ABB ACSM1 - Basic Motion Control Configuration

Appendix D – Application examples
488
Basic motion control configuration
The PLC controls the ACSM1 drive through a PROFIBUS DP bus using the
PROFIdrive positioning mode. The drive is position-controlled and uses an absolute
encoder (4096/EnDat) installed on the motor. The mechanical gear ratio (1:20) and
pitch (6 mm / 1 rev) of the lead screw are taken into the drive’s position control loop.
Limit switches and a home switch are used to determine the initial position of the
machine.
The jog input (DI2) is used to move the load manually close to the machine. If the
STO circuit is opened, the drive is not able to move the load at all.
Basic parameter settings
Index Parameter Value
10.01 EXT1 START FUNC (3) FBA
10.07 JOG1 START P.02.01.01 (2.01 DI STATUS, b1) = DI2
10.08 FAULT RESET SEL P.02.12.08 (2.12 FBA MAIN CW, b8)
10.15 JOG ENABLE P.02.01.01 (2.01 DI STATUS, b1) = DI2
22.01 SPEED FB SEL (1) Enc1 speed
22.03 MOTOR GEAR MUL 1
22.04 MOTOR GEAR DIV 1
34.01 EXT1/EXT2 SEL P.02.12.15 (2.12 FBA MAIN CW, b15)
34.02 EXT1 MODE 1/2SEL P.02.12.26 (2.12 FBA MAIN CW, b26)
34.03 EXT1 CTRL MODE1 (6) Position / (7) Synchron
PLC
FEN-11
M
ACSM1
FPBA-01
EnDat
DI5
Positive limit switch
Negative limit
switch
DI4
ENC1 DI1
Home switch
n × M (rev) / 20 × 6 mm / rev == n × 0.3 mm / rev
6 mm / 1 rev
Absolute encoder
PROFIBUS DP
DI2 (Jog start/Jog enable)
STO
1:20