ABB ACS380 Series - Page 397

Fieldbus control through the embedded fieldbus interface (EFB) 397
CANopen embedded fieldbus interface operation
Control word and Status word
The Control Word (CW) is a 16-bit or 32-bit packed boolean word. It is the principal
means of controlling the drive from a fieldbus system. The CW is sent by the fieldbus
controller to the drive. With drive parameters, the user selects the EFB CW as the
source of drive control commands (such as start/stop, emergency stop, selection
between external control locations 1/2, or fault reset). The drive switches between its
states according to the bit-coded instructions of the CW. The fieldbus CW is either
written to the drive as it is or the data is converted. See section About the control
profiles on page 376.
The fieldbus Status Word (SW) is a 16-bit or 32-bit packed boolean word. It contains
status information from the drive to the fieldbus controller. The drive SW is either
written to the fieldbus SW as it is or the data is converted. See section About the
control profiles on page 376.
References
EFB references 1 and 2 are 16-bit or 32-bit signed integers. The contents of each
reference word can be used as the source of virtually any signal, such as the speed,
frequency, torque or process reference. In embedded fieldbus communication,
references 1 and 2 are displayed by 03.09 EFB reference 1 and 03.10 EFB reference
2 respectively. Whether the references are scaled or not depends on the settings of
Cyclic
communication
(PDO)
Acyclic
communication
SDO
CANopen objects
2001h
...
2106h
DRIVE
Select 2)
CiA 402
Data conversion
ABB Drives
Data conversion
Transparent 16
Optional reference,
actual value scaling
Transparent 32
CANopen objects
6040h
6042
6041
6044
2000h03
2000h06
6071h
6077h
60FF
606Ch
CANopen objects
4001h
...
4063h
Select 2)
1)
1)
Control word, reference, Status word and actual values
according to CANopen profile CiA 402 or ABB Drives
profile
Drive parameters
1) Native profile
2) Selection with CANopen EFB configuration parame-
ters (58.25 Control profile)
Control word, reference, Status word and actual values according to Transparent 16,
Transparent 32 or ABB Drives profile