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FEPL-02 Ethernet POWERLINK
ABB FEPL-02 Ethernet POWERLINK User Manual
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Start-up
61
3.
W
ait
un
til t
he .x
dd file
has been i
mport
ed
.
As
soci
a
tin
g the ad
apte
r mod
ule
with
the
PLC
Whe
n the .x
dd f
ile
has
bee
n impo
rted,
add t
he
adapt
e
r modu
l
e to
th
e li
st of
the P
OWERL
I
NK
devi
ce
s assoc
iated w
ith
the P
LC.
1.
In
th
e P
hy
sic
al
View
w
in
do
w
, ri
gh
t-c
li
ck t
he no
de
th
at
re
pres
ents th
e CP
U, a
nd th
en c
lick
Op
en POWERLINK
.
60
62
Table of Contents
Default Chapter
3
Effective: 2018
3
Table of Contents
5
Table of Contents
10
1 Safety Instructions
11
What this Chapter Contains
11
Use of Warnings
11
Safety in Installation
12
2 About the Manual
13
What this Chapter Contains
13
Purpose of the Manual
13
Applicability
13
Target Audience
13
Compatibility
14
Before You Start
14
Related Manuals
15
Contents
16
Terms and Abbreviations Used in this Manual
17
General Terms and Abbreviations
17
Ethernet POWERLINK Terms and Abbreviations
17
Cybersecurity Disclaimer
19
3 Overview of the Ethernet POWERLINK Network and the FEPL-02 Module
21
What this Chapter Contains
21
Ethernet POWERLINK Network
21
Example Topology of the Ethernet POWERLINK Link
22
FEPL-02 Ethernet POWERLINK Adapter Module
23
Layout of the FEPL-02 Adapter Module
24
4 Mechanical Installation
25
What this Chapter Contains
25
Necessary Tools and Instructions
25
Unpacking and Examining the Delivery
25
Installing the Adapter Module
26
5 Electrical Installation
29
What this Chapter Contains
29
Necessary Tools and Instructions
29
General Cabling Instructions
30
Connecting the Adapter Module to the Ethernet POWERLINK Net
30
Work
30
6 Start-Up
31
What this Chapter Contains
31
Drive Configuration
32
Ethernet POWERLINK Connection Configuration
32
FEPL-02 Configuration Parameters - Group a (Group 1)
33
FEPL-02 Configuration Parameters - Group B (Group 2)
38
FEPL-02 Configuration Parameters - Group C (Group 3)
38
Control Locations
39
Starting up ACS355 Drives
40
Parameter Setting Examples - ACS355
41
Speed Control Using the Cia 402 Velocity Mode (Vl)
41
Speed and Torque Control Using ABB Drives Communication Profile
43
Starting up ACSM1 Drives
46
Parameter Setting Examples - ACSM1
47
Position Control with the Cia 402 Profile Position Mode (Pp)
47
Starting up ACS850 Drives
50
Parameter Setting Examples - ACS850
51
Speed Control Using the Cia 402 Velocity Mode (Vl)
51
Speed Control Using the ABB Drives Communication
53
Profile
53
Starting up ACS380, ACS580 and ACS880 Drives
55
Parameter Setting Examples - ACS380, ACS580 and ACS880
56
Speed Control Using the ABB Drives Communication
56
Profile
56
Configuring the Master Station
58
Downloading an XML Device Description File (XDD)
58
Configuring a B&R PLC
58
Adding the .XDD File
60
Associating the Adapter Module with the PLC
61
Mapping Objects Required for Controlling the Drive
66
Building a Project and Transfering It to the PLC
68
Forcing Values
71
7 Communication Profiles
73
What this Chapter Contains
73
Canopen Device Profile Cia 402
75
Supported Modes of Operation
75
Velocity Mode
75
Profile Torque Mode
76
Profile Velocity Mode
76
Profile Position Mode
76
Homing Mode
76
Process Data Scaling
77
Torque Data
77
Velocity Data
77
Position Data
77
Process Feedback Values
77
Control Word and Status Word
78
Control Word Contents
78
Status Word Contents
80
State Machine
82
ABB Drives Communication Profile
83
Control Word and Status Word
83
Control Word Contents
83
Status Word Contents
85
State Machine
87
References
88
Scaling
88
Actual Values
89
Scaling
89
8 Communication Protocol
91
What this Chapter Contains
91
Ethernet POWERLINK Communication Cycle
91
Ethernet POWERLINK State Machine
92
Nmt_Gs_Initialisation
92
Nmt_Gs_Communicating
93
Nmt_Cs_Not_Active
93
The NMT_CS_PREOPERATIONAL States
94
Nmt_Cs_Ready_To_Operate
94
Nmt_Cs_Operational
94
Nmt_Cs_Stopped
95
DS 301 and DS 402 Specification
96
Process Data Objects
96
Service Data Objects
97
SDO Protocol
97
Network Management Services
98
NMT State Command Services
98
NMT Response Services
98
Error Entry Specification
99
9 Diagnostics
101
What this Chapter Contains
101
Fault and Warning Messages
101
LED Indications
102
10 Technical Data
105
What this Chapter Contains
105
Fepl-02
106
Ethernet POWERLINK Link
107
11 Appendix A - Canopen Object Dictionary
109
What this Chapter Contains
109
Object Dictionary Structure
109
Communication Profile Objects
111
Manufacturer-Specific Profile Objects
119
Actual Signals and Parameters of the Drive
121
Cia 402 Profile Objects
122
12 Appendix B - Canopen Error Codes
127
What this Chapter Contains
127
Error Codes
127
13 Appendix C - Identresponse Frame
135
What this Chapter Contains
135
NMT Service Slot Structure of Identresponse
136
NMT Service Slot Data Fields of Identresponse
137
Further Information
141
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ABB FEPL-02 Ethernet POWERLINK Specifications
General
Brand
ABB
Model
FEPL-02 Ethernet POWERLINK
Category
Adapter
Language
English
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