107 FB PAR 7 (OUTPUT NUM PARS) 5108 FB PAR 8 (INPUT INSTANCE) 2 Defines the MAC ID number of the adapter module. 0 (= 125 kbit/s) Sets the baud rate for the DeviceNet interface. 0 (= DCU Profile) Selects the profile used in the communication between drive and adapter module. 0 (= Ramp) Motor decelerates along the active deceleration ramp. 902 Selects the ABB Drives profile with speed and torque plus drive parameters output instance. 10 Must always be set to 10, except as provided in Appendix A Varying the number of drive parameters. 952 Selects the ABB Drives profile with speed and torque plus drive parameters input instance.

Start-up 49 Drive parameter 5109 FB PAR 9 (INPUT NUM PARS) 5110 FB PAR 10 (ODVA SPEED SCALE) 5111 FB PAR 11 (ODVA TORQUE SCALE) Setting for ACS355 drives Description 10 Must always be set to 10, except as provided in Appendix A Varying the number of drive parameters. 128 Sets the scaling as 1 rpm for the ODVA speed reference. 128 Sets the scaling as 1 Nm for the ODVA torque reference. 5401 FBA DATA IN 1 104 Current 5402 FBA DATA IN 2 107 DC bus voltage 5403 FB DATA IN 3 0 5410 DATA IN 10 5501 FBA DATA OUT 1 2205 Acceleration time 2 5502 FBA DATA OUT 2 2206 Deceleration time 2 5503 FB DATA OUT 3 5510 DATA OUT 10 0 51.27 FBA PAR REFRESH 1 = REFRESH Validates the FDNA-01 configuration parameter settings. 1001 EXT1 COMMANDS 10 = COMM Selects the fieldbus interface as the source of the start and stop commands for external control location 1. 1003 DIRECTION 3 = REQUEST Allows control of rotation direction. 1103 REF1 SELECT 8 = COMM Selects the fieldbus reference 1 as the source for speed reference. 1604 FAULT RESET SEL 8 = COMM Selects the fieldbus interface as the source for the fault reset signal. 9904 MOTOR CTRL MODE 2 = VECTOR: TORQ Selects the vector control mode as the motor control mode. 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. 1106 REF2 SELECT 8 = COMM Selects the fieldbus reference 2 as the source for torque reference.

50 Start-up Drive parameter Setting for Description ACS355 drives 1601 RUN ENABLE 7 = COMM Selects the fieldbus interface as the source for the inverted Run enable signal (Run disable). 1) Read-only or automatically detected/set The start sequence for the parameter example above is given below. Control word: 47Eh (1150 decimal) READY TO SWITCH ON 47Fh (1151 decimal) OPERATING (Speed mode) or C7Fh (3199 decimal) OPERATING (Torque mode). ODVA AC/DC drive profile The following example shows how to configure the ACS355 drive to use the Extended speed and torque control assembly of the ODVA AC/DC drive profile. The used I/O assembly instances are 23 and 73. The table below gives the recommended drive parameter settings. Drive parameter Setting for Description ACS355 drives 9802 COMM PROT SEL 4 = EXT FBA Enables communication between drive and adapter module. 5101 FBA TYPE DEVICENET 1) Displays the type of the adapter module. 5102 FB PAR 2 (MAC ID) 5103 FB PAR 3 (BAUD RATE) 5104 FB PAR 4 (DRIVE PROFILE) 5105 FB PAR 5 (ODVA STOP FUNC) 5 Defines the MAC ID number of the adapter module. 0 (= 125 kbit/s) Sets the baud rate for the DeviceNet interface. 0 (= DCU Profile) Selects the profile used in the communication between drive and adapter module. 0 (= Ramp) Motor decelerates along the active deceleration ramp.

Start-up 51 Drive parameter 5106 FB PAR 6 (OUTPUT INSTANCE) 5108 FB PAR 8 (INPUT INSTANCE) 5110 FB PAR 10 (ODVA SPEED SCALE) 5111 FB PAR 11 (ODVA TORQUE SCALE) Setting for ACS355 drives Description 23 Selects the ODVA extended speed and torque control output instance. 73 Selects the ODVA extended speed and torque control input instance. 128 Sets the scaling as 1 rpm for the ODVA speed reference. 128 Sets the scaling as 1 Nm for the ODVA torque reference. 51.27 FBA PAR REFRESH 1 = REFRESH Validates the FDNA-01 configuration parameter settings. 1001 EXT1 COMMANDS 10 = COMM Selects the fieldbus interface as the source of the start and stop commands for external control location 1. 1003 DIRECTION 3 = REQUEST Allows control of rotation direction. 1103 REF1 SELECT 8 = COMM Selects the fieldbus reference 1 as the source for speed reference. 1604 FAULT RESET SEL 8 = COMM Selects the fieldbus interface as the source for the fault reset signal. 9904 MOTOR CTRL MODE 2 = VECTOR: TORQ Selects the vector control mode as the motor control mode. 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 1 = DI1 Selects digital input DI1 as the source for the external control location EXT1/EXT2 selection. 1106 REF2 SELECT 8 = COMM Selects the fieldbus reference 2 as the source for torque reference. 1601 RUN ENABLE 7 = COMM Selects the fieldbus interface as the source for the inverted Run enable signal (Run disable). 1) Read-only or automatically detected/set

52 Start-up Note: In this example, digital input DI1 has been configured to control whether to use the speed or torque control mode. The start sequence for the parameter example above is given below. Control word: 0h (0 decimal) READY 1h (1 decimal) ENABLED (Running forward) 2h (2 decimal) ENABLED (Running reverse) Starting up ACSM1 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive by setting parameter 50.01 FBA ENABLE to Enable. 3. Ensure that 50.04 FBA REF1 MODESEL is set to Speed and 50.05 FBA REF2 MODESEL is set to Torque. 4. Set the FDNA-01 configuration parameters in parameter group 51. 5. Define the process data transferred to and from the drive in FDNA-01 parameter groups 52 and 53. Note: If communication between the FDNA-01 and DeviceNet master is established, changes to the configuration parameters can be done also through Fieldbus configuration object 91h. 6. Validate the settings made in parameter groups 51, 52 and 53 by setting parameter 51.27 FBA PAR REFRESH to REFRESH. 7. Set the relevant drive control parameters to control the drive according to the application. Examples of appropriate values are shown in the tables below.

Start-up 53 Parameter setting examples ACSM1 ABB Drives profile The following example shows how to configure the ACSM1 drive to use the ABB Drives profile. The used I/O assembly instances are 902 and 952. The table below gives the recommended drive parameter settings. Drive parameter Setting for Description ACSM1 drives 50.01 FBA ENABLE 1 = Enable Enables communication between drive and adapter module. 50.04 FBA REF1 MODESEL 50.05 FBA REF2 MODESEL Speed Torque Selects speed as the adapter module REF1 type. Selects torque as the adapter module REF2 type. 51.01 FBA TYPE DEVICENET 1) Displays the type of the adapter module. 51.02 FBA PAR2 (MAC ID) 51.03 FBA PAR3 (BAUD RATE) 51.06 FBA PAR6 (OUTPUT INSTANCE) 51.07 FBA PAR7 (OUTPUT NUM PARS) 51.08 FBA PAR8 (INPUT INSTANCE) 51.09 FBA PAR9 (INPUT NUM PARS) 6 Defines the MAC ID number of the adapter module. 0 (= 125 kbit/s) Sets the baud rate for the DeviceNet interface. 902 Selects the ABB Drives profile with speed and torque plus drive parameters output instance. 10 Must always be set to 10, except as provided in Appendix A Varying the number of drive parameters. 952 Selects the ABB Drives profile with speed and torque plus drive parameters input instance. 10 Must always be set to 10, except as provided in Appendix A Varying the number of drive parameters. 52.01 FBA DATA IN1 117 Motor temp 52.02 FBA DATA IN2 104 Motor current - MSW 52.03 FBA DATA IN3 0 Motor current - LSW 52.04 FBA DATA IN4 107 DC voltage - MSW

54 Start-up Drive parameter Setting for ACSM1 drives 52.05 FBA DATA IN5 0 DC voltage - LSW 52.06 FBA DATA IN6 108 Encoder 1 speed - MSW 52.07 FBA DATA IN7 0 Encoder 1 speed - LSW 52.08 FBA DATA IN8 0 52.10 FBA DATA IN10 53.01 FBA DATA OUT1 2503 Acceleration time - MSW 53.02 FBA DATA OUT2 0 Acceleration time - LSW 53.03 FBA DATA OUT3 2504 Deceleration time - MSW 53.04 FBA DATA OUT4 0 Deceleration time - LSW 53.05 FBA DATA OUT5 2408 Constant speed 53.06 FBA DATA OUT6 2410 Speed ref jog1 53.07 FBA DATA OUT7 2411 Speed ref jog2 53.08 FBA DATA OUT8 53.10 FBA DATA OUT10 0 51.27 FBA PAR REFRESH 1 = REFRESH Validates the FDNA-01 configuration parameter settings. 10.01 EXT1 START FUNC 3 = FBA Selects the fieldbus interface as the source of the start and stop commands for external control location 1. 10.04 EXT2 START FUNC 3 = FBA Selects the fieldbus interface as the source of the start and stop commands for external control location 2. 24.01 SPEED REF1 SEL 3 = FBA REF1 Selects the fieldbus reference 1 as the source for speed reference 1. 32.01 TORQ REF1 SEL 4 = FBA REF2 Selects the fieldbus reference 2 as the source for torque reference 1. 34.02 EXT1 MODE 1/2SEL P.2.12.15 = P.FBA MAIN CW.15 Description Selects FBA Control word bit 15 as the source for the external control location EXT1/EXT2 selection. 34.03 EXT1 CTRL MODE1 1 = Speed Selects speed as the control mode for external control location 1. 34.05 EXT2 CTRL MODE1 2 =Torque Selects torque as the control mode for external control location 2.

Start-up 55 Drive parameter 99.05 MOTOR CTRL MODE Setting for ACSM1 drives 1) Read-only or automatically detected/set Description 0 = DTC Selects DTC as the motor control mode. The start sequence for the parameter example above is given below. Control word: 47Eh (1150 decimal) READY TO SWITCH ON 47Fh (1151 decimal) OPERATING (Speed mode) or C7Fh (3199 decimal) OPERATING (Torque mode). ODVA AC/DC drive profile The following example shows how to configure the ACSM1 drive to use the ODVA AC/DC drive profile. The used I/O assembly instances are 23 and 73. The table below gives the recommended drive parameter settings. Drive parameter Setting for Description ACSM1 drives 50.01 FBA ENABLE 1 = Enable Enables communication between drive and adapter module. 50.04 FBA REF1 MODESEL 50.05 FBA REF2 MODESEL Speed Torque Selects speed as the adapter module REF1 type. Selects torque as the adapter module REF2 type. 51.01 FBA TYPE DEVICENET 1 Displays the type of the adapter module. 51.02 FBA PAR2 (MAC ID) 51.03 FBA PAR3 (BAUD RATE) 51.06 FBA PAR6 (OUTPUT INSTANCE) 5 Defines the MAC ID number of the adapter module. 0 (= 125 kbit/s) Sets the baud rate for the DeviceNet interface. 23 Selects the ODVA extended speed and torque control output instance.

56 Start-up Drive parameter 51.08 FBA PAR8 (INPUT INSTANCE) Setting for ACSM1 drives Description 73 Selects the ODVA extended speed and torque control input instance. 51.27 FBA PAR REFRESH 1 = REFRESH Validates the FDNA-01 configuration parameter settings. 10.01 EXT1 START FUNC 3 = FBA Selects the fieldbus interface as the source of the start and stop commands for external control location 1. 10.04 EXT2 START FUNC 3 = FBA Selects the fieldbus interface as the source of the start and stop commands for external control location 2 24.01 SPEED REF1 SEL 3 = FBA REF1 Selects the fieldbus reference 1 as the source for speed reference 1. 32.01 TORQ REF1 SEL 4 = FBA REF2 Selects the fieldbus reference 2 as the source for torque reference 1. 34.01 EXT1/EXT2 SEL P.2.1.0 = PI.DI STATUS.0 Selects digital input DI1 as the source for the external control location EXT1/EXT2 selection. 34.03 EXT1 CTRL MODE1 1 = Speed Selects speed as the control mode for external control location 1. 34.05 EXT2 CTRL MODE1 2 =Torque Selects torque as the control mode for external control location 2. 99.05 MOTOR CTRL MODE 1) Read-only or automatically detected/set 0 = DTC Selects DTC as the motor control mode. Note: In this example, digital input DI1 has been configured to control whether to use the speed or torque control mode. The start sequence for the parameter example above is given below. Control word: 0h (0 decimal) READY 1h (1 decimal) ENABLED (Running forward) 2h (2 decimal) ENABLED (Running reverse)

Start-up 57 Starting up ACS850 and ACQ810 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive by setting parameter 50.01 Fba enable to Enable. 3. Ensure that 50.04 Fb ref1 modesel is set to Speed (both ACS850 and ACQ810) and 50.05 Fb ref2 modesel is set to Torque (only ACS850). 4. Set the FDNA-01 configuration parameters in drive parameter group 51. 5. Define the process data transferred to and from the drive in FDNA-01 parameter groups 52 and 53. Note: If communication between the FDNA-01 and DeviceNet master is established, changes to the configuration parameters can be done also through Fieldbus configuration object 91h. 6. Validate the settings made in parameter groups 51, 52 and 53 by setting parameter 51.27 FBA par refresh to Refresh. 7. Set the relevant drive control parameters to control the drive according to the application. Examples of appropriate values are shown in the tables below.

58 Start-up Parameter setting examples ACS850 and ACQ810 ABB Drives profile The following example shows how to configure the ACS850 or ACQ810 drive to use the ABB Drives profile. The used I/O assembly instances are 902 and 952. The table below gives the recommended drive parameter settings. Drive parameter Setting for ACS850/ACQ810 drives Description 50.01 Fba enable 1 = Enable Enables communication between drive and adapter module. 50.04 Fb ref1 modesel Speed Selects speed as the adapter module ref1 type. 50.05 Fb ref2 modesel Torque Selects torque as the adapter module ref2 type (only with ACS850). 51.01 Fba type DEVICENET 1) Displays the type of the adapter module. 51.02 FBA par2 (MAC ID) 51.03 FBA par3 (BAUD RATE) 51.06 FBA par6 (OUTPUT INSTANCE) 51.07 FBA par7 (OUTPUT NUM PARS) 51.08 FBA par8 (INPUT INSTANCE) 51.09 FBA par9 (INPUT NUM PARS) 5 Defines the MAC ID number of the adapter module. 0 (= 125 kbit/s) Sets the baud rate for the DeviceNet interface. 902 Selects the ABB Drives profile with speed and torque plus drive parameters output instance. 10 Must always be set to 10, except as provided in Appendix A Varying the number of drive parameters. 952 Selects the ABB Drives profile with speed and torque plus drive parameters input instance. 10 Must always be set to 10, except as provided in Appendix A Varying the number of drive parameters. 52.01 FBA data in1 123 Motor power 52.02 FBA data in2 0 Motor power - LSW

Start-up 59 Drive parameter Setting for ACS850/ACQ810 drives 52.03 FBA data in3 105 Motor current percent 52.04 FBA data in4 107 DC voltage 52.05 FBA data in5 0 DC voltage - LSW 52.06 FBA data in6 108 Encoder1 speed 52.07 FBA data in7 0 Encoder 1 speed - LSW 52.08 FBA data in8 0 52.10 FBA data in10 53.01 FBA data out1 2204 Acc time 2 53.02 FBA data out2 0 Acceleration time 2 - LSW 53.03 FBA data out3 2205 Dec time 2 53.04 FBA data out4 0 Deceleration time 2 - LSW 53.05 FBA data out5 2606 Const speed1 53.06 FBA data out6 2607 Const speed2 53.07 FBA data out7 2608 Const speed3 53.08 FBA data out8 53.10 FBA data out10 0 51.27 FBA par refresh 1 = Refresh Validates the FDNA-01 configuration parameter settings. 10.01 Ext1 start func FB Selects the fieldbus interface as the source of the start and stop commands for external control location 1. 10.04 Ext2 Start func 3 = FB Selects the fieldbus as the source for start and stop commands for external control location EXT2 (only with ACS850). 12.01 Ext1/Ext sel P.2.22.15 = P.FBA main cw.15 Description Selects FBA Control word bit 15 as the source for external control location EXT1/EXT2 selection (only with ACS850). 12.03 Ext1 ctrl mode 1 = Speed Selects speed as the operating mode for external control location EXT1.

60 Start-up Drive parameter Setting for Description ACS850/ACQ810 drives 12.05 Ext2 ctrl mode 2 = Torque Selects torque as the operating mode for external control location EXT2 (only with ACS850). 16.15 Menu set sel (ACS850) 16.21 Menu selection (ACQ810) 2 = Load long (ACS850) 2 = Full (ACQ810) Load long parameter list. All parameters will be displayed. 21.01 Speed ref1 sel FB Selects the fieldbus reference 1 as the source for speed reference 1. 24.01 Torq ref1 sel FBA ref2 Selects fieldbus reference 2 as the source of the torque reference 1 (only with ACS850). 1) Read-only or automatically detected/set The start sequence for the parameter example above is given below. Control word: 47Eh (1150 decimal) READY TO SWITCH ON 47Fh (1151 decimal) OPERATING (Speed mode) or C7Fh (3199 decimal) OPERATING (Torque mode in ACS850).

Start-up 61 ODVA AC/DC drive profile The following example shows how to configure the ACS850 or ACQ810 drive to use the ODVA AC/DC drive profile. The used I/O assembly instances are 23 and 73. The table below gives the recommended drive parameter settings. Drive parameter Setting for ACS850/ACQ810 drives Description 50.01 Fba enable 1 = Enable Enables communication between drive and adapter module. 50.04 Fb ref1 modesel Speed Selects speed as the adapter module ref1 type. 50.05 Fb ref2 modesel Torque Selects torque as the adapter module ref2 type (only with ACS850). 51.01 FBA type DEVICENET 1) Displays the type of the adapter module. 51.02 FBA par2 (MAC ID) 51.03 FBA par3 (BAUD RATE) 51.06 FBA par6 (OUTPUT INSTANCE) 51.08 FBA par8 (INPUT INSTANCE) 5 Defines the MAC ID number of the adapter module. 0 (= 125 kbit/s) Sets the baud rate for the DeviceNet interface. 23 Selects the ODVA AC/DC drive profile output instance. 73 Selects the ODVA AC/DC profile input instance. 51.27 FBA par refresh 1 = Refresh Validates the FDNA-01 configuration parameter settings. 10.01 Ext1 start func 3 = FB Selects the fieldbus interface as the source of the start and stop commands for external control location 1. 10.04 Ext2 Start func 3 = FB Selects the fieldbus as the source for start and stop commands for external control location EXT2 (only with ACS850).

62 Start-up Drive parameter 12.01 Ext1/Ext2 sel DI1 Selects digital input DI1 as the source for external control location EXT1/EXT2 selection (only with ACS850). 12.05 Ext2 ctrl mode 2 = Torque Selects torque as the operating mode for external control location EXT2 (only with ACS850). 16.15 Menu set sel (ACS850) 16.21 Menu selection (ACQ810) Setting for ACS850/ACQ810 drives 2 = Load long (ACS850) 1 = Full (ACQ810) Description Load long parameter list. All parameters will be displayed. 21.01 Speed ref1 sel FBA ref1 Selects the fieldbus reference 1 as the source for speed reference 1. 24.01 Torq ref1 sel FBA ref2 Selects fieldbus reference 2 as the source of the torque reference 1 (only with ACS850). 1) Read-only or automatically detected/set Note: For ACS850 in this example, digital input DI1 has been configured to control whether to use the speed or torque control mode. The start sequence for the parameter example above is given below. Control word: 0h (0 decimal) READY 1h (1 decimal) ENABLED (Running forward) 2h (2 decimal) ENABLED (Running reverse)

Start-up 63 Starting up ACS880, ACS580, ACQ580, ACH580, ACS580 drives This example sets up the fieldbus adapter installed as fieldbus adapter A. To set up the fieldbus adapter B, perform the same tasks with the corresponding parameters in parameter groups 50, 54, 55, and 56. 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. Ensure that parameter 50.04 FBA A ref1 type is set to Speed and parameter 50.05 FBA A ref2 type is set to Torque. 4. Set the FDNA-01 configuration parameters in drive parameter group 51. 5. Define the process data transferred to and from the drive in FDNA-01 parameter groups 52 and 53. Note: If communication between the FDNA-01 and DeviceNet master is established, changes to the configuration parameters can be done also through Fieldbus configuration object 91h. 6. Validate the settings made in parameter groups 51, 52 and 53 by setting parameter 51.27 FBA par refresh to Refresh. 7. 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 ACS880 ABB Drives profile The following example shows how to configure the ACS880 drive to use the ABB Drives profile.

64 Start-up The used I/O assembly instances are 902 and 952. The table below gives the recommended drive parameter settings. Drive parameter Setting for Description ACS880 drives 50.01 FBA A enable 1 = Enable Enables communication between drive and adapter module. 50.04 FBA A ref1 type 4 = Speed Selects speed as the fieldbus A reference 1 type. 50.05 FBA A ref2 type 3 = Torque Selects torque as the fieldbus A reference 2 type. 51.01 FBA type DeviceNet 1) Displays the type of the adapter module. 51.02 MAC ID 6 Defines the MAC ID number of the adapter module. 51.03 Baud rate 0 = 125kbit/s Sets the baud rate for the DeviceNet interface. 51.06 Output instance 902 Selects the ABB Drives profile with speed and torque plus drive parameters output instance. 51.07 Output num pars 10 Must always be set to 10. For exceptions, see Appendix A Varying the number of drive parameters. 52.01 FBA data in1 1.7 Motor current - MSW 52.02 FBA data in2 0 = None Motor current - LSW 52.03 FBA data in3 1.11 DC voltage - MSW 52.04 FBA data in4 0 = None DC voltage - LSW 52.05 FBA data in5 0 = None 52.10 FBA data in10 53.01 FBA data out1 23.12 Acceleration time - MSW 53.02 FBA data out2 0 = None Acceleration time - LSW 53.03 FBA data out3 23.13 Deceleration time - MSW 53.04 FBA data out4 0 = None Deceleration time - LSW 53.05 FBA data out5 53.10 FBA data out10 0 = None

Start-up 65 Drive parameter 51.27 FBA par refresh 1 = Configure Validates the FDNA-01 configuration parameter settings. 19.11 Ext1/Ext2 selection 2 = MCW bit11: Ext ctrl 19.12 Ext1 control mode 1 2 = MCW bit11: Ext ctrl loc Selects FBA Control word bit 11 as the source for the external control location EXT1/EXT2 selection. Selects speed control as the control mode 1 for external control location EXT1. 19.14 Ext2 control mode 1 3 = Torque Selects torque control as the control mode 1 for external control location EXT2. 20.01 Ext1 commands 12 = Fieldbus A Selects fieldbus interface A as the source of the start and stop commands for external control location EXT1. 20.06 Ext2 commands 12 = Fieldbus A Selects fieldbus interface A as the source of the start and stop commands for external control location EXT2. 22.11 Speed ref1 selection 26.11 Torque ref1 selection Setting for ACS880 drives 1) Read-only or automatically detected/set 2) Example Description 4 = FB A ref1 Selects fieldbus A reference 1 as the source for speed reference 1. 5 = FB A ref2 Selects fieldbus reference 2 as the source for torque reference 1. The start sequence for the parameter example above is given below. Control word: 47Eh (1150 decimal) READY TO SWITCH ON 47Fh (1151 decimal) OPERATING (Speed mode) or C7Fh (3199 decimal) OPERATING (Torque mode) ODVA AC/DC drive profile The following example shows how to configure the ACS880 drive to use the ODVA AC/DC drive profile.

66 Start-up The used I/O assembly instances are 23 and 73. The table below gives the recommended drive parameter settings. Drive parameter Setting for Description ACS880 drives 50.01 FBA A enable 1 = Enable Enables communication between drive and adapter module. 50.04 FBA A ref1 type 4 = Speed Selects Speed as the fieldbus A reference 1 type. 50.05 FBA A ref2 type 3 = Torque Selects Torque as the fieldbus A reference 2 type. 51.01 FBA type DeviceNet 1) Displays the type of the adapter module. 51.02 MAC ID 6 Defines the MAC ID number of the adapter module. 51.03 Baud rate 0 = 125kbit/s Sets the baud rate for the DeviceNet interface. 51.06 Output instance 23 Selects the ABB Drives profile with speed and torque plus drive parameters output instance. 51.07 Output num pars 10 Must always be set to 10. For exceptions, see Appendix A Varying the number of drive parameters. 51.27 FBA par refresh 1 = Configure Validates the FDNA-01 configuration parameter settings. 19.11 Ext1/Ext2 selection 3 = DI1 Selects digital input DI1 as the source for the external control location EXT1/EXT2selection. 19.12 Ext1 control mode 1 2 = Speed Selects speed control as the control mode 1 for external control location EXT1. 19.14 Ext2 control mode 1 3 = Torque Selects torque control as the control mode 1 for external control location EXT2. 20.01 Ext1 commands 12 = Fieldbus A Selects fieldbus interface A as the source of the start and stop commands for external control location EXT1.

Start-up 67 Drive parameter 20.06 Ext2 commands 12 = Fieldbus A Selects fieldbus interface A as the source of the start and stop commands for external control location EXT2. 22.11 Speed ref1 selection 26.11 Torque ref1 selection Setting for ACS880 drives 1) Read-only or automatically detected/set 2) Example Description 4 = FB A ref1 Selects fieldbus A reference 1 as the source for speed reference 1. 5 = FB A ref2 Selects fieldbus reference 2 as the source for torque reference 1. Note: In this example, digital input DI1 has been configured to control whether to use the speed or torque control mode. The start sequence for the parameter example above is given below. Control word: 0h (0 decimal) READY 1h (1 decimal) ENABLED (Running forward) 2h (2 decimal) ENABLED (Running reverse)

68 Start-up Configuring the master station After the adapter module has been initialized by the drive, the master station must be prepared for communication with the module. An example of an Allen-Bradley PLC is given below. If you are using another master system, refer to its documentation for more information. The example can be applied to all drive types compatible with the module. EDS files The Electronic Data Sheet (EDS) files specify the properties of the device for the DeviceNet scanner. The DeviceNet scanner identifies the device by means of the product code, device type, and major revision attributes. For more information, see Identity object, class 01h on page 132. To enable the use of different ABB drive types on the same DeviceNet network, a unique product code has been given to each drive type and application combination. EDS files are available from the Document library (www.abb.com/drives). Note: Only one EDS file with the same DeviceNet product code can be installed in the PLC at a time.

Start-up 69 Configuring an Allen-Bradley PLC This example shows how to set up an Allen-Bradley CompactLogix PLC with a 1769-SDN DeviceNet Scanner to use a drive equipped with a FDNA-01 fieldbus adapter, using RSNetWorx and RSLogix 5000 to configure and control the network. Slight vendor-specific differences may exist when using other programs or master devices. In this example, ACS880 is used as the drive. 1. Select and import the EDS file for the drive. For example, ACS880_FDNA01_v2.23_eu.EDS. For more help on choosing the correct file, refer to ABB EDS Selection Guide delivered with the EDS files. Note: Only one EDS file with the same Product ID can be installed in the PLC at a time. 2. Add a drive to the network in RSNetWorx for DeviceNet.

70 Start-up 3. Configure the device MAC address.

Start-up 71 4. Configure the DeviceNet Scanner. Add the drive to Scanlist and edit I/O parameters. Select Polled or Change of State/Cyclic. Then enter the input and output sizes of the I/O assemblies that are used (for example, for Basic Speed Control Assemblies 20 and 70, each size is set to 4 bytes.).

72 Start-up 5. For convenience, you can also edit the Input and Output memory mappings. By default, the two 16-bit input words are mapped into a single 32-bit double word. It is more convenient to map them into separate double words. Output words can be mapped similarly. 6. Download the scanner settings to the device in the online mode.