ABB ACS880-M04 Firmware Manual

ABB industrial drives

Firmware manual

ACS880-M04 machinery control program

List of related manuals

Drive hardware manuals Code (English)

ACS880-M04 drives hardware manual 3AXD50000028613 *ACS880-01 drives hardware manual 3AUA0000078093 *ACS880-04 drive modules (200 to 710 kW, 300 to 700 hp)

hardware manual

Drive firmware manuals and guides

Adaptive programming application guide 3AXD50000028574 Drive (IEC 61131-3) application programming manual 3AUA0000127808

Option manuals and guides

ACS880-M04 Quick installation guide 3AXD50000032345 ACX-AP-x Assistant control panels user’s manual 3AUA0000085685 ACS-BP-S Basic control panels user’s manual 3AXD50000032527 Drive composer Start-up and maintenance PC tool User’s

manual Manuals and quick guides for I/O extension modules,

fieldbus adapters, encoder interfaces, etc.

3AUA0000128301

3AUA0000094606

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. *A list of links to all manuals applicable to this product is available in the Document library:

Firmware manual

ACS880-M04 machinery control program

Table of contents

3AXD50000030629 Rev A

EFFECTIVE: 2016-04-11

Table of contents 5

Table of contents

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

1. Introduction to the manual

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Contents of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Related documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2. Using the control panel

Safety

3. Start-up

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

Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

4. Control locations and operating modes

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Local control vs. external control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Local control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

External control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Operating modes of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Speed control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Torque control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Frequency control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Special control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

5. Program features

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Drive configuration and programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Programming via parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Adaptive programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Application programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Control interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Programmable analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Programmable analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Programmable digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Programmable relay outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Programmable I/O extensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

6 Table of contents

Master/follower functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

External controller interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Direct torque control (DTC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Reference ramping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Constant speeds/frequencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Critical speeds/frequencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Speed controller autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Oscillation damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Rush control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Encoder support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Scalar motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Autophasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Flux braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

DC magnetization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Application control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Application macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

DC voltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Overvoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Undervoltage control (power loss ride-through) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Voltage control and trip limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Safety and protections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Thermal protection of motor cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Other programmable protection functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Automatic fault resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Fault and warning messages, data logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Signal supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Maintenance timers and counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Energy saving calculators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Miscellaneous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

User parameter sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Data storage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

du/dt filter support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

6. Application macros

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Factory macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Default parameter settings for the Factory macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Default control connections for the Factory macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Table of contents 7

7. Parameters

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Summary of parameter groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Parameter listing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

01 Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

03 Input references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

04 Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

05 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

06 Control and status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

07 System info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

10 Standard DI, RO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

11 Standard DIO, FI, FO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

12 Standard AI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

13 Standard AO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

14 I/O extension module 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

15 I/O extension module 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

19 Operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

20 Start/stop/direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

21 Start/stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

22 Speed reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

23 Speed reference ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

24 Speed reference conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

25 Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

26 Torque reference chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

28 Frequency reference chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243

30 Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

31 Fault functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

32 Supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276

33 Generic timer & counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280

35 Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290

36 Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304

43 Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

44 Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310

45 Energy efficiency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

46 Monitoring/scaling settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320

47 Data storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

49 Panel port communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327

50 Fieldbus adapter (FBA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330

51 FBA A settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

52 FBA A data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342

53 FBA A data out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

54 FBA B settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344

55 FBA B data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345

56 FBA B data out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

58 Embedded fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

60 DDCS communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

61 D2D and DDCS transmit data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366

62 D2D and DDCS receive data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370

90 Feedback selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379

8 Table of contents

91 Encoder module settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

92 Encoder 1 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395

93 Encoder 2 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403

95 HW configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406

96 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410

97 Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419

98 User motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423

99 Motor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425

200 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433

8. Additional parameter data

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435

Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435

Fieldbus addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436

Parameter groups 1…9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437

Parameter groups 10…99 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442

9. Fault tracing

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

Pure events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480

Editable messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480

Warning/fault history and analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480

Event logs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480

Other data loggers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481

Parameters that contain warning/fault information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481

QR Code generation for mobile service application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482

Warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 483

Fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503

10. Fieldbus control through the embedded fieldbus interface (EFB)

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527

System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527

Connecting the fieldbus to the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528

Setting up the embedded fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529

Setting the drive control parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530

Basics of the embedded fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 533

Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534

Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534

Data input/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534

Register addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535

About the control profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536

The ABB Drives profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537

Control Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537

Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539

Table of contents 9

State transition diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 540

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541

Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542

Modbus holding register addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543

The Transparent profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544

Modbus function codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545

Exception codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546

Coils (0xxxx reference set) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547

Discrete inputs (1xxxx reference set) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548

Error code registers (holding registers 400090…400100) . . . . . . . . . . . . . . . . . . . . . . . . . . . 550

11. Fieldbus control through a fieldbus adapter

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551

System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551

Basics of the fieldbus control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554

Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556

Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557

Contents of the fieldbus Control word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558

Contents of the fieldbus Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559

The state diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560

Setting up the drive for fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561

Parameter setting example: FPBA (PROFIBUS DP) . . . . . . . . . . . . . . . . . . . . . . . . . . . 562

12. Control chain diagrams

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565

Speed reference source selection I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566

Speed reference source selection II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567

Speed reference ramping and shaping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 568

Motor feedback configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 569

Load feedback and position counter configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570

Speed error calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571

Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572

Torque reference source selection and modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573

Operating mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574

Reference selection for torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575

Torque limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576

Torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577

Frequency reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578

Frequency reference modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579

Master/Follower communication I (Master) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580

Master/Follower communication II (Follower) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581

Further information

Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583

Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583

Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583

Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583

10 Table of contents

Introduction to the manual 11

Introduction to the manual

What this chapter contains

This chapter describes the contents of the manual. It also contains information on the compatibility, safety and intended audience.

Applicability

This manual applies to ACS880-M04 machinery control program version 2.4x.

The firmware version of the control program is visible in parameter 07.05 Firmware

version, or the System info in the main menu on the drive control panel.

Safety instructions

Obey all safety instructions delivered with the drive.

• Read the complete safety instructions before you install, commission, or use the drive. The complete safety instructions are delivered with the drive as part of the Hardware manual as a separate document.

• Read the firmware function-specific warnings and notes before changing parameter values. These warnings and notes are included in the parameter descriptions presented in chapter Parameters.

Target audience

This manual is intended for people who design, commission, or operate the drive system.

12 Introduction to the manual

Contents of the manual

This manual contains the following chapters:

• Using the control panel provides basic instructions for the use of the control panel.

• Control locations and operating modes describes the control locations and operating modes of the drive.

• Program features contains descriptions of the features of the ACS880-M04 primary control program.

• Application macros contains a short description of each macro together with a connection diagram. Macros are pre-defined applications which will save the user time when configuring the drive.

• Parameters describes the parameters used to program the drive.

• Additional parameter data contains further information on the parameters.

• Fault tracing lists the warning and fault messages with possible causes and remedies.

• Fieldbus control through the embedded fieldbus interface (EFB) describes the communication to and from a fieldbus network using the embedded fieldbus interface of the drive.

• Fieldbus control through a fieldbus adapter describes the communication to and from a fieldbus network using an optional fieldbus adapter module.

• Control chain diagrams showing the parameter structure within the drive.

Using the control panel

Refer to

• ACX-AP-x assistant control panels user’s manual (3AUA0000085685 [English]) and

• ACS-BP-S assistant control panels user’s manual (3AXD50000032527 [English]).

16 Using the control panel

Start-up

Start-up 17

Contents of this chapter

This chapter describes the basic start-up sequence of an ACS880-M04 machinery drive.

In this guide, the drive is set up using the ACS-AP-I control panel. The start-up sequence can also be carried out using the Drive composer PC tool.

Before you start

Make sure the drive is mechanically and electrically installed as described in the Quick installation guide and/or Hardware manual.

Safety

WARNING! Follow all safety instructions of the drive. Only qualified electricians are

allowed to start up the drive. Never work on the drive, the brake chopper circuit, the motor cable or the motor when power is applied to the drive. Always make sure by measuring that no voltage is actually present.

WARNING! Make sure that the machinery into which the drive with brake

control function is integrated fulfills the personnel safety regulations. Note that the frequency converter (a Complete Drive Module or a Basic Drive Module, as defined in IEC 61800-2), is not considered as a safety device mentioned in the European Machinery Directive and related harmonized standards. Thus, the personnel safety of the complete machinery must not be based on a specific frequency converter feature (such as the brake control function), but it has to be implemented as defined in the application specific regulations.

18 Start-up

Remote 0.0 rpm

0.00

Motor torque %

0.0

Motor current A

Motor speed used rpm

Options

12:34

ACS880

Remote 0.0 rpm

Parameters

Assistants

Energy efficiency

Event log

Exit

12:34

Select

Start-up

Safety

WARNING! Obey all safety instructions for the drive. Only qualified electricians are

allowed to start up the drive.

Check the installation. See the installation checklist in the Hardware manual.

Check that the starting of the motor does not cause any danger. De-couple the driven machine if

• there is a risk of damage in case of an incorrect direction of rotation, or

•a Normal ID run is required during the drive start-up, when the load torque is higher

than 20% or the machinery is not able to withstand the nominal torque transient during the ID run.

1 – Power-up, date and time settings

Power up the drive. Note: It is normal that warning messages

appear at various points along the start-up process. To hide a message and to resume the start-up process, press .

Hide any warnings now to enter the Home view (shown on the right).

The two commands at the bottom of the display (in this case, Options and Menu), show the functions of the two softkeys and located below the display. The commands assigned to the softkeys vary depending on the context.

In the Home view, press (Menu). The main Menu (right) appears.

Highlight Settings on the menu using

Remote 0.0 rpm

Settings

Language

Date & time

Back

12:34

Select

Edit texts Display settings

ACS880

Reset to defaults

Next daylight saving start 28.03.

Remote 0.0 rpm

Date & time

Date

Back

12:35

Edit

Time Show date as

01.01.1980

12:34:56

day.month.year Show time as 24-hour Daylight saving EU

Remote 0.0 rpm

Date

Cancel

12:35

Save

Day Month Year

Tuesday

.01.198001

and and press (Select).

In the Settings menu, highlight Date & time (if not already highlighted) and press (Select).

Start-up 19

In the Date & time menu, highlight Date (if not already highlighted) and press (Select).

20 Start-up

Remote 0.0 rpm

0.00

Motor torque %

0.0

Motor current A

Motor speed used rpm

Options

12:34

ACS880

Loc/Rem

Local 0.0 rpm

0.00

Motor torque %

0.0

Motor current A

Motor speed used rpm

Options

12:36

Local 0.0 rpm

Parameters

Assistants

Energy efficiency

Event log

Exit

12:36

Select

Set the correct date:

• Use and to move the cursor left and right.

• Use and to change the value.

•Press (Save) to accept the new setting.

Check/adjust all the remaining settings in the Date & time menu.

The Show clock setting determines whether the time is shown at all times in the bottom pane of the display.

After you have made the settings, press

(Back or Exit) repeatedly until the

Home view (right) reappears.

2 – Supply voltage and motor data settings

Switch to local control to ensure that external control is disabled by pressing the key. Local control is indicated by the text “Local” in the top pane.

Open the main Menu by pressing (Menu).

Highlight Parameters and press

Local 0.0 rpm

Parameters

Complete list

By function

Back

12:36

Select

Favorites Modified

ACS880

Local 0.0 rpm

Complete list

01 Actual values

03 Input references 04 Warnings and faults 05 Diagnostics 06 Control and status words 07 System info

Back

12:36

Select

Local 0.0 rpm

95 HW configuration

95.01 Supply voltage

Back

12:36

Edit

95.08 DC switch monitoring

Not given

Internal 24 V

Disable

95.15 Special HW settings 0000

95.20 HW option wor... ...0 0000 0000

ACS880

95.04 Control board supply

Local 0.0 rpm

95.01 Supply voltage

[0] Not given

[1] 208…240 V

Cancel

12:36

Save

[2] 380…415 V [3] 440…480 V [4] 500 V

(Select).

Highlight Complete list using and and press (Select).

A listing of parameter groups is displayed.

Start-up 21

Highlight parameter group 95 HW

configuration and press (Select).

Note that the list wraps around in either direction between groups 99 and 01. In this case, it is quicker to use to locate group 95 on the list.

After selecting a group, a listing of parameters within the group is displayed.

Highlight parameter 95.01 Supply voltage (if not already highlighted) and press (Edit).

The available parameter settings are listed.

22 Start-up

Local 0.0 rpm

95 HW configuration

95.01 Supply voltage

Back

12:36

Edit

95.08 DC switch monitoring

380...415 V

Internal 24 V

Disable

95.15 Special HW settings 0000

95.20 HW option wor... ...0 0000 0000

ACS880

95.04 Control board supply

M2AA 200 MLA 4

1475

1475 1470 1470 1475 1770

32.5 56 34 59 54 59

0.83

3GAA 202 001 - ADA

180

IEC 34-1

6210/C36312/C3

Cat. no

50 50 50

50 50

690 Y 400 D 660 Y 380 D 415 D 440 D

Hz kW

r/min A

cos

IA/IN

E/s

Ins.cl. F

IP 55

IEC 200 M/L 55

motor

ABB Motors

3 ~ motor M2BJ 280SMB 10 B3

No 3424522

BB Motors

Ins.cl. F IP 55

400 DHz50kW55

r/min

600

103

cos

0.97

IA/IN

E/s

Prod. code 2GBJ285220-ADA405445477

6316/C3

630kg

IEC 34-1

S1 SPEC INSUL.

JK-21640-1

Highlight the correct setting on the list and press (Save).

Press (Back) to display the list of parameter groups again. Select parameter group

99 Motor data, and set parameter 99.03 Motor type.

Set parameter 99.04 Motor control mode.

DTC = Direct torque control; Scalar

DTC is suitable for most cases. Scalar mode is recommended if

• the nominal current of the motor is less than 1/6 of the nominal current of the drive,

• the drive is used for test purposes with no motor connected, or

• the drive controls multiple motors and the number of motors connected is variable.

Refer to the motor nameplate for the following parameter settings. Whenever possible, enter the values exactly

as shown on the motor nameplate.

Example of a nameplate of an induction (asynchronous) motor:

99.06 Motor nominal current

The allowable range is

• in DTC mode: 1/6 × I

• in Scalar mode: 0 … 2 × I Note: With numerical parameter values:

• Use and to change the value of a digit.

• Use and to move the cursor left and right.

•Press (Save) to enter the value.

… 2 × IHd of the drive

Example of a nameplate of a permanent magnet motor:

Make the following parameter settings in the same manner.

99.07 Motor nominal voltage

Start-up 23

The allowable range is 1/6 × U

… 2 × UN of the drive.

With permanent magnet motors, the nominal voltage is the BackEMF voltage at nominal speed. If the voltage is given in volt/rpm (eg. 60 V per 1000 rpm), the voltage at a nominal speed of 3000 rpm is 3 × 60 V = 180 V. Note that nominal voltage is not the same as equivalent DC motor voltage (EDCM) given by some manufacturers. The nominal voltage can be calculated by dividing the EDCM voltage by 1.7 (or square root of 3).

99.08 Motor nominal frequency

With permanent magnet motors, if the nominal frequency is not shown on the nameplate, it can be calculated using the following formula:

f = n × p / 60 where n = nominal motor speed, p = number of pole pairs.

99.09 Motor nominal speed

99.10 Motor nominal power

99.11 Motor nominal cos Φ

99.12 Motor nominal torque

These values are not required, but can be entered to improve control accuracy. If you do not know the correct values, leave the parameters at 0. DO NOT enter estimated values.

99.13 ID run requested

This parameter selects the mode of the identification run (DTC motor control mode only).

Note: The drive must be in local control for the identification run.

WARNING! The identification run modes marked thus * will run the motor in the

forward direction (see below for details). Make sure it is safe to run the motor

before choosing any of these modes. *Normal mode should be selected whenever possible.. The driven machinery must be de-

coupled from the motor if

• the load torque is higher than 20%, or

• the machinery is not able to withstand the nominal torque transient during the identification run.

*Reduced mode should be selected if the mechanical losses are higher than 20%, ie. the load cannot be de-coupled, or full flux is required to keep the motor brake open (eg. with conical motors).

The Standstill mode should be selected if neither the *Normal or *Reduced mode can be used. Notes:

• This mode cannot be used with a permanent magnet motor if the load torque is higher than 20% of nominal.

• Mechanical brake is not opened by the logic for the identification run.

Ensure that the Safe torque off and emergency stop circuits (if present) are closed.

Start the identification run by pressing the

(Start) button.

A warning will indicate that the identification run is in progress.

24 Start-up

Check that the motor runs in the correct direction (forward direction shown below).

The identification run has completed when the drive stops and the value of parameter

99.13 reverts to None.

If the motor ran in the wrong direction, correct the motor cabling or adjust parameter

99.16 Motor phase order.

Control locations and operating modes 25

Control locations and operating modes

What this chapter contains

This chapter describes the control locations and operating modes supported by the control program.

26 Control locations and operating modes

Control panel or Drive

composer PC tool (optional)

Fieldbus adapter (Fxxx)

1) Extra inputs/outputs can be added by installing optional I/O extension modules (FIO-xx) in drive slots.

2) Encoder or resolver interface module(s) (FEN-xx) installed in drive slots.

MOTOR

PLC

I/O

Embedded fieldbus interface (EFB) or master/follower link

External control

Local control

Encoder

ACS880-M04

Control panel

Local control vs. external control

The ACS880-M04 has two main control locations: external and local. The control location is selected with the Loc/Rem key on the control panel or in the PC tool.

 Local control

The control commands are given from the control panel keypad or from a PC equipped with Drive composer when the drive is set to local control. Speed and torque control modes are available for local control; frequency mode is available when scalar motor control mode is used (see parameter 19.16 Local control mode).

Local control is mainly used during commissioning and maintenance. The control panel always overrides the external control signal sources when used in local control. Changing the control location to local can be prevented by parameter 19.17 Local

control disable.

The user can select by a parameter (49.05 Communication loss action) how the drive reacts to a control panel or PC tool communication break. (The parameter has no effect in external control.)

Control locations and operating modes 27

 External control

When the drive is in external control, control commands are given through

• the I/O terminals (digital and analog inputs), or optional I/O extension modules

• the embedded fieldbus interface or an optional fieldbus adapter module

• the master/follower link, and/or

• the control panel.

Two external control locations, EXT1 and EXT2, are available. The user can select the sources of the start and stop commands separately for each location by parameters 20.01…20.10. The operating mode can be selected separately for each location (in parameter group 19 Operation mode), which enables quick switching between different operating modes, for example speed and torque control. Selection between EXT1 and EXT2 is done via any binary source such as a digital input or fieldbus control word (see parameter 19.11 Ext1/Ext2 selection). The source of reference is selectable for each operating mode separately.

Using the control panel as an external control source

The control panel can also be used as a source of start/stop commands and/or reference in external control. Selections for the control panel are available in the start/stop command source and reference source selection parameters.

Reference source selection parameters have two selections for the control panel. The difference between the two selections is in the initial reference value after the reference source switches to the control panel.

The panel reference is saved whenever another reference source is selected. If the reference source selection parameter is set to Control panel (ref saved), the saved value is used as the initial reference when control switches back to the panel. Note that only one type of reference can be saved at a time: for example, attempting to use the same saved reference with different operating modes (speed, torque, etc.) causes the drive to trip on 7083 Panel reference conflict. The panel reference can be separately limited by parameters in group 49 Panel port communication.

With the reference source selection parameter set to Control panel (ref copied), the initial panel reference value depends on whether the operating mode changes with the reference source. If the source switches to the panel and the operating mode does not change, the last reference from the previous source is adopted. If the operating mode changes, the drive actual value corresponding to the new mode is adopted as the initial value.

28 Control locations and operating modes

Motor feedback

configuration

(p 569)

Speed

reference

source selection

(p 566)

Speed controller

(p 572)

Speed reference

source selection

(p 567)

Speed reference

ramping and

shaping

(p 568)

Speed error

calculation

(p 571)

Torque

reference

source selection and modification

(p 573)

Reference

selection for

torque controller

(p 575)

Frequency

reference

source selection and modification

(p 578)

Operating mode

selection

(p 574)

Torque

controller

(p 577)

DTC motor

control mode

Scalar motor control mode

Torque limitation

(p 576)

Frequency

reference

modification

(p 579)

Load feedback

and position

counter

configuration

(p 570)

Operating modes of the drive

The drive can operate in several operating modes with different types of reference. The mode is selectable for each control location (Local, EXT1 and EXT2) in parameter group 19 Operation mode.

The following is a general representation of the reference types and control chains. The page numbers refer to detailed diagrams in chapter Control chain diagrams.

Control locations and operating modes 29

 Speed control mode

The motor follows a speed reference given to the drive. This mode can be used either with estimated speed as feedback, or with an encoder or resolver for better speed control accuracy.

Speed control mode is available in both local and external control. It is also available both in DTC (Direct Torque Control) and scalar motor control modes.

 Torque control mode

Motor torque follows a torque reference given to the drive. Torque control is possible without feedback, but is much more dynamic and accurate when used in conjunction with a feedback device such as an encoder or a resolver. It is recommended that a feedback device is used in crane, winch or lift control situations.

Torque control mode is available in DTC motor control mode for both local and external control locations.

 Frequency control mode

The motor follows a frequency reference given to the drive. Frequency control is only available in scalar motor control mode.

 Special control modes

In addition to the control modes mentioned above, the following special control modes are available:

• Emergency stop modes Off1 and Off3: Drive stops along the defined deceleration ramp and drive modulation stops.

• Jogging mode: Drive starts and accelerates to the defined speed when the jogging signal is activated. For more information, see section Jogging (page 57).

30 Control locations and operating modes

+ 554 hidden pages

ABB ACS880-M04 Firmware Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction to the manual

Using the control panel

Start-up

Control locations and operating modes

Local control

 External control

Using the control panel as an external control source

 Speed control mode

 Torque control mode

 Frequency control mode

 Special control modes