ABB fieldbus options

User’s manual
FPBA-01 PROFIBUS DP adapter module

Power and productivity

for a better world™
List of related manuals
See section Related manuals on page 16.
 User’s manual
FPBA-01 PROFIBUS DP adapter
module

Table of contents

1. Safety

4. Mechanical installation

5. Electrical installation

6. Start-up

3AFE68573271 Rev E
EN © 2011 ABB Oy
EFFECTIVE: 2011-09-07 All Rights Reserved.
 Table of contents 5

Table of contents

1. Safety
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Use of warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Safety in installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2. About the manual
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Purpose of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Terms and abbreviations used in this manual . . . . . . . . . . . . . . 19
General terms and abbreviations . . . . . . . . . . . . . . . . . . . . 19
PROFIBUS terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
PROFIBUS abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3. Overview of the PROFIBUS network and the FPBA-01
module
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
PROFIBUS network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Example topology of the PROFIBUS link . . . . . . . . . . . . . . 25
FPBA-01 PROFIBUS DP adapter module . . . . . . . . . . . . . . . . . 26
Layout of the adapter module . . . . . . . . . . . . . . . . . . . . . . . 27
4. Mechanical installation
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Delivery check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Mounting the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6 Table of contents

5. Electrical installation
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Connecting the module to the PROFIBUS network . . . . . . . . . . 32
Switching on the bus termination . . . . . . . . . . . . . . . . . . . . . . . . 34
6. Start-up
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
PROFIBUS connection configuration . . . . . . . . . . . . . . . . . . 36
Data transfer rates supported. . . . . . . . . . . . . . . . . . . . . 36
FPBA-01 configuration parameters – group A (group 1) 37
FPBA-01 configuration parameters – group B (group 2) 43
FPBA-01 configuration parameters – group C (group 3) 45
Virtual address allocation with ACSM1. . . . . . . . . . . . . . 46
Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Starting up ACS355 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Parameter setting examples – ACS355 . . . . . . . . . . . . . . . . 49
Speed control using the PROFIdrive communication
profile with PPO Type 2 . . . . . . . . . . . . . . . . . . . . . . . . . 49
Speed and torque control using the ABB Drives
communication profile with PPO Type 4. . . . . . . . . . . . . 51
Starting up ACSM1 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Parameter setting examples – ACSM1 . . . . . . . . . . . . . . . . 55
Speed control using the PROFIdrive communication
profile with PPO Type 2 . . . . . . . . . . . . . . . . . . . . . . . . . 55
Position control using the PROFIdrive communication
profile with PPO Type 4 . . . . . . . . . . . . . . . . . . . . . . . . . 57
Speed and torque control using the ABB Drives
communication profile with PPO Type 4. . . . . . . . . . . . . 61
Starting up ACS850 and ACQ810 drives . . . . . . . . . . . . . . . . . . 64
Parameter setting examples – ACS850 and ACQ810 . . . . . 65
Speed control using the PROFIdrive communication
profile with PPO Type 2 . . . . . . . . . . . . . . . . . . . . . . . . . 65
 Table of contents 7

Starting up ACS880 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Parameter setting examples – ACS880 . . . . . . . . . . . . . . . 68
Speed control using the PROFIdrive communication
profile with PPO Type 2 . . . . . . . . . . . . . . . . . . . . . . . . . 68
Configuring the master station . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Downloading the GSD file . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Configuring an ABB AC500 PLC . . . . . . . . . . . . . . . . . . . . . 70
Configuring a Siemens SIMATIC S7 PLC . . . . . . . . . . . . . . 76
Cyclic data handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
7. Communication profiles
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
PROFIdrive communication profile . . . . . . . . . . . . . . . . . . . . . . 83
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . 83
Control word contents . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
State machine for all operating modes. . . . . . . . . . . . . . 88
State machine for positioning mode. . . . . . . . . . . . . . . . 89
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
References in speed control mode . . . . . . . . . . . . . . . . 90
References in positioning mode (ACSM1 only) . . . . . . . 90
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Actual values in speed control mode . . . . . . . . . . . . . . . 91
Actual values in positioning mode (ACSM1 only) . . . . . 91
ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . . 92
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . 92
Control word contents . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
8 Table of contents

8. Communication protocol
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
PROFIBUS DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Service access points (SAPs) . . . . . . . . . . . . . . . . . . . . . . 100
Communication start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
PROFIBUS SD2 telegram for Default SAP (0) and
SAP 58-62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Default SAP (SAP 0) (Data_Exchange) . . . . . . . . . . . . 101
SAP 58 (Global_Control) . . . . . . . . . . . . . . . . . . . . . . . 102
SAP 61 (Set_Prm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
SAP 62 (Chk_Cfg) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
SAP 60 (Slave_Diag) . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Other SAPs for DP-V1 communication . . . . . . . . . . . . . . . 113
Cyclical message types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
PPO types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Standard telegram (ST) types (DP-V1) . . . . . . . . . . . . . . . 115
Parameter handling in cyclic communication (DP) . . . . . . . . . . 116
Parameter data transfer examples (DP-V0) . . . . . . . . . . . . 121
Example 1: Reading a drive parameter (or data set) . . 121
Example 2: Writing a drive parameter (or data set) . . . 123
Example 3: Reading a PROFIdrive parameter (word) . 125
Example 4: Writing a PROFIdrive parameter (word) . . 126
Example 5: Reading a PROFIdrive parameter (array) . 127
Example 6: Configuring the process data written to
the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Example 7: Configuring the process data read from
the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
DP-V1 read/write request sequence . . . . . . . . . . . . . . . . . 130
PROFIBUS SD2 telegram for SAP 51 . . . . . . . . . . . . . 131
Parameter data transfer examples (DP-V1) . . . . . . . . . . . . 140
Example 1a: Reading a drive parameter (array
element) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Example 1b: Reading 3 drive parameters
(multi-parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Example 2a: Writing a drive parameter (one array
element) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
 Table of contents 9

Example 2b: Writing 2 drive parameters

(multi-parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Example 3: Reading a PROFIdrive parameter. . . . . . . 148
Example 4: Configuring the process data written to the
drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Example 5: Determining the source of process data
read from the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
9. Diagnostics
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
10. Technical data
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
FPBA-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
PROFIBUS link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
11. Appendix A – PROFIdrive parameters
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
PROFIdrive parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
12. Appendix B – I&M records
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
I&M records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Call-REQ-PDU telegram for read/write access to
I&M records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Response structure for I&M0 (Read-only) . . . . . . . . . . . . . 171
Response structure for I&M1 (Read/Write) . . . . . . . . . . . . 172
Response structure for I&M2 (Read/Write) . . . . . . . . . . . . 172
Further information
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . 173
Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . 173
10 Table of contents
 Safety 11

Safety

What this chapter contains

The chapter presents the warning symbols used in this manual and
the safety instructions which you must follow when installing an
optional module into a drive, converter or inverter. If ignored,
physical injury or death may follow, or damage may occur to the
equipment. Read this chapter before you start the installation.
12 Safety

Use of warnings
Warnings caution you about conditions which can result in serious
injury or death and/or damage to the equipment and advise on how
to avoid the danger. The following warning symbols are used in
this manual:

Electricity warning warns of hazards from electricity

which can cause physical injury and/or damage to the
equipment.

General warning warns about conditions, other than

those caused by electricity, which can result in physical
injury and/or damage to the equipment.
 Safety 13

Safety in installation
These warnings are intended for all who install an optional module
into a drive, converter or inverter.

WARNING! Ignoring the following instructions can cause

physical injury or death, or damage to the equipment.

• Only qualified electricians are allowed to install and maintain

the drive, converter or inverter!
• Disconnect the drive, converter or inverter into which the
module will be installed from all possible power sources. After
disconnecting, always wait for 5 minutes to let the intermediate
circuit capacitors discharge before you proceed.
• Always ensure by measuring with a multimeter (impedance at
least 1 Mohm) that:
• there is no voltage between the input power terminals of
the drive, converter or inverter and the ground
• there is no voltage between the output power terminals of
the drive, converter or inverter and the ground.
• Do not work on the control cables when power is applied to the
external control circuits of the drive, converter or inverter.
Externally supplied control circuits may carry dangerous
voltage.
14 Safety
 About the manual 15

About the manual

What this chapter contains

This chapter introduces this manual.

Applicability
This manual applies to the FPBA-01 PROFIBUS DP adapter
module (+K454), SW version 2.143 or later.

Compatibility
The FPBA-01 PROFIBUS DP adapter module is compatible with
the following drives:
• ACS355
• ACSM1
• ACS850
• ACQ810
• ACS880.
The FPBA-01 PROFIBUS DP adapter module is compatible with
all master stations that support the PROFIBUS DP-V0 and DP-V1
protocols.
16 About the manual

Target audience
The reader is expected to have a basic knowledge of the fieldbus
interface, electrical fundamentals, electrical wiring practices and
how to operate the drive.

Purpose of the manual

The manual provides information on installing, commissioning and
using an FPBA-01 PROFIBUS DP adapter module.

Related manuals
The related manuals are listed below.
Code (English)
Drive user’s manuals
ACS355 drives (0.37…22 kW, 3AUA0000066143
0.5…30 hp) user’s manual

Drive hardware manuals and

guides
ACSM1-204 regen supply modules 3AUA0000053713
(5.3 to 61 kW) hardware manual
ACSM1-04 drive modules (0.75 to 3AFE68797543
45 kW) hardware manual
ACSM1-04 drive modules (55 to 110 3AFE68912130
kW) hardware manual
ACSM1-04Lx liquid-cooled drive 3AUA0000022083
modules (55 to 160 kW) hardware
manual
ACS850-04 (0.37…45 kW) 3AUA0000045496
hardware manual
ACS850-04 (55…160 kW, 75…200 3AUA0000045487
hp) hardware manual
ACS850-04 (200…500 kW, 3AUA0000026234
250…600 hp) hardware manual
ACQ810-04 drive modules 3AUA0000055160
(0.37…45 kW, 0.5…60 hp) hardware
manual
ACQ810-04 drive modules (55 to 3AUA0000055161
160 kW, 75 to 200 hp) hardware
manual
 About the manual 17

Code (English)
ACQ810-04 drive modules 3AUA0000055155
(200…400 kW, 250…600 hp)
hardware manual
ACS880-01 (0.55 to 250 kW, 0.75 to 3AUA0000078093
350 hp) hardware manual

Drive firmware manuals and

guides
ACSM1 motion control program 3AFE68848270
firmware manual
ACSM1 speed and torque control 3AFE68848261
program firmware manual
ACSM1 regen supply control 3AUA0000052174
program firmware manual
ACS850 standard control program 3AUA0000045497
firmware manual
ACQ810 standard pump control 3AUA0000055144
program firmware manual
ACS880 primary control program 3AUA0000085967
firmware manual

Option manuals and guides

FPBA-01 PROFIBUS DP adapter 3AFE68573271
module user’s manual
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.
18 About the manual

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.

Contents
The manual consists of the following chapters:
• Safety presents the safety instructions which you must follow
when installing a fieldbus adapter module.
• About the manual introduces this manual.
• Overview of the PROFIBUS network and the FPBA-01 module
contains a short description of the PROFIBUS network and the
adapter module.
• Mechanical installation contains a delivery checklist and
instructions on mounting the adapter module.
• Electrical installation contains instructions on cabling,
connecting the module to the PROFIBUS network and bus
termination.
• 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 PROFIBUS network,
the adapter module and the drive.
• Communication protocol describes the PROFIBUS messaging
used in the communication with the drive and in PROFIBUS
slave device configuration messages.
• Diagnostics explains how to trace faults with the status LEDs
on the adapter module.
 About the manual 19

• Technical data contains the technical data of the adapter

module and the PROFIBUS link.
• Appendix A – PROFIdrive parameters contains a list of the
PROFIdrive parameters.
• Appendix B – I&M records contains the telegram and response
structures for Identification & Maintenance records.

Terms and abbreviations used in this manual

„ General terms and abbreviations

Term/abbreviation Explanation
Communication module 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.
Command word See Control word.
Control word 16-bit word from master to slave with bit-coded
control signals (sometimes called the
Command word).
FPBA-01 PROFIBUS One of the optional fieldbus adapter modules
DP adapter module available for ABB drives. FPBA-01 is a device
through which an ABB drive is connected to a
PROFIBUS network.
Parameter Operating instruction for the drive. Parameters
can be read and programmed with the drive
control panel, drive PC tools or through the
adapter module.
PLC Programmable logic controller
Profile 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.
Status word 16-bit word from slave to master with bit-coded
status messages
20 About the manual

„ PROFIBUS terms
Term Explanation
Acyclic communication Communication in which messages are sent
only once on request
Array Parameter consisting of data fields of equal
data type
Broadcast Non-acknowledged message from master to all
bus participants (compare Multicast)
Cyclic communication Communication in which parameter/process
data objects are sent cyclically at predefined
intervals
Drivecast Broadcast and Multicast, a special message
frame for drives
Fault Event that leads to tripping of the device
GSD file ASCII-format device description file in a
specified form. Each different slave type on the
PROFIBUS network needs to have its own GSD
file.
Index Access reference for objects in PROFIBUS
Master Control system with bus initiative. In the
PROFIBUS terminology, master stations are
also called active stations.
Multicast Non-acknowledged message from master to
one group of bus participants (compare
Broadcast)
Name Symbolic name of a parameter
Parameter Value that can be accessed as an object, eg,
variable, constant, signal
Parameter number Parameter address
Parameter/Process Special object that contains parameter and
process
Data object Special object that contains parameter and
process data
 About the manual 21

Term Explanation
Process data Data that contains Control word and reference
value or Status word and actual value. May also
contain other (user-definable) control
information.
Request label Coded information specifying the required
service for the parameter part sent from master
to slave
Response label Coded information specifying the required
service for the parameter part sent from slave to
master
Slave Passive bus participant. In the PROFIBUS
terminology, slave stations (or slaves) are also
called passive stations. Also referred to as
node.
Warning Signal caused by an existing alarm which does
not lead to tripping of the device

„ PROFIBUS abbreviations
The text in italics is the original German term.
Abbreviation Explanation
ACT Actual value
Istwert
AK Request label/Response label
Auftragskennung/Antwortkennung
DP Decentralised Periphery
Dezentrale Peripherie
DP-V0 PROFIBUS DP extension to the EN 50170
standard, providing the basic functionality of DP,
including cyclic data exchange
DP-V1 PROFIBUS DP extension to the EN 50170
standard, including, eg, acyclic data exchange
FMS Fieldbus Message Specification
ISW See ACT.
22 About the manual

Abbreviation Explanation
PA Process Automation
Prozessautomatisierung
PD Process data
Prozessdaten
PKE Parameter identification
Parameter-Kennung
PKW Parameter identification value
Parameter-Kennung-Wert
PNU Parameter number
Parameternummer
PPO Parameter/Process data object
Parameter-/Prozessdaten-Objekt
PWE Parameter value
Parameter-Wert
PZD See PD.
PZDO Process data object
Prozessdatenobjekt
SAP Service access point
SOW Reference
Sollwert
SPM Request signal
Spontanmeldung
STW Control word
Steuerwort
ZSW Status word
Zustandswort
 Overview of the PROFIBUS network and the FPBA-01 module 23

Overview of the PROFIBUS

network and the FPBA-01
module

What this chapter contains

This chapter contains a short description of the PROFIBUS
network and the FPBA-01 PROFIBUS DP adapter module.

PROFIBUS network
PROFIBUS is an open serial communication standard that enables
data exchange between all kinds of automation components.
There are three main variations of PROFIBUS:
• PROFIBUS FMS (Fieldbus Message Specification)
• PROFIBUS DP (Decentralised Periphery)
• PROFIBUS PA (Process Automation).
The physical transmission medium of the bus is a twisted pair
cable (according to the RS-485 standard). The maximum length of
the bus cable is 100 to 1200 meters, depending on the selected
transmission rate (see chapter Technical data). Up to 32 nodes can
be connected to the same PROFIBUS network segment without
the use of repeaters. With repeaters, it is possible to connect 126
nodes (including repeaters and a master station) to the network.
24 Overview of the PROFIBUS network and the FPBA-01 module

In PROFIBUS communication, the master station – usually a

programmable logic controller (PLC) – polls the nodes which
respond and take the actions requested by the master. It is also
possible to send a command to several nodes at the same
broadcast; in this case the nodes do not send a response message
to the master.
The PROFIBUS protocol family is specified in the IEC 61158
standard. The communication with a drive is defined in
PROFIdrive-PROFILE – The PROFIBUS Profile for Adjustable
Speed Drives. For further information on PROFIBUS, refer to the
above-mentioned standard.
 Overview of the PROFIBUS network and the FPBA-01 module 25

„ Example topology of the PROFIBUS link

An example of an allowable topology is shown below.
Segment 1

PROFIBUS ABB drive Other slave

master device

T T

T
Segment 2

Other slave ABB drive

device

R
Segment 3

Other slave ABB drive

device

T T

R = Repeater
T = Termination
26 Overview of the PROFIBUS network and the FPBA-01 module

FPBA-01 PROFIBUS DP adapter module

The FPBA-01 PROFIBUS DP adapter module is an optional
device for ABB drives which enables the connection of the drive to
a PROFIBUS network. The drive is considered a slave on the
PROFIBUS 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 a process actual value or a process reference 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 PROFIBUS commands and services supported by the adapter
module are described in chapter Communication protocol. Refer to
the user documentation of the drive as to which commands are
supported by the drive.
The adapter module is mounted into an option slot on the motor
control board of the drive. See the drive manuals for module
placement options.
 Overview of the PROFIBUS network and the FPBA-01 module 27

„ Layout of the adapter module

Diagnostic LEDs
(see chapter Diagnostics)

Bus connector X1
(see chapter Electrical
Mounting screw installation)
28 Overview of the PROFIBUS network and the FPBA-01 module
 Mechanical installation 29

Mechanical installation

What this chapter contains

This chapter contains a delivery checklist and instructions on
mounting the adapter module.

WARNING! Follow the safety instructions given in this

manual and the drive documentation.

Delivery check
The option package for the adapter module contains:
• PROFIBUS DP adapter module, type FPBA-01
• this manual.
30 Mechanical installation

Mounting the adapter module

The adapter module is to be inserted into its specific position in the
drive. The module is held in place with plastic pins and one screw.
The screw also provides the electrical connection between the
module and drive frame for cable shield termination.
When the module is installed, the signal and power connection to
the drive is made through a 20-pin connector. (All drives do not use
all the available signals so the connector on the drive may have
fewer pins.)
Mounting procedure:
1. Insert the module carefully into its position on the drive.
2. Fasten the screw.
Note: It is essential to install the screw properly to fulfill the EMC
requirements and to ensure the proper operation of the module.
For more information on mounting, see the drive manuals.
 Electrical installation 31

Electrical installation

What this chapter contains

This chapter contains:
• general cabling instructions
• instructions on connecting the module to the PROFIBUS DP
network
• instructions on switching on the bus termination.

WARNING! Before installation, switch off the drive power

supply. Wait five minutes to ensure that the capacitor bank
of the drive is discharged. Switch off all dangerous
voltages connected from external control circuits to the inputs and
outputs of the drive.

General cabling instructions

• Arrange the bus cables as far away from the motor cables as
possible.
• Avoid parallel runs.
• Use bushings at cable entries.
32 Electrical installation

Connecting the module to the PROFIBUS network

Connect the bus cable to connector X1 on the adapter module.
The connector pin allocation described below follows the
PROFIBUS standard.
5 1

X1

9 6

X1 Description
1 SHLD Alternate cable shield connection. Connected to
connector housing.
2 Not used
3 B Data positive (Conductor 1 in twisted pair)
4 RTS Request to send
5 GND_B Isolated ground
6 +5V_B Isolated 5 V DC voltage supply (30 mA max.)
7 Not used
8 A Data negative (Conductor 2 in twisted pair)
9 Not used
Housing SHLD PROFIBUS cable shield. Internally connected to
GND_B via an RC filter and directly to CH_GND
(chassis).
+5V_B and GND_B are used for bus termination.
RTS is used in some equipment to determine the direction of transmission.
In typical applications, only the line A, line B and shield are used.
 Electrical installation 33

It is recommended to use a PROFIBUS-approved D-SUB 9

connector. These connectors have a built-in termination network
and inductors for station capacitance compensation.
Connect the cable to the D-SUB connector as follows:

Green

Green
Red

Red
1A 1B 2A 2B

Grounding (earthing) clamp/

Strain relief
OUT
IN
34 Electrical installation

Switching on the bus termination

Bus termination is required to prevent signal reflections from the
bus cable ends. The adapter module is not equipped with internal
bus termination. Therefore, the D-SUB connectors at the first and
last modules of the bus must have built-on termination switched on
as shown in the diagram below.
The adapter module is able to supply power for an active-type
termination circuitry (30 mA max.).

PROFIBUS PROFIBUS PROFIBUS PROFIBUS

device device device device

Term. Term. Term. Term.

ON OFF OFF ON

Note: Further information on PROFIBUS wiring is available from

the publication PROFIBUS RS 485-IS User and Installation
Guideline (www.profibus.com, order no. 2.262).
 Start-up 35

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! Follow the safety instructions given in this

manual and the drive documentation.
36 Start-up

Drive configuration
The following information applies to all drive types compatible with
the adapter module, unless otherwise stated.

„ PROFIBUS 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 PROFIBUS DP
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 48.
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 that 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: To ensure proper operation of the adapter module with the
drive, also set the extended Parameter Data (see SAP 61
(Set_Prm) on page 103).

Data transfer rates supported

The FPBA-01 module supports the following PROFIBUS
communication speeds: 9.6 kbit/s, 19.2 kbit/s, 45.45 kbit/s,
93.75 kbit/s, 187.5 kbit/s, 500 kbit/s, 1.5 Mbit/s, 3 Mbit/s, 6 Mbit/s,
12 Mbit/s.
The module automatically detects the communication speed and
telegram type used.
 Start-up 37

FPBA-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 1=
as detected by the drive. The value cannot Profibus_DP
be adjusted by the user.
If the value is 0 = None, the communication
between the drive and the module has not
been established.
02 NODE ADDRESS Each device on the PROFIBUS network 3
must have a unique node number. This
ACS355: parameter defines a node number for the
FB PAR 2 drive the module is connected to.
ACSM1: Recommended node numbers are 3 to 125
FBA PAR2 inclusive.
ACS850/ACQ810:
FBA par2
ACS880:
Node address
0…126 Node number
03 BAUD RATE Read-only. Indicates the detected 15001)
communication speed in kbit/s.
ACS355:
FB PAR 3 1)
Default value is 0 if there is no connection.
ACSM1:
FBA PAR3
ACS850/ACQ810:
FBA par3
ACS880:
Baud rate
12000 12 Mbit/s
6000 6 Mbit/s
3000 3 Mbit/s
1500 1.5 Mbit/s
38 Start-up

No. Name/Value Description Default

500 500 kbit/s
187 187.5 kbit/s
93 93.75 kbit/s
45 45.45 kbit/s
19 19.2 kbit/s
9 9.6 kbit/s
04 TELEGRAM Read-only. Indicates the telegram type 1 = PPO1
TYPE selected for PROFIBUS communication.
The adapter module automatically detects
ACS355: the telegram type used.
FB PAR 4 For more information on the supported PPO
ACSM1: message types, see section PPO types on
FBA PAR4 page 114.
ACS850/ACQ810: If standard telegrams (ST) are used,
FBA par4 parameter 05 PROFILE is automatically set.
ACS880:
MSG type
1 = PPO1 PPO1 selected
2 = PPO2 PPO2 selected
3 = PPO3 PPO3 selected
4 = PPO4 PPO4 selected
5 = PPO5 PPO5 selected
6 = PPO6 PPO6 selected
7 = ST1 ST1 selected
8 = ST2 ST2 selected. Only supported with ACSM1.
9 = PPO7 PPO7 selected
10 = PPO8 PPO8 selected
 Start-up 39

No. Name/Value Description Default

05 PROFILE Selects the communication profile used. 1 = ABB
For more information on the communication DRIVES
ACS355: profiles, see chapter Communication
FB PAR 5 profiles.
ACSM1:
FBA PAR5
ACS850/ACQ810:
FBA par5
ACS880:
Profile
0 = PROFIdrive PROFIdrive profile selected. See also
Virtual address allocation with ACSM1 on
page 46.
1 = ABB DRIVES ABB Drives profile selected
2 = Trans16 Transparent 16 profile selected
3 = Trans32 Transparent 32 profile selected.
Not supported with ACS355.
4 = PROFIdrive P PROFIdrive positioning mode selected. Only
supported with ACSM1. See also Virtual
address allocation with ACSM1 on page 46.
06 T16 SCALE Defines the reference multiplier/actual value 99
divisor for the adapter module. The
ACS355: parameter is effective only when the
FB PAR 6 Transparent 16 profile is selected AND the
ACSM1: drive is using the native communication
FBA PAR6 profile (for example, DCU or FBA) and a 16-
ACS850/ACQ810: bit transparent Reference 1/Actual value 1.
FBA par6 With an ACS355 drive, the speed reference
from the PLC is multiplied by the value of
ACS880:
this parameter plus one. For example, if the
T16 scale
parameter has a value of 99 and a reference
of 1000 given by the master, the reference
will be multiplied by 99 +1 = 100 and
forwarded to the drive as 100000. According
to the DCU profile, this value is interpreted
as a reference of 100 rpm in the drive.
With ACSM1, ACS850, ACQ810 and
ACS880, setting this parameter to 65535
provides the approximation of 1 ≈ 1 rpm.
0…65535 Reference multiplier/actual value divisor
40 Start-up

No. Name/Value Description Default

07 RPBA MODE Enables the RPBA emulation mode for the 0 = Disabled
drive. When this mode is enabled, it is
ACS355: possible to replace a drive using an RPBA-
FB PAR 7 01 module in the PROFIBUS network with a
ACSM1: drive using an FPBA-01 module without
FBA PAR7 modifying the PLC hardware configuration.
ACS850/ACQ810:
FBA par7
ACS880:
RPBA mode
0 = Disabled RPBA emulation mode is disabled.
1 = Enabled RPBA emulation mode is enabled.
08 Reserved These parameters are not used by the N/A
… adapter module.
26
27 FBA PAR Validates any changed adapter module 0 = Done
REFRESH configuration parameter settings. After
refreshing, the value reverts automatically to
ACS355/ACSM1: 0 = Done.
FBA PAR Note: This parameter cannot be changed
REFRESH
while the drive is running.
ACS850/ACQ810/
ACS880:
FBA par refresh
0 = Done Refreshing done
1 = Refresh / Refreshing
Configure
28 PAR TABLE VER Read-only. Displays the parameter table N/A
revision of the fieldbus adapter module
ACS355: mapping file stored in the memory of the
FILE CPI FW REV drive.
In format xyz, where
ACSM1:
PAR TABLE VER x = major revision number
y = minor revision number
ACS850/ACQ810/ z = correction number
ACS880: OR
Par table ver in format axyz, where
a = major revision number
xy = minor revision number
z = correction number or letter.
Parameter table revision
 Start-up 41

No. Name/Value Description Default

29 DRIVE TYPE Read-only. Displays the drive type code of N/A
CODE the fieldbus adapter module mapping file
stored in the memory of the drive.
ACS355:
FILE CONFIG ID
ACSM1:
DRIVE TYPE
CODE
ACS850/ACQ810/
ACS880:
Drive type code
Drive type code of the fieldbus adapter
module mapping file
30 MAPPING FILE Read-only. Displays the fieldbus adapter N/A
VER module mapping file revision stored in the
memory of the drive in decimal format.
ACS355:
FILE CONFIG
REV
ACSM1:
MAPPING FILE
VER
ACS850/ACQ810/
ACS880:
Mapping file ver
Mapping file revision
31 D2FBA COMM Read-only. Displays the status of the 0 = Idle
STA fieldbus adapter module communication. OR
Note: The value names may vary by drive. 4 = Off-line
ACS355:
FBA STATUS
ACSM1:
D2FBA COMM
STA
ACS850/ACQ810/
ACS880:
D2FBA comm sta
0 = Idle Adapter is not configured.
1 = Exec.init Adapter is initializing.
2 = Time out A timeout has occurred in the
communication between the adapter and
the drive.
42 Start-up

No. Name/Value Description Default

3 = Conf.err Adapter configuration error: The 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 Read-only. Displays the common program N/A
VER revision of the adapter module in format
axyz, where:
ACS355: a = major revision number
FBA CPI FW REV xy = minor revision number
ACSM1: z = correction number or letter.
FBA COMM SW
VER
ACS850/ACQ810:
FBA comm sw ver
ACS880:
FBA comm SW
ver
Common program version of the adapter
module
33 FBA APPL SW Read-only. Displays the application N/A
VER program revision of the adapter module in
format axyz, where:
ACS355:
a = major revision number
FBA APPL FW
xy = minor revision number
REV
z = correction number or letter.
ACSM1:
FBA APPL SW
VER
ACS850/ACQ810:
FBA appl sw ver
ACS880:
FBA appl SW ver
Application program revision of the adapter
module
 Start-up 43

FPBA-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, 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 DATA OUT 1 Selects data word 1 received by the drive over 1 or 112)
(master to drive) the PROFIBUS network. The content is defined
by a decimal number in the range of 0 to 9999
ACS355: as follows:
FBA DATA OUT 1
ACSM1: 0 Not used
FBA DATA OUT1
1…99 Virtual address area of drive control
ACS850/ACQ810/
ACS880: 101… Parameter area of the drive
FBA data out1 9999

See also Virtual address allocation with

ACSM1 on page 46.
0 = None Not used
1 = CW 16bit Control word (16 bits)3)
2 = Ref1 16bit Reference REF1 (16 bits)3)
3 = Ref2 16bit Reference REF2 (16 bits)3)
11 = CW 32bit Control word (32 bits)
12 = Ref1 32bit Reference REF1 (32 bits)
13 = Ref2 32bit Reference REF2 (32 bits)
21 = CW2 16bit Control word 2 (16 bits)
101…9999 Parameter index with format xxyy, where
• xx is the parameter group number (1…99)
• yy is the parameter number index within
that group (01…99).
Other Path to parameter area selection (ACS880
(ACS880 only) only)
44 Start-up

No.1) Name/Value Description Default

02 DATA OUT 2 See parameter 01 DATA OUT 1. 0 or 24)
03… DATA OUT 3… See parameter 01 DATA OUT 1. 0
12 DATA OUT 12
1)
The number of parameters in this group may vary by drive type and drive firmware.
2)
11 (CW 32bit) is the default setting if the Transparent 32 profile is used.
3)
With an ACS355 drive, Control word and REF 1 are always fixed to virtual addresses
1 and 2 respectively. If REF2 is used, its virtual address is always 3.
4) 2 (Ref1 16bit) is a fixed setting with an ACS355 drive.
 Start-up 45

FPBA-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, 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 DATA IN 1 Selects data word 1 sent by the drive over the 4 or 142)
(drive to master) PROFIBUS network. The content is defined by
a decimal number in the range of 0 to 9999 as
ACS355: follows:
FBA DATA IN 1
ACSM1: 0 Not used
FBA DATA IN1
1…99 Virtual address area of drive control
ACS850/ACQ810/
ACS880: 101… Parameter area of the drive
FBA data in1 9999

See also Virtual address allocation with

ACSM1 on page 46.
0 = None Not used
4 = SW 16bit Status word (16 bits)
5 = Act1 16bit Actual value ACT1 (16 bits)
6 = Act2 16bit Actual value ACT2 (16 bits)
14 = SW 32bit Status word (32 bits)
15 = Act1 32bit Actual value ACT1 (32 bits)
16 = Act2 32bit Actual value ACT2 (32 bits)
24 = SW2 16bit Status word 2 (16 bits)
101…9999 Parameter index with format xxyy, where
• xx is the parameter group number (1…99)
• yy is the parameter number index within
that group (01…99).
Other Path to parameter area selection (ACS880
(ACS880 only) only)
46 Start-up

No.1) Name/Value Description Default

02 DATA IN 2 See parameter 01 DATA IN 1. 0 or 53)
03… DATA IN 3… See parameter 01 DATA IN 1. 0
12 DATA IN 12
1)
The number of parameters in this group may vary by drive type and drive firmware.
2)
14 (SW 32bit) is the default setting if the Transparent 32 profile is used.
3)
5 (Act1 16bit) is a fixed setting with an ACS355 drive.

Virtual address allocation with ACSM1

When the PROFIdrive profile or PROFIdrive positioning mode is
used with an ACSM1 drive, the virtual addresses shown below are
recommended. (FBA REFx mode is selected with drive parameter
50.04/50.05.)
The information in the table is applicable only if PPO messaging is
used (see parameter 04 TELEGRAM TYPE). If standard telegrams
(STx) are used, virtual addresses for standard telegrams (ST1 and
ST2) are updated automatically.
Abbreviation Description Data Recommended virtual
length address with ACSM1
FBA REFx modes
Speed Position
mode mode
STW1 Control word 1 16-bit 1 1
NSOLL_A Speed set point A 16-bit 2 or 3
NSOLL_B Speed set point B 32-bit 12 or 13
STW2 Control word 2 16-bit 21 21
XSOLL_A Position set point A 32-bit 12 or 13
VELOCITY_A Velocity 32-bit 13
ZSW2 Status word 2 16-bit 24 24
NIST_A Speed actual value A 16-bit 5 or 6
NIST_B Speed actual value B 32-bit 15 or 16
ZSW1 Status word 1 16-bit 4 4
XIST_A Position actual value A 32-bit 15 or 16
 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, etc.).
In order 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 drive-specific
parameter setting examples below contain the drive control
parameters needed in the examples. For a complete parameter
list, see the drive documentation.
48 Start-up

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 FPBA-01 configuration parameters in group 51. At the
minimum, set the required node address in parameter 5102
and the communication profile in 5105.
4. With parameter 3018 COMM FAULT FUNC, select how the
drive reacts to a fieldbus communication break.
5. With parameter 3019 COMM FAULT TIME, define the time
between communication break detection and the selected
action.
6. Define the process data transferred to and from the drive in the
FPBA-01 configuration parameter groups 54 and 55.
Note: The adapter module sets the Status word and actual
value automatically in parameters 5401 and 5402, and Control
word and reference in parameters 5501 and 5502.
7. Validate the settings made in parameter groups 51, 54 and 55
by setting parameter 5127 FBA PAR REFRESH to REFRESH.
8. 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 49

„ Parameter setting examples – ACS355

Speed control using the PROFIdrive communication profile
with PPO Type 2
This example shows how to configure a basic speed control
application that uses the PROFIdrive profile. In addition, some
application-specific data is added to the communication.
The start/stop commands and reference are according to the
PROFIdrive profile. For more information, see the PROFIdrive
state machine on page 88.
The reference value ±16384 (4000h) corresponds to parameter
1105 REF1 MAX in the forward and reverse directions.
Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6
Out Control Speed Accelera- Decelera- N/A N/A
word reference tion time1) tion time
In Status Speed Power1) DC bus N/A N/A
word actual value voltage
1)
Example

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
the drive and the fieldbus adapter
module.

5101 FBA TYPE PROFIBUS-DP1) Displays the type of the fieldbus

adapter module.
5102 FB PAR 2 32) Defines the PROFIBUS node
(NODE ADDRESS) address of the fieldbus adapter
module.
5103 FB PAR 3 120001) Displays the current baud rate on
(BAUD RATE) the PROFIBUS network in kbit/s.
5104 FB PAR 4 2 (= PPO2)1) Displays the telegram type
(TELEGRAM TYPE) selected by the PLC configuration
tool.
5105 FB PAR 5 0 (= PROFIdrive) Selects the Control word
(PROFILE) according to the PROFIdrive
profile (speed control mode).
50 Start-up

Drive parameter Setting for Description

ACS355 drives

3018 COMM FAULT FUNC 3 = LAST SPEED Enables fieldbus communication

fault monitoring.
3019 COMM FAULT TIME 3.0 s Defines the fieldbus
communication break supervision
time.

5401 FBA DATA IN 1 4 (= SW 16bit)1) Status word

5402 FBA DATA IN 2 5 (= Act1 16bit)1) Actual value 1 (speed)
5403 FBA DATA IN 3 1062) Power
5404 FBA DATA IN 4 1072) DC bus voltage
5501 FBA DATA OUT 1 1 (= CW 16bit)1) Control word
5502 FBA DATA OUT 2 2 (= Ref1 16bit)1) Reference 1 (speed)
5503 FBA DATA OUT 3 22022) Acceleration time
5504 FBA DATA OUT 4 22032) Deceleration time

5127 FBA PAR REFRESH 1 = REFRESH Validates the FPBA-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.
1103 REF1 SELECT 8 = COMM Selects the fieldbus reference 1 as
the source for speed reference 1.
1601 RUN ENABLE 7 = COMM Selects the fieldbus interface as
the source for the inverted Run
enable signal (Run disable).
1604 FAULT RESET SEL 8 = COMM Selects the fieldbus interface as
the source for the fault reset
signal.
1)
Read-only or automatically detected/set
2) Example
 Start-up 51

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)

Speed and torque control using the ABB Drives

communication profile with PPO Type 4
This example shows how to configure a speed and torque control
application that uses the ABB Drives profile. From the PLC
programming point, the ABB Drives profile is similar to the
PROFIdrive profile shown in the first example.
The start/stop commands and reference are according to the ABB
Drives profile. For more information, see section ABB Drives
communication profile on page 92.
When Reference 1 (REF1) is used, a reference value of ±20000
(decimal) corresponds to the reference set by parameter 1105
REF1 MAX in the forward and reverse directions.
When Reference 2 (REF2) is used, a reference value of ±10000
(decimal) corresponds to the reference set by parameter 1108
REF2 MAX in the forward and reverse directions.
The minimum and maximum 16-bit integer values that can be
given through the fieldbus are -32768 and 32767 respectively.
Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6
Out Control Speed Torque N/A N/A N/A
word reference reference
In Status word Speed actual Torque N/A N/A N/A
value actual
52 Start-up

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
the drive and the fieldbus adapter
module.

5101 FBA TYPE PROFIBUS-DP1) Displays the type of the fieldbus

adapter module.
5102 FB PAR 2 42) Defines the PROFIBUS node
(NODE ADDRESS) address of the fieldbus adapter
module.
5103 FB PAR 3 15001) Displays the current baud rate on
(BAUD RATE) the PROFIBUS network in kbit/s.
5104 FB PAR 4 4 (= PPO4)1) Displays the telegram type
(TELEGRAM TYPE) selected by the PLC configuration
tool.
5105 FB PAR 5 1 (= ABB DRIVES) Selects the Control word
(PROFILE) according to the ABB Drives
profile.

3018 COMM FAULT FUNC 3 = LAST SPEED Enables fieldbus communication

fault monitoring.
3019 COMM FAULT TIME 3.0 s Defines the fieldbus
communication break supervision
time.

5401 FBA DATA IN 1 4 (= SW 16bit)1) Status word

5402 FBA DATA IN 2 5 (= Act1 16bit)1) Actual value 1 (speed)
5403 FBA DATA IN 3 6 (= Act2 16bit)2) Actual value 2 (torque)
5501 FBA DATA OUT 1 1 (= CW 16bit)1) Control word
5502 FBA DATA OUT 2 2 (= Ref1 16bit)1) Reference 1 (speed)
5503 FBA DATA OUT 3 3 (= Ref2 16bit)2) Reference 2 (torque)

5127 FBA PAR REFRESH 1 = REFRESH Validates the FPBA-01

configuration parameter settings.

9904 MOTOR CTRL 2 = VECTOR: Selects the vector control mode as

MODE TORQ the motor control mode.
 Start-up 53

Drive parameter Setting for Description

ACS355 drives
1001 EXT1 COMMANDS 10 = COMM Selects the fieldbus interface as
the source of the start and stop
commands for external control
location 1.
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.
1103 REF1 SELECT 8 = COMM Selects the fieldbus reference 1 as
the source for speed reference 1.
1106 REF2 SELECT 8 = COMM Selects the fieldbus reference 2 as
the source for speed reference 1.
1601 RUN ENABLE 7 = COMM Selects the fieldbus interface as
the source for the inverted Run
enable signal (Run disable).
1604 FAULT RESET SEL 8 = COMM Selects the fieldbus interface as
the source for the fault reset
signal.
1) Read-only
or automatically detected/set
2) Example

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)
• C7Fh (3199 decimal) –> OPERATING (Torque mode)
54 Start-up

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. With parameter 50.02 COMM LOSS FUNC, select how the
drive reacts to a fieldbus communication break.
Note that this function monitors both communication between
the fieldbus master and the adapter module and
communication between the adapter module and the drive.
4. With parameter 50.03 COMM LOSS T OUT, define the time
between communication break detection and the selected
action.
5. Select application-specific values for parameters
50.04…50.11. Examples of appropriate values are shown in
the tables below.
6. Set the FPBA-01 configuration parameters in group 51. At the
minimum, set the required node address in parameter 51.02
and the communication profile in 51.05.
7. Define the process data transferred to and from the drive in the
FPBA-01 configuration parameter groups 52 and 53.
Note: The adapter module sets the Status word and Control
word automatically in parameters 52.01 and 53.01.
8. Validate the settings made in parameter groups 51, 52 and 53
by setting parameter 51.27 FBA PAR REFRESH to REFRESH.
9. 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 55

„ Parameter setting examples – ACSM1

Speed control using the PROFIdrive communication profile
with PPO Type 2
This example shows how to configure a basic speed control
application that uses the PROFIdrive profile. In addition, some
application-specific data is added to the communication.
The start/stop commands and reference are according to the
PROFIdrive profile, speed control mode. For more information, see
the PROFIdrive state machine on page 88.
The reference value ±16384 (4000h) corresponds to parameter
25.02 SPEED SCALING in the forward and reverse directions.
Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6
Out Control Speed Acceleration time1) Deceleration time1)
word reference
In Status Speed actual Power1) DC bus voltage1)
word value
1)
Example

The table below gives the recommended drive parameter settings.

Drive parameter Setting for Description
ACSM1 drives
50.01 FBA ENABLE Enable Enables communication between
the drive and the fieldbus adapter
module.
50.02 COMM LOSS FUNC Last speed Enables fieldbus communication
fault monitoring.
50.03 COMM LOSS T OUT 3.0 s Defines the fieldbus
communication break supervision
time.
50.04 FBA REF1 Speed Selects the fieldbus reference 1
MODESEL scaling.

51.01 FBA TYPE PROFIBUS-DP1) Displays the type of the fieldbus

adapter module.
51.02 FBA PAR2 32) Defines the PROFIBUS node
(NODE ADDRESS) address of the fieldbus adapter
module.
56 Start-up

Drive parameter Setting for Description

ACSM1 drives
51.03 FBA PAR3 120001) Displays the current baud rate on
(BAUD RATE) the PROFIBUS network in kbit/s.
51.04 FBA PAR4 2 (= PPO2)1) Displays the telegram type
(TELEGRAM TYPE) selected by the PLC configuration
tool.
51.05 FBA PAR5 0 (= PROFIdrive) Selects the Control word according
(PROFILE) to the PROFIdrive profile (speed
control mode).

52.01 FBA DATA IN1 4 (= SW 16bit)1) Status word

52.02 FBA DATA IN2 5 (= Act1 16bit) Actual value 1 (speed)
52.03 FBA DATA IN3 1222) Power
52.05 FBA DATA IN5 1072) DC bus voltage
53.01 FBA DATA OUT1 1 (= CW 16bit)1) Control word
53.02 FBA DATA OUT2 2 (= Ref1 16bit) Reference 1 (speed)
53.03 FBA DATA OUT3 25032) Acceleration time
53.05 FBA DATA OUT5 25042) Deceleration time

51.27 FBA PAR REFRESH REFRESH Validates the FPBA-01

configuration parameter settings.

10.01 EXT1 START FUNC FBA Selects the fieldbus interface as

the source of the start and stop
commands for external control
location 1.
24.01 SPEED REF1 SEL FBA REF1 Selects the fieldbus reference 1 as
the source for speed reference 1.
34.03 EXT1 CTRL MODE1 Speed Selects speed control as the
control mode 1 for external control
location 1.
1) Read-only or automatically detected/set
2)
Example
 Start-up 57

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)

Position control using the PROFIdrive communication profile

with PPO Type 4
This example shows how to configure a basic positioning
application. The start/stop commands and reference are according
to the PROFIdrive profile, positioning mode. For more information,
see the PROFIdrive state machine on page 89.
Note: By default, fieldbus is not the only control source. See actual
signal 02.12 FBA MAIN CW in ACSM1 motion control program
firmware manual for details.
The position set point and velocity reference are defined as 32-bit
integer values; both are scaled as defined by drive parameter
settings.
Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6
Out Control word Position set point Velocity reference N/A
(STW1)
In Status word Position actual Velocity actual value N/A
(ZSW1) value

The table below gives the recommended drive parameter settings.

Drive parameter Setting for ACSM1 Description
drives
50.01 FBA ENABLE Enable Enables communication between the
drive and the fieldbus adapter
module.
50.02 COMM LOSS Fault Enables fieldbus communication
FUNC fault monitoring.
50.03 COMM LOSS T 3.0 s Defines the fieldbus communication
OUT break supervision time.
50.04 FBA REF1 Position Selects the fieldbus reference 1
MODESEL scaling.
58 Start-up

Drive parameter Setting for ACSM1 Description

drives
50.05 FBA REF2 Velocity Selects the fieldbus reference 2
MODESEL scaling.

51.01 FBA TYPE PROFIBUS-DP1) Displays the type of the fieldbus

adapter module.
51.02 FBA PAR2 32) Defines the PROFIBUS node
(NODE ADDRESS) address of the fieldbus adapter
module.
51.03 FBA PAR3 120001) Displays the current baud rate on the
(BAUD RATE) PROFIBUS network in kbit/s.
51.04 FBA PAR4 4 (= PPO4)1) Displays the telegram type selected
(TELEGRAM TYPE) by the PLC configuration tool.
51.05 FBA PAR5 4 (= PROFIdrive P) Selects the Control word according
(PROFILE) to the PROFIdrive positioning mode.

52.01 FBA DATA IN1 4 (= SW 16bit)1) Status word

52.02 FBA DATA IN2 15 (= Act1 32bit) Actual value 1
52.04 FBA DATA IN4 16 (= Act2 32bit) Actual value 2
53.01 FBA DATA OUT1 1 (= CW 16bit)1) Control word
53.02 FBA DATA OUT2 12 (= Ref1 32bit) Reference 1
53.04 FBA DATA OUT4 13 (= Ref2 32bit) Reference 2

51.27 FBA PAR REFRESH Validates the FPBA-01 configuration

REFRESH parameter settings.

10.01 EXT1 START FBA Selects the fieldbus interface as the

FUNC source of the start and stop
commands for external control
location 1.
22.01 SPEED FB SEL Enc1 speed2) Selects the actual speed measured
by encoder 1 as the speed feedback.
34.02 EXT1 MODE P.FBA MAIN CW.26 Selects the source for external 1
1/2SEL control mode 1/2 selection. Selection
is done by START_HOMING bit (bit
26 in the fieldbus Control word).
Mode 1: Position, Mode 2: Homing
34.03 EXT1 CTRL Position Selects position control as the
MODE1 control mode 1 for external control
location 1.
 Start-up 59

Drive parameter Setting for ACSM1 Description

drives
34.04 EXT1 CTRL Homing Selects homing control as the control
MODE2 mode 2 for external control location
1.
62.01 HOMING CAN Methodxx Selects the homing mode. Select the
METHOD appropriate CAN Method.
62.03 HOMING START C.False Selects the fieldbus as the homing
start source.
65.01 POS Fieldbus Position reference and speed are
REFSOURCE read from the fieldbus.
65.03 POS START 1 C.False Selects the fieldbus as the position
start1 source.
65.04 POS REF 1 SEL FBA REF 1 Selects the FBA reference 1 as the
position reference source.
65.11 POS START 2 C.False Selects the fieldbus as the position
start2 source.
65.22 PROF VEL REF FBA REF2 Selects the FBA reference 2 as the
SEL velocity reference source.
66.05 POS ENABLE C.False Selects the fieldbus as the source for
enabling the position reference
generator.
70.03 POS REF ENA C.False Selects the fieldbus as the source for
the position reference enable
command.
1)
Read-only or automatically detected/set
2)
Example

The position set point is scaled as follows:

Drive parameter Setting
60.05 POS UNIT (Position unit) m1)
60.08 POS2INT SCALE 1001)
1) Example
60 Start-up

The position set point and actual values are scaled with the above
example values as follows:

1000 / 100 = 10.00 m

60.05 POS UNIT

Physical value

60.06 POS2INT SCALE

Set point value

Example for velocity set point scale:

Drive Name Value Description
parameter
60.10 POS SPEED UNIT u/s1) Unit/s (in this case m/s)
60.11 POS SPEED2INT 1001) Scales position speed values to
integer values.
Selections:
1/10/100/1000/10000/100000
1) Example

The velocity set point and actual values are scaled with the above
example values as follows:

1000 / 100 = 10.00 m

60.10 POS SPEED UNIT

Physical value
60.11 POS SPEED2INT

Set point value

Pay attention to the following parameter groups:

Group Description
90 Encoder selection
91/92/93 Settings of the encoder
 Start-up 61

The start sequence for the above parameter example is given

below:
Control word:
• 406h (1030 decimal) –> READY TO SWITCH ON
• 40Fh (1039 decimal) –> OPERATING
• 43Fh (1087 decimal) –> OPERATING (Do reject traversing
task with no intermediate stop)
• 47Fh (1151 decimal) –> OPERATING (Activate traversing
task)
• C0Fh (3087 decimal) –> OPERATING (Start Homing
procedure)

Speed and torque control using the ABB Drives

communication profile with PPO Type 4
This example shows how to configure a speed and torque control
application that uses the ABB Drives profile. From the PLC
programming point, the ABB Drives profile is similar to the
PROFIdrive profile shown in the first example.
The start/stop commands and reference are according to the ABB
Drives profile. For more information, see section ABB Drives
communication profile on page 92.
When Reference 1 (REF1) is used, a reference value of ±20000
(4E20h) corresponds to the reference set by parameter 25.02
SPEED SCALING in the forward and reverse directions.
When Reference 2 (REF2) is used, a reference value of ±10000
(2710h) corresponds to the reference set by parameter 32.04
TORQUE REF 1 MAX in the forward and reverse directions.
Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6
Out Control Speed Torque N/A N/A N/A
word reference reference
In Status Speed actual Torque actual N/A N/A N/A
word value
62 Start-up

The table below gives the recommended drive parameter settings.

Drive parameter Setting for ACSM1 Description
drives
50.01 FBA ENABLE Enable Enables communication between the
drive and the fieldbus adapter
module.
50.02 COMM LOSS Fault Enables fieldbus communication fault
FUNC monitoring.
50.03 COMM LOSS T 3.0 s Defines the fieldbus communication
OUT break supervision time.
50.04 FBA REF1 Speed Selects the fieldbus reference 1
MODESEL scaling.
50.05 FBA REF2 Torque Selects the fieldbus reference 2
MODESEL scaling.

51.01 FBA TYPE PROFIBUS-DP1) Displays the type of the fieldbus

adapter module.
51.02 FBA PAR2 32) Defines the PROFIBUS node
(NODE ADDRESS) address of the fieldbus adapter
module.
51.03 FBA PAR3 120001) Displays the current baud rate on the
(BAUD RATE) PROFIBUS network in kbit/s.
51.04 FBA PAR4 4 (= PPO4)1) Displays the telegram type selected
(TELEGRAM TYPE) by the PLC configuration tool.
51.05 FBA PAR5 1 (= ABB DRIVES) Selects the Control word according to
(PROFILE) the ABB Drives profile.

52.01 FBA DATA IN1 4 (= SW 16bit)1) Status word (PZD 1)

52.02 FBA DATA IN2 5 (= Act1 16bit)2) Actual value 1
52.03 FBA DATA IN3 6 (= Act2 16bit)2) Actual value 2
53.01 FBA DATA OUT1 1 (= CW 16bit1) Control word
53.02 FBA DATA OUT2 2 (= Ref1 16bit2) Reference 1
53.03 FBA DATA OUT3 3 (= Ref2 16bit2) Reference 2

51.27 FBA PAR REFRESH Validates the FPBA-01 configuration

REFRESH parameter settings.

10.01 EXT1 START FBA Selects the fieldbus interface as the

FUNC source of the start and stop
commands for external control
location 1.
 Start-up 63

Drive parameter Setting for ACSM1 Description

drives
10.04 EXT2 START FBA Selects the fieldbus interface as the
FUNC source of the start and stop
commands for external control
location 2.
24.01 SPEED REF1 FBA REF1 Selects the fieldbus reference 1 as
SEL the source for speed reference 1.
32.02 TORQ REF ADD FBA REF2 Selects the fieldbus reference 2 as
SEL the source for torque reference 1.
34.01 EXT1/EXT2 SEL P.FBA MAIN CW.15 Enables external control location 1/2
selection through the fieldbus only
(bit 15 in the fieldbus Control word).
34.03 EXT1 CTRL Speed Selects speed control as the control
MODE1 mode 1 for external control location 1.
34.05 EXT2 CTRL Torque Selects torque control as the control
MODE1 mode 1 for external control location 2.
1) Read-only
or automatically detected/set
2) Example

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)
• C7Fh (3199 decimal) –> OPERATING (Torque mode)
64 Start-up

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. With parameter 50.02 Comm loss func, select how the drive
reacts to a fieldbus communication break.
Note that this function monitors both communication between
the fieldbus master and the adapter module and
communication between the adapter module and the drive.
4. With parameter 50.03 Comm loss t out, define the time
between communication break detection and the selected
action.
5. Select application-specific values for parameters
50.04…50.11. Examples of appropriate values are shown in
the tables below.
6. Set the FPBA-01 configuration parameters in group 51. At the
minimum, set the required node address in parameter 51.02
and the communication profile in 51.05.
7. Define the process data transferred to and from the drive in the
FPBA-01 configuration parameter groups 52 and 53.
Note: The adapter module sets the Status word and Control
word automatically in parameters 52.01 and 53.01.
8. Validate the settings made in parameter groups 51, 52 and 53
by setting parameter 51.27 FBA par refresh to Refresh.
9. 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 65

„ Parameter setting examples – ACS850 and ACQ810

Speed control using the PROFIdrive communication profile
with PPO Type 2
This example shows how to configure a basic speed control
application that uses the PROFIdrive profile. In addition, some
application-specific data is added to the communication.
The start/stop commands and reference are according to the
PROFIdrive profile, speed control mode. For more information, see
the PROFIdrive state machine on page 88.
The reference value ±16384 (4000h) corresponds to parameter
19.01 Speed scaling in the forward and reverse directions.
Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6
Out Control Speed Acceleration Deceleration time1)
word reference time1)
In Status Speed actual Power1) DC bus voltage1)
word value
1)
Example

The table below gives the recommended drive parameter settings.

Drive parameter Setting for Description
ACS850/ACQ810
drives
50.01 Fba enable Enable Enables communication between
the drive and the fieldbus adapter
module.
50.02 Comm loss func Fault Enables fieldbus communication
fault monitoring.
50.03 Comm loss t out 3.0 s Defines the fieldbus
communication break supervision
time.
50.04 Fb ref1 modesel Speed Selects the fieldbus reference 1
scaling.

51.01 FBA type Profibus-DP1) Displays the type of the fieldbus

adapter module.
51.02 FBA par2 32) Defines the PROFIBUS node
(NODE ADDRESS) address of the fieldbus adapter
module.
66 Start-up

Drive parameter Setting for Description

ACS850/ACQ810
drives
51.03 FBA par3 120001) Displays the current baud rate on
(BAUD RATE) the PROFIBUS network in kbit/s.
51.04 FBA par4 2 (= PPO2)1) Displays the telegram type selected
(TELEGRAM TYPE) by the PLC configuration tool.
51.05 FBA par5 0 (= PROFIdrive) Selects the Control word according
(PROFILE) to the PROFIdrive profile (speed
control mode).

52.01 FBA data in1 4 (= SW 16bit)1) Status word

52.02 FBA data in2 5 (= Act1 16bit) Actual value 1 (speed)
52.03 FBA data in3 1222) Power (32-bit)
52.05 FBA data in5 1072) DC bus voltage (32-bit)
53.01 FBA data out1 1 (= CW 16bit)1) Control word
53.02 FBA data out2 2 (= Ref1 16bit) Reference 1 (speed)
53.03 FBA data out3 22022) Acceleration time (32-bit)
53.05 FBA data out5 22032) Deceleration time (32-bit)

51.27 FBA par refresh Refresh Validates the FPBA-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.
21.01 Speed ref1 sel FBA ref1 Selects the fieldbus reference 1 as
(ACS850) the source for speed reference 1.
21.01 Speed ref sel FBA ref1
(ACQ810)
1)
Read-only or automatically detected/set
2)
Example

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)
 Start-up 67

Starting up ACS880 drives

1. Power up the drive.
2. Enable the communication between the adapter module and
the drive by setting parameter 50.01 FBA A Enable to Enable.
3. With parameter 50.02 FBA A comm loss func, select how the
drive reacts to a fieldbus communication break.
Note that this function monitors both communication between
the fieldbus master and the adapter module and
communication between the adapter module and the drive.
4. With parameter 50.03 FBA A comm loss t out, define the time
between communication break detection and the selected
action.
5. Select application-specific values for the rest of the parameters
in group 50, starting from 50.04. Examples of appropriate
values are shown in the tables below.
6. Set the FPBA-01 configuration parameters in group 51. At the
minimum, set the required node address in parameter 51.02
Node address and the communication profile in 51.05 Profile.
7. Define the process data transferred to and from the drive in
FPBA-01 configuration parameter groups 52 and 53.
Note: The adapter module sets the Status word and Control
word automatically in parameters 52.01 and 53.01.
8. Save the valid parameter values to permanent memory by
setting parameter 96.07 Param save to Save.
9. Validate the settings made in parameter groups 51, 52 and 53
by setting parameter 51.27 FBA par refresh to Configure.
10. Set the relevant drive control parameters to control the drive
according to the application. Examples of appropriate values
are shown in the tables below.
68 Start-up

„ Parameter setting examples – ACS880

Speed control using the PROFIdrive communication profile
with PPO Type 2
This example shows how to configure a basic speed control
application that uses the PROFIdrive profile.
The start/stop commands and reference are according to the
PROFIdrive profile, speed control mode. For more information, see
the PROFIdrive state machine on page 88.
The reference value ±16384 (4000h) corresponds to parameter
46.10 Speed scaling in the forward and reverse directions.
Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6
Out Control word Speed reference Acc time 1 Dec time 1
In Status word Speed actual Motor current DC voltage
value

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 the
drive and the fieldbus adapter
module.
50.04 FBA A ref1 type 4 = Speed Selects the fieldbus A reference 1
type and scaling.
50.07 FBA A act1 type 0 = Auto Selects the actual value type and
scaling according to the currently
active Ref1 mode defined in
parameter 50.04.

51.01 FBA TYPE 1 = Profibus_DP1) Displays the type of the fieldbus

adapter module.
51.02 Node address 32) Defines the PROFIBUS node address
of the fieldbus adapter module.
51.03 Baud rate 120001) Displays the current baud rate on the
PROFIBUS network in kbit/s.
51.04 MSG type 1 = PPO11) Displays the telegram type selected
by the PLC configuration tool.
 Start-up 69

Drive parameter Setting for Description

ACS880 drives
51.05 Profile 0 = PROFIdrive Selects the Control word according to
the PROFIdrive profile (speed control
mode).
51.07 RPBA mode 0 = Disabled Disables the RPBA emulation mode.

52.01 FBA data in1 4 = SW 16bit1) Status word

52.02 FBA data in2 5 = Act1 16bit Actual value 1
52.03 FBA data in3 P.1.72) Motor current
52.05 FBA data in5 P.1.112) DC voltage
53.01 FBA data out1 1 = CW 16bit1) Control word
53.02 FBA data out2 2 = Ref1 16bit Reference 1 (speed)
53.03 FBA data out3 P.23.122) Acc time 1
53.05 FBA data out5 P.23.132) Dec time 1

51.27 FBA par refresh 1 = Configure Validates the FPBA-01 configuration

parameter settings.

19.12 Ext1 ctrl mode1 2 = Speed Selects speed control as the control
mode 1 for external control location 1.
20.01 Ext1 commands 8 = Fieldbus A Selects the fieldbus A interface as the
source of the start and stop
commands for external control
location 1.
22.11 Speed ref1 FB A ref1 Selects the fieldbus A reference 1 as
selection the source for speed reference 1.
1)
Read-only or automatically detected/set
2)
Example

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)
70 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. Examples of an ABB AC500 PLC and Siemens SIMATIC
S7 PLC are given below. If you are using another master system,
refer to its documentation for more information.
The examples can be applied to all drive types compatible with the
module.

„ Downloading the GSD file

Configuration of the master station requires a type definition (GSD)
file.Downloadthe FPBA-01 GSD file from the Document library
(www.abb.com/drives).
• For DP-V0 communication, the file name is ABB_0959.GSD.
• For DP-V1 communication, the file name is ABB10959.GSD.
The GSD file describes the vendor-specific and PROFIdrive-
specific features of the adapter module. Vendor-specific features
can be used, for example, in the ABB Drives communication
profile. The PROFIdrive profile supports a set of services
described in the PROFIdrive specification.

„ Configuring an ABB AC500 PLC

This example shows how to configure the communication between
an ABB AC500 PLC and the adapter module using the Control
Builder Plus PS501 software, version 2.1.0 and later.
Before you start, make sure that you have downloaded the FPBA-
01 GSD file from the Document library.
 Start-up 71

1. Start the ABB Control Builder software.

2. On the Tools menu, select Device Repository.
3. In the window that opens, click Install... and browse for the
GSD file.

4. Open or create the PLC project that is used to control the

drive.
5. Add the CM572-DP PROFIBUS master device to the PLC
project, if necessary.
6. Add the FPBA-01 module to the PROFIBUS network.
7. Add the DP module, for example, PPO Type 4 to the FPBA-01
module to define cyclical communication between the adapter
module and the PLC.
72 Start-up

8. Define the CM572-DP master properties, such as the Baud

rate, Node address (Station address) and the Highest station
address.

•X
FPBA-Ol_mdiiWI_exdmp/e
- (ffj ACSOO_PMS83_ETH_V2_1 (ACSOO
i!'ln
AC500
Identification Mode
EJ CPU_parameters (CPU parameters)
r
• 10_Bus (I/O-Bus)
Station adchss: :±i Auto-Clear mocle
+ €:) Interfaces (Interfaces)
- 1ft Communication_modules 1'-0mmuno<:<KI!>~
Highest station address: 126 ±I
+ ~ PMSx1_ETH_Onboard_Ethernet Bus parameters
Ct!lCM572_DP (CM572-DP) Baudrate: 11500 ~ kllit/s
- Cj CMS72_Master !CI"I57<~-M~•sterl
- zeJ ~~··-~ ..~··J Slot time: 300 t6it Taroet rotation time: 12590 t6it

Min. TSDR: 11 tBit 8.3933 ms

C TA524 _Siot2 (Dummy module)
C TA524 _Siot3 (Dummy module) Max. TSDR: 150 tBit
C TA524 _Siot4 (Dummy module)
GAP update factor:
Quiet time: 0 t6it 10

Setup time: tBit Max. retry limi::

Bus morOtoring Calc.Aated timing

Edit parameter
Data control time: 120 ms Tid!: 37 tBit values
Min slave interval: 2000 IJS Tid2: 150 tBit

Poll timeout: 10 ms Set defau~ values

l~essages ... Q. X
Save Project 0 0 error(s) <D 1 warnin<J(s) G 0 messaoe(s)
~iption Project I Object Position
j <D Data has been skipped while... FPBA-OI_Inarual_ex ... ACSOO [ACSOO_PMS...

Precompile: 0 No <or inyo!idl aop!ication defined for !/0 hardng. !/0

Current user: (nobody)

 Start-up 73

9. Define the FPBA-01 properties:

On the DP-Parameters tab,
• select the Node address (Station address) and the DP
Mode
• configure the Fail-safe functionality.
I-_.....__ ___:'----~.....__C_M_S7_2..:-:..M_a_st_e_,
r lffj _ X_
ABB_Drives_FPBA_O l_DP_ V 1 .___ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _...

I
DP-Parameters JStatus Information I
r identification
I Station address: 4 :::B
r Parameter
I T_SDR (tBit): II j3 r Watchdog
~ Watchdog control

!dent number: Jox0959 _j Lock/Unlock: J 2 (Lock) Tfme (ms): 400

Groups ...

User parameter

~ Symbolic values Length of user parameter (Byte): 30 Defaults

Parameter Value Allowed values

DPMode DPVO Bit(7) 0 0-1
Process Alarm Disabled Bit(6) 0 0-1
Diagnostic Alarm Disabled Bit(S) 0 0-1
Update Alarm Disabled Bit(2) 0 0-1
Alarm Mode type mode BitArea(0-2) o 0-7
Prm Structure Enabled Bit(3) I 0-1
Length of User Data 26 UnsignedB 26 26-26
Structure Type 129 Unsigned8 129 129-129
Slot 0 UnsignedB o 0-0
Reserved 0 Unsigned8 0 0-0
Fail Safe mode Use fail-safe values BitArea(0-1) o 0-2
Control-zero mode Ignore data BitArea(2-3) 0 0-1
Failsafe Timeout(O = No timeout) 50 Unsignedl6 10 0-65535
PZDI Failsafe value 1147 Unsignedl6 1150 0-65535
PZD2 Failsafe value 0 Unsignedl6 0 0-65535
PZD3 Failsafe value 0 Unsignedl6 0 0-65535
PZD4 Failsafe value 0 Unsignedl6 0 0-65535
PZDS Failsafe value 0 Unsignedl6 0 0-65535
PZD6 Failsafe value 0 Unsignedl6 0 0-65535
PZD7 Failsafe value 0 Unsignedl6 0 0-65535
PZD8 Failsafe value 0 Unsignedl6 0 0-65535
PZD9 Failsafe value 0 Unsignedl6 0 0-65535
PZDIO Failsafe value 0 Unsignedl6 0 0-65535
74 Start-up

10. Define the DP module properties:

On the DP-module I/O Mapping tab, type names for the
variables that refer to the drive's signals in the PLC program.

11. Open the PLC program and create a program that controls the
drive.
 Start-up 75

12. Compile the project and download it to the PLC.

Note: Make sure that the variable names defined for the
drive's signals are used in the PLC program. Otherwise the
communication will not work.

8 POUs
i•.• ~ PLC_PRG [PRG)
76 Start-up

„ Configuring a Siemens SIMATIC S7 PLC

This example shows how to configure the communication between
a Siemens SIMATIC S7 PLC and the adapter module using
SIMATIC Manager Step 7.
Before you start, make sure that you have downloaded the FPBA-
01 GSD file from the Document library.
1. Install the GSD file.
 Start-up 77

2. Select the Fail Safe mode and enter a Failsafe Timeout value.
Properties - DP slave I
General Parameter A ssignment I
Parameters Value ....
..•..·....•.·..•...'.',','· .. . . ... ... ....... ..... .. . .
- @]] Alarm Mode · t ype m82~ ·.··· ::. ~-·

w
...

- @]] Prm Structure EQ?~~d§ ~I! tt=:K- 1~::: ~:R::

- @]] Length of User Data 26
- @]] Structure Type 129
- @]] Slot 0
- @]] Reserved 0
- @]] Fail Safe mode Use fail-safe values
- @]] Control-zero mode Ignore data
- @]] Failsafe Timeout(O = No timeout) 30
- @]] PZD 1 Failsafe value 1150
- @]] PZD2 Failsafe value 0
- @]] PZD3 Failsafe value 0
- @]] PZD4 Failsafe value 0
- @]] PZDS Failsafe value 0
- @]] PZD6 Failsafe value 0
- @]] PZD7 Failsafe value 0 L
- @]] PZDS Failsafe value 0
- @]] PZD9 Failsafe value 0 ~I
= '-----

OK I
 78 Start-up

3. Set the message type, baud rate and node number.

find:

.Erofile: IStandard
PROFIBUS DP
S·D Additional Field Devices
ltJCJ General
S·LJ Drives
SO ABB
1$J ·"j ABB Drives FPBA-01 DP-VO
· · ' Universal module
PP0-01, 4 PKW + 2 PZD
PPO -02, 4 PKW + 6 PZD
PP0-03, 0 PKW + 2 PZD
PP0-04, 0 PKW + 6 PZD
PP0-05, 4 PKW + 10 PZD
PP0-06, 0 PKW + 10 PZD
:•... 1 PP0-07, 4 PKW + 12 PZD

PP0 -08, 0 PKW + 12 PZD

PP0-02. 4 PKW + (2+2+2) PZD
···· PP0-04, 0 PKW + (2+2+2) PZD
PP0-05, 4 PKW + (2+2+2+2+2) PZD
PP0-06, 0 PKW + (2+2+2+2+2) PZD
PP0-07_ 4 PKW+(2+2+2+2+2+2)PZ[
PP0-08, 0 PKW+(2+2+2+2+2+2)PZ[
······ PPO -01 , 4 PKW +N oCons. 2 PZD
PPO -02, 4 PKW +N oCons. 6 PZD
PP0-03, 0 PKW +NoCons. 2 PZD
PP0-04, 0 PKW +NoCons. 6 PZD
PP0-05, 4 PKW +NoCons. 10 PZD
PP0-06. 0 PKW +NoCons. 10 PZD
·· i PPO -07_ 4 PKW +N oCons. 12 PZD
1 PP0-08, 0 PKW +NoCons. 12 PZD
~ ::I:. AOO 11.:. .......... ~OOA n1 riO\ 11
lili! SIMATIC 300(1) (Configuration)-- 319_FPBA ~~~

2 CPU 319-3 PN/DP

X7 MPIIDP
X2 DP
PROFIBUS
X3 PN-10
XJPJ Pori J

0 3
4
5
0116xDC24V
Dl16xDC24V
6 0016xDC24V /O.!lil.
7 0016xDC24V/O.!lil.
8
9
10
11

Slot DPID Order Number I Designation I Address Q Address Comment

1 4./lX PP0-07_ 4 PKW + 12 PZD 256... 263 256... 263
.? /3:!.\'' -,~PPO-Ol 4.Ft:w·-. !.?P.?O

3
4
5
 Start-up 79

„ Cyclic data handling

With FPBA-01, both data-consistent and non-consistent
communication can be used, data-consistent meaning that the
whole cyclic data frame is transmitted during a single program
cycle. Some PLCs handle this internally, but others must be
programmed to transmit data-consistent telegrams. For more
information, see chapter Communication protocol.
For example, Siemens SIMATIC S7 requires the use of special
functions SFC15 and SFC14.
80 Start-up
 Communication profiles 81

Communication profiles

What this chapter contains

This chapter describes the communication profiles used in the
communication between the PROFIBUS network, the adapter
module and the drive.

Communication profiles
Communication profiles are ways of conveying control commands
(Control word, Status word, references and actual values) between
the master station and the drive.
With the FPBA-01 module, the PROFIBUS network may employ
either the PROFIdrive profile or the ABB Drives profile. Both are
converted to the native profile (eg, DCU or FBA) by the adapter
module. In addition, two Transparent modes – for 16-bit and 32-bit
words respectively – are available. With the Transparent modes,
no data conversion takes place.
82 Communication profiles

The figure below illustrates the profile selection:

FPBA-01 Drive

Profile selection:

PROFIdrive
1)
Data conversion

ABB Drives
1)
Data conversion
Select Select
PROFIBUS
Transparent16
CW
REF1 Optional
REF2 16/32 reference/actual
SW -bit value scaling
ACT1
ACT2 Group A Group A
Par. 05 Par. 05
PROFIdrive
positioning
PROFIBUS 1)
Data conversion
PZDx
•
• 16/32 Transparent32
• -bit
•
PZD10

1) Native profile (eg, DCU or FBA)

Note: The diagram is applicable only when PPO messaging is used. If

standard telegrams (ST) are used, the communication profile is selected
automatically.

The following sections describe the Control word, the Status word,
references and actual values for the PROFIdrive and ABB Drives
communication profiles. Refer to the drive manuals for details on
the native profiles.
 Communication profiles 83

PROFIdrive communication profile

„ Control word and Status word

The Control word (PROFIdrive parameter 967) is the principal
means for controlling the drive from a fieldbus system. It is sent by
the fieldbus master station to the drive through the adapter
module. The drive switches between its states according to the bit-
coded instructions in the Control word and returns status
information to the master in the Status word (PROFIdrive
parameter 968).
The contents of the Control word and the Status word are detailed
below; see the drive documentation for information on the drive-
specific bits. The drive states for all operating modes are
presented on page 88. The drive states for the positioning mode
are presented on page 89.

Control word contents

The table below shows the contents of the Control word for the
PROFIdrive communication profile (PROFIdrive parameter 967).
The upper case boldface text refers to the states shown in the
state machine on page 88.
STATE/Description
Bit Name Value
Speed control mode Positioning mode
0 ON 1 Proceed to READY TO OPERATE.
OFF1 0 Emergency OFF, stop by the selected
deceleration ramp. Proceed to OFF1
ACTIVE; proceed further to READY TO
SWITCH ON unless other interlocks
(OFF2, OFF3) are active.
1 OFF2 1 Continue operation (OFF2 inactive).
0 Emergency OFF, coast to stop.
Proceed to OFF2 ACTIVE; proceed further
to SWITCH-ON INHIBIT.
2 OFF3 1 Continue operation (OFF3 inactive).
84 Communication profiles

STATE/Description
Bit Name Value
Speed control mode Positioning mode
0 Emergency stop, stop according to fastest
possible deceleration mode. Proceed to
OFF3 ACTIVE; proceed further to
SWITCH-ON INHIBIT. Warning: Ensure
motor and driven machine can be stopped
using this stop mode.
3 OPERATION_ 1 Proceed to ENABLE OPERATION.
ENABLE
0 Inhibit operation. Proceed to OPERATION
INHIBIT.
4 ENABLE_ 1 Normal operation. Normal operation.
RAMP_ Proceed to RAMP Do not reject
GENERATOR FUNCTION traversing task.
or GENERATOR:
ENABLE OUTPUT.
TRAVERSING 0 Stop according to Reject traversing
_TASK selected stop type. task.
5 1 Normal operation. Normal operation.
Proceed to RAMP No intermediate
FUNCTION stop.
GENERATOR:
ENABLE
ACCELERATOR.
0 Halt ramping (Ramp Intermediate stop
Function Generator
output held).
6 1 Normal operation. Activate traversing
Proceed to task (0 –> 1). This is
OPERATING. a toggle bit; each
Note: This bit is rising edge of signal
effective only if the enables a traversing
fieldbus interface is task or a new set
set as the source for point.
this signal by drive
parameters.
0 Force Ramp
Function Generator
input to zero.
 Communication profiles 85

STATE/Description
Bit Name Value
Speed control mode Positioning mode
7 RESET 0 –> 1 Fault reset if an active fault exists. Proceed
to SWITCH-ON INHIBIT.
Note: This bit is effective only if the fieldbus
interface is set as the source for this signal
by drive parameters.
0 (Continue normal operation)
8 JOGGING_1 Jogging 1 (Not supported by all drive types)
9 JOGGING_2 Jogging 2 (Not supported by all drive types)
10 REMOTE_ 1 Fieldbus control enabled
CMD
0 Control word <> 0 or reference <> 0: Retain
last Control word and reference.
Control word = 0 and reference = 0:
Fieldbus control enabled.
11 1 Vendor-specific bit Start homing
as defined by procedure.
PROFIdrive
0 Stop homing
parameter 933.
procedure.
12 Vendor-specific bit as defined by
PROFIdrive parameter 934
13 Vendor-specific bit as defined by
PROFIdrive parameter 935
14 Vendor-specific bit as defined by
PROFIdrive parameter 936
15 Vendor-specific bit as defined by
PROFIdrive parameter 937
86 Communication profiles

Status word contents

The table below shows the contents of the Status word for the
PROFIdrive communication profile (PROFIdrive parameter 968).
The upper case boldface text refers to the states shown in the
state machine on page 88.
STATE/Description
Bit Name Value
Speed control mode Positioning mode
0 RDY_ON 1 READY TO SWITCH ON
0 NOT READY TO SWITCH ON
1 RDY_RUN 1 READY TO OPERATE
0 OFF1 ACTIVE
2 RDY_REF 1 ENABLE OPERATION
0 DISABLE OPERATION
3 TRIPPED 1 FAULT
0 No fault
4 OFF_2_STA 1 OFF2 inactive
0 OFF2 ACTIVE
5 OFF_3_STA 1 OFF3 inactive
0 OFF3 ACTIVE
6 SWC_ON_INH 1 SWITCH-ON INHIBIT ACTIVE
IB
0 SWITCH-ON INHIBIT NOT ACTIVE
7 ALARM 1 Warning/Alarm
0 No Warning/Alarm
8 AT_SETPOINT 1 OPERATING. Actual value equals
reference value (= is within tolerance
limits).
0 Actual value differs from reference value
(= is outside tolerance limits).
9 REMOTE 1 Drive control location: REMOTE
0 Drive control location: LOCAL
 Communication profiles 87

STATE/Description
Bit Name Value
Speed control mode Positioning mode
10 1 Actual frequency or Target position
speed value equals reached
or is greater than
supervision limit.
0 Actual frequency or Not at target
speed value is position
within supervision
limit.
11 1 Vendor-specific bit Homing procedure
as defined by was executed and is
PROFIdrive valid.
parameter 939
0 No valid home
position available
12 1 Vendor-specific bit Traversing task
as defined by acknowledgement
0
PROFIdrive (0 –> 1)
parameter 940
13 1 Vendor-specific bit Drive stopped.
as defined by
0 Drive moving.
PROFIdrive
Traversing task is
parameter 941
executed (n <> 0).
14 Vendor-specific bit as defined by
PROFIdrive parameter 942
15 Vendor-specific bit as defined by
PROFIdrive parameter 943
88 Communication profiles

State machine for all operating modes

The general PROFIdrive state machine for all operating modes is
shown below.

SWITCH-ON PROFIdrive
MAINS OFF INHIBIT (SW Bit6=1)
State machine
Power ON OFF1 (CW Bit0=0)
CW = Control word
NOT READY SW = Status word
TO SWITCH ON (SW Bit0=0)
A B C D n = Speed
I = Input Current
(CW=xxxx x1xx xxxx x110) RFG = Ramp function
(CW Bit3=0) generator
f = Frequency
READY TO
OPERATION SWITCH ON (SW Bit0=1)
INHIBIT (SW Bit2=0) from any state
operation ON (CW=xxxx x1xx xxxx x111) Fault
inhibited
FAULT
READY TO Main contactor ON (SW Bit3=1)
from any state OPERATE (SW Bit1=1)
(CW Bit7=1)
OFF1 (CW Bit0=0)

OFF1 from any state from any state

ACTIVE (SW Bit1=0)
Emergency stop Emergency stop
Enable operation OFF3 (CW Bit2=0) OFF2 (CW Bit1=0)
n(f)=0 / I=0 (CW Bit3=1)
OFF3 OFF2
ACTIVE (SW Bit5=0) ACTIVE (SW Bit4=0)
B C D
F n(f)=0 / I=0 Main contactor OFF

(CW Bit4=0)
SPEED MODE ONLY

ENABLE
OPERATION (SW Bit2=1)
C D (CW Bit4,5,6=0)
A
E
(CW Bit5=0) (CW Bit4=1)
Jogging 1 or 2 ON
D RFG: ENABLE (CW Bit8=1 or Bit9=1)
OUTPUT
(CW Bit6=0) B JOGGING 1 or 2
(CW Bit5=1) ACTIVE

Jogging 1 or 2 OFF
RFG: ENABLE (CW Bit8=0 or Bit9=0)
state ACCELERATION
C Jogging pause
condition (CW Bit6=1)

rising edge OPERATING ‘n=0 or f =0’ and ‘I=0’

of the bit (SW Bit8=1) and pause expired
D F
 Communication profiles 89

State machine for positioning mode

The PROFIdrive state machine for the positioning mode is shown
below.
F

BASIC STATE:
Operating1) (SW Bit10,13=1)

E
(CW Bit4,5=1
and (CW Bit11=1)
CW Bit6
edge 0⇒1)

HOMING
RUNNING (SW Bit10,11,13=0)

HOMING
READY (SW Bit10,11,13=1)

(CW Bit11=0)

F F

Traversing task
active (SW Bit10,13=0) PROFIdrive
State machine
F
(CW Bit6 edge (CW Bit5=0) for PROFIdrive
0⇒1) positioning mode
Braking with
ramp (SW Bit10,13=0)
CW= Control word
SW = Status word
Intermediate
stop
E State

(CW Bit5=0) condition

1)In the “Operating”

(CW Bit4=0)
state of the general
state machine:
Braking with SW bits 0, 1 and 2 = 1
ramp (SW Bit10,13=0) SW bit 6 = 0.

F
90 Communication profiles

„ References
ABB drives can receive control information from multiple sources
including analog and digital inputs, the drive control panel and a
communication module (for example, FPBA-01). In order to have
the drive controlled through PROFIBUS, the communication
module must be defined as the source for control information, for
example, reference.

References in speed control mode

In the speed control mode, references are 16-bit or 32-bit words
containing a sign bit and a 15-bit or 31-bit integer. A negative
reference (indicating reversed direction of rotation) is formed by
calculating the two’s complement from the corresponding positive
reference.
A 16-bit speed reference (REF or NSOLL_A) in hexadecimal
(0…4000h) corresponds to 0…100% of Maximum Reference (as
defined with a drive parameter).
A 32-bit speed reference (NSOLL_B) in hexadecimal
(0…4000 0000h) corresponds to 0…100% of Maximum Reference
(as defined with a drive parameter).

References in positioning mode (ACSM1 only)

In the positioning mode, references are 16-bit or 32-bit words. A
32-bit reference contains a sign bit and a 31-bit integer. A negative
reference (indicating reversed direction of rotation) is formed by
calculating the two’s complement from the corresponding positive
reference.
For a 32-bit position reference (XSOLL_A), the unit and scaling are
defined with drive parameters (for example, POS UNIT, POS2INT
SCALE and FEED CONST).
For a 32-bit velocity reference (VELOCITY_A), the unit and scaling
are defined with drive parameters (for example, POS SPEED UNIT
and POS SPEED2INT).
 Communication profiles 91

„ Actual values
Actual values are 16-bit or 32-bit words containing information on
the operation of the drive. The functions to be monitored are
selected with a drive parameter.

Actual values in speed control mode

The scaling of 16-bit actual speed values (ACT or NIST_A) in
hexadecimal (0…4000h) corresponds to 0…100% of Maximum
Reference (as defined with a drive parameter).
The scaling of 32-bit actual speed values (NIST_B) in hexadecimal
(0…4000 0000h) corresponds to 0…100% of Maximum Reference
(as defined with a drive parameter).

Actual values in positioning mode (ACSM1 only)

For a 32-bit actual position value (XIST_A), the unit and scaling
are defined with drive parameters (for example, POS UNIT,
POS2INT SCALE and FEED CONST).
92 Communication profiles

ABB Drives communication profile

„ Control word and Status word

The Control word is the principal means for controlling the drive
from a fieldbus system. It is sent by the fieldbus master station to
the drive through the adapter module. The drive switches between
its states according to the bit-coded instructions in the Control
word and returns status information to the master in the Status
word.
The contents of the Control word and the Status word are detailed
below. The drive states are presented on page 96.

Control word contents

The table below shows the contents of the Control word for the
ABB Drives communication profile. The upper case boldface text
refers to the states shown on page 96.
Bit Name Value STATE/Description
0 OFF1_ 1 Proceed to READY TO OPERATE.
CONTROL
0 Stop along currently active deceleration
ramp. Proceed to OFF1 ACTIVE; proceed
to READY TO SWITCH ON unless other
interlocks (OFF2, OFF3) are active.
1 OFF2_ 1 Continue operation (OFF2 inactive).
CONTROL
0 Emergency OFF, coast to stop.
Proceed to OFF2 ACTIVE, proceed to
SWITCH-ON INHIBITED.
2 OFF3_ 1 Continue operation (OFF3 inactive).
CONTROL
0 Emergency stop, stop within time defined
by drive parameter. Proceed to OFF3
ACTIVE; proceed to SWITCH-ON
INHIBITED.
Warning: Ensure that motor and driven
machine can be stopped using this stop
mode.
 Communication profiles 93

Bit Name Value STATE/Description

3 INHIBIT_ 1 Proceed to OPERATION ENABLED.
OPERATION Note: Run enable signal must be active;
see drive documentation. If the drive is
set to receive the Run enable signal from
the fieldbus, this bit activates the signal.
0 Inhibit operation. Proceed to
OPERATION INHIBITED.
4 RAMP_OUT_ 1 Normal operation. Proceed to RAMP
ZERO FUNCTION GENERATOR: OUTPUT
ENABLED.
0 Force Ramp Function Generator output to
zero. Drive ramps to stop (current and DC
voltage limits in force).
5 RAMP_HOLD 1 Enable ramp function.
Proceed to RAMP FUNCTION
GENERATOR: ACCELERATOR
ENABLED.
0 Halt ramping (Ramp Function Generator
output held).
6 RAMP_IN_ 1 Normal operation. Proceed to
ZERO OPERATING.
Note: This bit is effective only if the
fieldbus interface is set as the source for
this signal by drive parameters.
0 Force Ramp Function Generator input to
zero.
7 RESET 0 –> 1 Fault reset if an active fault exists.
Proceed to SWITCH-ON INHIBITED.
Note: This bit is effective only if the
fieldbus interface is set as the source for
this signal by drive parameters.
0 Continue normal operation.
8…9 Reserved
94 Communication profiles

Bit Name Value STATE/Description

10 REMOTE_ 1 Fieldbus control enabled
CMD
0 Control word and reference not getting
through to the drive, except for CW bits
OFF1, OFF2 and OFF3.
11 EXT_CTRL_ 1 Select External Control Location EXT2.
LOC Effective if control location parameterized
to be selected from fieldbus.
0 Select External Control Location EXT1.
Effective if control location parameterized
to be selected from fieldbus.
12… Drive-specific (For information, see the drive documentation.)
15

Status word contents

The table below shows the contents of the Status word for the ABB
Drives communication profile. The upper case boldface text refers
to the states shown on page 96.
Bit Name Value STATE/Description
0 RDY_ON 1 READY TO SWITCH ON
0 NOT READY TO SWITCH ON
1 RDY_RUN 1 READY TO OPERATE
0 OFF1 ACTIVE
2 RDY_REF 1 OPERATION ENABLED
0 OPERATION INHIBITED
3 TRIPPED 1 FAULT
0 No fault
4 OFF_2_STA 1 OFF2 inactive
0 OFF2 ACTIVE
5 OFF_3_STA 1 OFF3 inactive
0 OFF3 ACTIVE.
6 SWC_ON_ 1 SWITCH-ON INHIBITED
INHIB
0 –
 Communication profiles 95

Bit Name Value STATE/Description

7 ALARM 1 Warning/Alarm
0 No warning/alarm
8 AT_SETPOINT 1 OPERATING. Actual value equals
reference (= is within tolerance limits, ie,
in speed control, speed error is 10%
max. of nominal motor speed).
0 Actual value differs from reference (= is
outside tolerance limits).
9 REMOTE 1 Drive control location: REMOTE (EXT1
or EXT2)
0 Drive control location: LOCAL
10 ABOVE_ 1 Actual frequency or speed equals or
LIMIT exceeds supervision limit (set by drive
parameter). Valid in both directions of
rotation.
0 Actual frequency or speed within
supervision limit
11 EXT_CTRL_ 1 External Control Location EXT2 selected
LOC
0 External Control Location EXT1 selected
12 EXT_RUN_ 1 External Run Enable signal received
ENABLE
0 No External Run Enable signal received
13… Drive-specific (For information, see the drive documentation.)
14
15 FBA_ERROR 1 Communication error detected by
fieldbus adapter module
0 Fieldbus adapter communication OK
96 Communication profiles

State machine
The state machine for the ABB Drives communication profile is
shown below.

SWITCH-ON
MAINS OFF INHIBITED (SW Bit6=1) ABB Drives
communication
Power ON (CW Bit0=0)
profile
NOT READY TO
SWITCH ON CW = Control word
A B CD (SW Bit0=0)
SW = Status word
n = Speed
(CW=xxxx x1xx xxxx x110) I = Input current
(CW Bit3=0) RFG = Ramp function
READY TO generator
OPERATION SWITCH ON (SW Bit0=1) f = Frequency
INHIBITED (SW Bit2=0)
from any state
operation (CW=xxxx x1xx xxxx x111)
inhibited Fault

READY TO FAULT
from any state OPERATE (SW Bit1=1) (SW Bit3=1)

OFF1 (CW Bit0=0) (CW Bit7=1)

(CW=xxxx x1xx xxxx 1111
OFF1 and SW Bit12=1)
ACTIVE (SW Bit1=0)
from any state from any state
n(f)=0 / I=0 Emergency stop Emergency OFF
(CW Bit3=1 OFF3 (CW Bit2=0) OFF2 (CW Bit1=0)
and
SW Bit12=1) OFF3 OFF2
B C D ACTIVE ACTIVE (SW Bit4=0)
(SW Bit5=0)

(CW Bit4=0) n(f)=0 / I=0

C D OPERATION
ENABLED (SW Bit2=1)
A
(CW Bit5=0) (CW=xxxx x1xx xxx1 1111)

D RFG: OUTPUT
ENABLED
B
(CW Bit6=0) (CW=xxxx x1xx xx11 1111)

RFG: ACCELERATOR state

ENABLED
C
(CW=xxxx x1xx x111 1111) condition
rising edge
OPERATION
(SW Bit8=1) of the bit
D
 Communication profiles 97

„ References
References are 16-bit words containing a sign bit and a 15-bit
integer. A negative reference (indicating reversed direction of
rotation) is formed by calculating the two’s complement from the
corresponding positive reference.
ABB drives can receive control information from multiple sources
including analog and digital inputs, the drive control panel and a
communication module (for example, FPBA-01). In order to have
the drive controlled through the fieldbus, the module must be
defined as the source for control information, for example,
reference.

Scaling
References are scaled as shown below.
Note: The values of REF1 MAX and REF2 MAX are set with drive
parameters. See the drive manuals for further information.
In ACSM1, ACS850, ACQ810 and ACS880, the speed reference
(REFx) in decimal (0…20000) corresponds to 0…100% of the
speed scaling value (as defined with a drive parameter, eg,
ACS880 parameter 46.10 Speed scaling.)
In ACS355, drive parameter REFx MIN may limit the actual
minimum reference.

Fieldbus Drive
REF2: 10000 REFx MAX / Speed scale
REF1: 20000

REFx MIN
0 -(REFx MIN)

REF2: -10000 -(REFx MAX) / Speed scale

REF1: -20000
98 Communication profiles

„ Actual values
Actual values are 16-bit words containing information on the
operation of the drive. The functions to be monitored are selected
with a drive parameter.

Scaling
Actual values are scaled as shown below.
Note: The values of REF1 MAX and REF2 MAX are set with drive
parameters. See the drive manuals for further information.
Fieldbus Drive

ACT2: 10000 REFx MAX

ACT1: 20000

0 0

ACT2: -10000 -(REFx MAX)

ACT1: -20000
 Communication protocol 99

Communication protocol

What this chapter contains

This chapter describes the PROFIBUS messaging used in the
communication with the drive and in PROFIBUS slave device
configuration messages.

PROFIBUS DP
The FPBA-01 module supports the PROFIBUS DP-V0 and DP-V1
protocols according to the IEC 61158, IEC 61784 and EN 50170
standards. PROFIBUS DP-V0/DP-V1 is a distributed I/O system
which enables the master to use a large number of peripheral
modules and field devices. The data transfer is mainly cyclic: the
master reads the input information from the slaves and sends the
output information back to the slaves.
The FPBA-01 module uses so-called PPOs (parameter/process
data objects) in cyclic communication and also supports standard
telegrams 1 and 2. See section Cyclical message types on page
114 for the supported PPO messages and standard telegrams.
100 Communication protocol

„ Service access points (SAPs)

The services of the PROFIBUS Data Link Layer (Layer 2) are used
by PROFIBUS DP through service access points (SAPs). Precisely
defined functions are assigned to individual SAPs.
For further information on SAPs, refer to the manual of the
PROFIBUS master, PROFIDRIVE – The PROFIBUS Profile for
Adjustable Speed Drives V2.0 and V3.1, or the EN 50170 and
IEC 61784 standards.

„ Communication start-up
The following service access points (SAPs) are used to initiate DP
communication:
SAP no. Short name Name
Default SAP (0) Data_Exch Cyclical Data Exchange
(Write_Read_Data)
58 Global_Control Global Control Service
59 Get_Cfg Read Configuration Data
60 Slave_Diag Read Diagnostic Data
61 Set_Prm Send Parameter Data
62 Chk_Cfg Check Configuration Data
 Communication protocol 101

PROFIBUS SD2 telegram for Default SAP (0) and SAP 58-62
PROFIBUS typically uses SD2 telegrams for DP communication.
The structure of an SD2 telegram is shown below.

DP header DP trailer
SD LE LEr SD DA SA FC *DSAP *SSAP DU FCS ED
68h x x 68h xx xx x xx xx x… xx 16h

SD = Start delimiter
LE = Length
LEr = Length repeated
DA = Destination address
SA = Source address
FC = Function code
*DSAP = Destination service access point
*SSAP = Source service access point
DU = Data unit for DP services
FCS = Frame checking sequence
ED = End delimiter

*Not present with Default SAP (0)

Data unit
See the descriptions of each SAP on the following pages.

Default SAP (SAP 0) (Data_Exchange)

This SAP allows the master to send output data to a slave station
and to simultaneously request input data from the same station.
Outp_Data (Output Data)
DU length: 4 to 32 bytes (depending on the selected PPO message or
standard telegram type)
Inp_Data (Input Data)
DU length: 4 to 32 bytes (depending on the selected PPO message or
standard telegram type)
102 Communication protocol

In addition to Default SAP, any master can read the I/O data of any
slave at any time using the “Read_Inputs” (SAP 56) and
“Read_Outputs” (SAP 57) telegrams. These telegrams have
otherwise the same structure as the cyclic Data_Exchange
telegram, but include the DSAP and SSAP bytes. In these
telegrams, the MSB of the DA and SA bytes is set to 1 to indicate
that a DSAP/SSAP byte follows in the telegram header. For more
information, see section PROFIBUS SD2 telegram for Default SAP
(0) and SAP 58-62 on page 101.

SAP 58 (Global_Control)
This SAP is used to send special commands addressed to a single
slave, a special group of slaves, or all slaves at once (broadcast).
Global_Control
Type: Octet String - Length: 2
DU Byte Description
0 GC_Command

MSB 0 0 x x x x x 0 LSB

Reserved

Clear Data
0 = Do not clear output
1 = Clear output

Unfreeze 00 = No function
10 = Activated
Freeze
x1 = Deactivated

Un_Sync 00 = No function
10 = Activated
Sync x1 = Deactivated
Reserved

1 Group_Select
0…255. The value must match the Group Identification number
of SAP 61 (DU Byte 6).
 Communication protocol 103

SAP 61 (Set_Prm)
This SAP is used in the parameterization of the drive.
Prm_Data (Parameter Data Standard)
Type: Octet String
Total length: 37 – Prm_Data length: 14 – User_Prm_Data length: 23
DU Value Description
Byte
0 B8h Station status
(Recom-
mended MSB x x 1 1 1 0 0 0 LSB
default
value) Reserved

WD_ON
1 = Watchdog ON

Freeze_Req
1 = Slave is requested to process in
freeze mode

Sync_Req
1 = Slave is requested to process in
SYNC mode

Unlock_Req 1)

Lock_Req

1) 00 = Min TSDR and slave-related parameters may be overwritten.

10 = Slave locked for other masters. All parameters can be
carried over.
x1 = Slave released for other masters

1…2 WD_Fact_1 and WD_Fact_2 – Watchdog Factors 1 and

2 (set by the PROFIBUS master)
WdFactor1 × WdFactor2 × 10 ms = monitoring time of the
slave to verify that the master is still active
3 0Bh MinTSDR – Minimum Station Delay Respond Time
(Default) Time after which a slave station is allowed to send
response frames to the master. Calculated by multiplying
the hex value with tBit (time required for transmitting one
bit).
4…5 0959h Vendor Identification (for FPBA-01: 0959h)
104 Communication protocol

6 00h Group Identification

7 DPV1_Status_1 (DP-V1 only)
MSB x 0 x 0 0 x x x LSB

Dis_Start_Control (Disable Stop-Bit

Control)
0 = Start bit monitoring in receiver
enabled
1 = Start bit monitoring in receiver
disabled

Dis_Stop_Control (Disable Stop-Bit

Control)
0 = Stop bit monitoring in receiver
enabled
1 = Stop bit monitoring in receiver
disabled

WD_Base (Watchdog time base)

0 = 10 ms
1 = 1 ms

Reserved

Publisher_Enabled. Not supported.

0 = Slave not operated in DXB
Publisher mode
1 = Slave operated in DXB
Publisher mode

Fail_Safe. Not supported.

DPV1_Enable
0 = Slave operated in DP mode
1 = Slave operated in DP-V1 mode
 Communication protocol 105

8 DPV1_Status_2 (DP-V1 only) (Not supported)

MSB x x x x x x 0 x LSB

Chk_Cfg_Mode
0 = Chk_Cfg according to EN 50170
(default state)
1 = User-specific evaluation of Chk_Cfg

Reserved. To be parameterized with ‘0’.

Enable_Update_Alarm
0 = Enable_Update_Alarm disabled
1 = Enable_Update_Alarm enabled

Enable_Status_Alarm
0 = Enable_Status_Alarm disabled
1 = Enable_Status_Alarm enabled

Enable_Manufacturer_Specific_Alarm
0 = Enable_Manufacturer_Specific_Alarm
disabled
1 = Enable_Manufacturer_Specific_Alarm
enabled

Enable_Diagnostic_Alarm
0 = Enable_Diagnostic_Alarm disabled
1 = Enable_Diagnostic_Alarm enabled

Enable_Process_Alarm
0 = Enable_Process_Alarm disabled
1 = Enable_Process_Alarm enabled

Enable_Pull_Plug_Alarm
0 = Enable_Pull_Plug_Alarm disabled
1 = Enable_Pull_Plug_Alarm enabled
106 Communication protocol

9 DPV1_Status_3 (DP-V1 only)

MSB 0 0 0 x 1 x x x LSB

Alarm_Mode. Not supported.

Limits the number of active alarms.
0 = 1 alarm of each type
1 = 2 alarms in total
2 = 4 alarms in total
3 = 8 alarms in total
4 = 12 alarms in total
5 = 16 alarms in total
6 = 24 alarms in total
7 = 32 alarms in total

Prm_Structure
0 = Prm telegram according to
EN 50170
1 = Prm telegram in structure form
(DPV2 extension)

IsoM_Req (Isochron Mode

Request) Not supported.
0 = Isochron Mode disabled
1 = Isochron Mode enabled

Reserved. To be parameterized
with ‘0’.

10 1Bh Structured_Length
(Default) Length of the structured Prm telegram. (User parameter
length is 23 bytes + 4 header bytes.)
11 81h Structure_Type
129: USER_PRM_DATA
12 0 Slot_Number
Set to 0
13 0 Reserved
 Communication protocol 107

User_Prm_Data (Parameter Data Extended)

Type: Octet String - Length: 23
14 00h Header byte
(Default)
MSB 0 0 0 0 0 x 0 x LSB
Fail-safe mode. Defines the action
taken when the PLC is switched
from ‘RUN’ to ‘STOP’ mode.
00 = STOP (default)
01 = LAST REFERENCE
02 = USE FAIL-SAFE.
The values of the PZDs are
defined by bytes 11-30 in the
Prm_Data telegram.

Control zero mode. Defines the

action taken if a PROFIBUS
telegram containing only zeros is
received.
00 = USE FRAME (default).
Note that, with this setting, the
drive might not be stopped (if it
is running) since bit 10
(Remote Command) in the
control word is also zero.
However, the other PZDs may
still be updated, but have the
value zero.
01 = IGNORE

Reserved

15… 0… Cut off time out in milliseconds. 0 = Cut off disabled.

16 65536
17… 0… Fail-safe, PZD1 (typically CW)
18 65536
19… 0… Fail-safe, PZD2 (typically REF)
20 65536
21… 0… Fail-safe, PZD3
22 65536
23… 0… Fail-safe, PZD4
24 65536
108 Communication protocol

25… 0… Fail-safe, PZD5

26 65536
27… 0… Fail-safe, PZD6
28 65536
29… 0… Fail-safe, PZD7
30 65536
31… 0… Fail-safe, PZD8
32 65536
33… 0… Fail-safe, PZD9
34 65536
35… 0… Fail-safe, PZD10
36 65536

The extended parameter data bytes are configured via the

PROFIBUS network configuration tool. The functions are defined
in the GSD file.

SAP 62 (Chk_Cfg)
With this telegram, the master sends the selected data exchange
(Write_Read_Data) telegram type code to the slave. The table
below gives the typical hexadecimal values (DU Byte 0…n) that
are sent to the drive in order to select the PPO type or standard
telegram (ST).
Telegram Cyclical telegram Default code for Supported
name length (in words) message type parameter
(see figure below) channel access
mode
PPO 1 4 PKW + 2 PZD in/out F3 F1 DP-V0 / DP-V11)
PPO 2 4 PKW + 6 PZD in/out F3 F5 DP-V0 / DP-V11)
PPO 3 0 PKW + 2 PZD in/out F1 DP-V11)
PPO 4 0 PKW + 6 PZD in/out F5 DP-V11)
PPO 5 4 PKW + 10 PZD F3 F9 DP-V0 / DP-V11)
in/out
PPO 6 0 PKW + 10 PZD F9 DP-V11)
in/out
 Communication protocol 109

Telegram Cyclical telegram Default code for Supported

name length (in words) message type parameter
(see figure below) channel access
mode
PPO 7 4 PKW + 12 PZD 0xF3, 0xFB DP-V0 / DP-V11)
in/out
PPO 8 0 PKW + 12 PZD 0xFB DP-V11)
in/out
ST 1 2 PZD in / 2 PZD out C3 C1 C1 FD 00 01 DP-V1
ST 2 4 PZD in / 4 PZD out C3 C3 C3 FD 00 02 DP-V1
1)
DP-V1 mode selected by the user.
PKW: “Parameter-Kennung-Wert” (Parameter ID value)
PZD: “Prozeßdaten” (Process data, cyclically transferred)

The default codes for the PPO types in the table above define data
consistency over the message as follows:

MSB x x x x x x x x LSB
Length of data
0000 = 1 byte per word
•••
1111 = 16 bytes per word

Input/Output
00 = Special format
01 = Input
10 = Output
11 = Input and output

0 = Byte
1 = Word

0 = Consistency of byte/word
1 = Consistency of entire length

For example, 11110001 = F1 = PPO3

110 Communication protocol

Data non-consistent over the entire message is also supported by

the FPBA-01 module. The cyclical frame types supported by the
module are defined in the GSD file.

SAP 60 (Slave_Diag)
This SAP gives diagnostic information on the slave station.
Diag_Data (Diagnostic Data)
Type: Octet String - Length: 6 (Standard)
+ 2 (Extended Diagnosis) (DP-V0 mode)
+ 5 (Extended Diagnosis) (DP-V1 mode)
Note: During initialization, the module only sends the standard part of the
message.
DU Description
Byte
0 Station_Status_1

MSB x x x x x x x x LSB
Diag.Station_Non_Existent (Set by Master,
reset by Slave)
Slave not found

Diag.Stagion_Not_Ready (Set by Slave)

Slave not ready for data exchange

Diag.Cfg_Fault (Set by Slave)

Received configuration data does not match
original config. data

Diag.Ext_Diag (Set by Slave)

Diagnostic entry present in slave-specific
diagnostic area

Diag.Not_Supported (Set by Slave)

Service not supported by slave

Diag.Invalid_Slave_Response (Set by
Master, reset by Slave)
Invalid response by slave

Diag.Prm_Fault (Set by Slave)

Invalid parameter or parameter value

Diag.Master_Lock (Set by Master, reset by

Slave)
Slave is parameterized by another master
 Communication protocol 111

1 Station_Status_2

MSB x 0 x x x 1 x x LSB
Diag.Prm_Req (Set by Slave)
Slave requires re-configuration and re-
parameterization
Diag.Stat_Diag (Set by Slave)
Static diagnosis. Slave (temporarily)
unable to provide valid data

Always set to 1 by slave

Diag.WD_On (Set by Slave)

Watchdog on
Diag.Freeze_Mode (Set by Slave)
Freeze command received by slave

Diag.Sync_Mode (Set by Slave)

Sync command received by slave

Reserved
Diag.Deactivated (Set by Master, reset by
Slave)
Slave is inactive

2 Station_Status_3

MSB x 0 0 0 0 0 0 0 LSB

Reserved

Diag.Ext_Diag_Overflow (Set by
slave)

3 Diag.Master_Add
The address of the master that parameterized this slave
4…5 Ident_Number (for FPBA-01: 0959h)
62) Ext_Diag_Data (0x02) (DP-V0 only)
The number of bytes (including this byte) reserved for Extended
Diagnosis
112 Communication protocol

61) Header Byte (DP-V1 only)

The complete header consists of 5 bytes with FPBA-01.

MSB 0 0 x x x x x x LSB
Block length in bytes including
header
Diagnostic type
00 = Device-related diagnostic
according to PROFIdrive 3.1.

72) Communication Diagnostic (DP-V0 only)

MSB 0 0 0 0 0 0 x x LSB
Communication temporarily lost

Communication permanently lost

Reserved

71) Status Type = Status Message (0x81) (DP-V1 only)

MSB 1 x x x x x x x LSB

Diagnostic type
0 = Reserved
1 = Status_Message (normal
alarm message)
2 = Module_Status
3 = DXB_Link_Status
4 to 29 = Reserved
30 = PrmCmdAck
31 = Red_State
32 to 126 = Manufacturer-specific
127 = Reserved

Set to 1

81) Slot Number (0x00) (DP-V1 only)

Slot Number (0…244).
 Communication protocol 113

91) Specifier (0x00) (DP-V1 only)

MSB 0 0 0 0 0 0 x x LSB

Specifier

Reserved

101) Communication Diagnostic (DP-V1 only)

MSB 0 0 0 0 0 0 x x LSB
Communication temporarily lost

Communication permanently lost

Reserved

1)
The FPBA-01 module is operated in the DP-V1 mode. The diagnostic
information is according to PROFIdrive 3.1.
2) The FPBA-01 module is operated in the DP-V0 (DP) mode. The
diagnostic information is according to PROFIdrive 2.0.

„ Other SAPs for DP-V1 communication

Master Master Slave Short name Meaning
class SAP SAP
C1 51 51 Server SAP Read, Write, Alarm
C1 51 50 Alarm SAP Alarm
C2 50 49 Resource Mgmt. Req PDU
SAP
C2 50 48...0 Communication Abort, Read/Write,
SAP Data_Transfer
C2 62 55 Set_Slave_Add Change Station
Address (C2 Master)
114 Communication protocol

Cyclical message types

„ PPO types
Process data
Parameter

Parameter
Fixed area Freely mappable area
identification

channel
OUT area IND VALUE CW REF PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 PZD11 PZD12
IN area ID IND VALUE SW ACT PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 PZD11 PZD12
PKW PZD

Type 1 DP-V0

Type 2 DP-V0

Type 3 DP-V1

Type 4 DP-V1

Type 5 DP-V0

Type 6 DP-V1

Type 7 DP-V0

Type 8 DP-V1

OUT area – Data sent from master to slave (control data)

IN area – Data sent from slave to master (actual data)
Parameter identification:
ID – Parameter identification
IND – Index for arrays
VALUE – Parameter value (Max. 4 bytes)
PKW – Parameter ID/value
Process data:
CW – Control word
SW – Status word
REF – Reference
ACT – Actual value
PZD – Process data (application-specific)
DW – Data word
 Communication protocol 115

„ Standard telegram (ST) types (DP-V1)

ST1 PZD1 PZD2
OUT area STW1 NSOLL_A
Control word 1 Speed set point A
IN area ZSW1 NIST_A
Status word 1 Speed actual value A

ST2 PZD1 PZD2…3 PZD4

OUT area STW1 NSOLL_B STW2
Control word 1 Speed set point B Control word 2
IN area ZSW1 NIST_B ZSW2
Status word 1 Speed actual Status word 2
value B

Note: For the contents of the Control word, the Status word,
references and actual values, see chapter Communication profiles.
116 Communication protocol

Parameter handling in cyclic communication (DP)

In cyclic PROFIBUS DP communication, parameter data is
transferred in PPO message types 1, 2 and 5, as shown in section
PPO types on page 114. The parameter identification part consists
of eight bytes, as shown below.

Parameter
identification Process data
CW REF
ID IND VALUE SW ACT (PD1, PD2...)

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Request label
Response label Parameter number (PNU)

Request signal
Not used (=0)

The Request label is used by the master when transmitting data to

the slave, while the Response label is used by the slave as a
positive or negative acknowledgement. The tables below show the
Request/Response functions.
Request labels (from master to slave)
Request Function Response labels
Ackn. (+) Ackn. (-)
0 No task 0 –
1 Request parameter value 1, 2 7
2 Change parameter value (word) 1 7, 8
3 Change parameter value (double 2 7, 8
word)
4 Request description element 3 7
5 Change description element 3 7, 8
6 Request parameter value (array) 4, 5 7, 8
 Communication protocol 117

Request labels (from master to slave)

Request Function Response labels
Ackn. (+) Ackn. (-)
7 Change parameter value (array 4 7, 8
word)
8 Change parameter value (array 5 7, 8
double word)
9 Request number of array elements 6 7

Response label (Acknowledgement from slave to master)

Ackn. Function
0 No response
1 Transfer parameter value (word)
2 Transfer parameter value (double word)
3 Transfer description element
4 Transfer parameter value (array word)
5 Transfer parameter value (array double word)
6 Transfer number of array elements
118 Communication protocol

Response label (Acknowledgement from slave to master)

Ackn. Function
7 Task cannot be executed, followed by error number
0 = Illegal parameter number
1 = Parameter value cannot be changed
2 = Lower or upper limit violated
3 = Erroneous subindex
4 = No array
5 = Incorrect data type
6 = Setting not allowed (can only be reset)
7 = Descriptive element cannot be changed
9 = Descriptive data not available
11 = No parameter change rights
15 = Text array not available
17 = Task cannot be executed due to operating status (eg,
parameter is currently read-only)
18 = Other error
101 = Vendor-specific error
102 = Request not supported
103 = Request cannot be completed due to communication
error
110 = Failure during write to non-volatile memory
111 = Request aborted due to time-out
120 = Parameter cannot be mapped to PZD (size mismatch or
non-existent)
121 = Parameter cannot be mapped to PZD (end of memory)
122 = Parameter cannot be mapped to PZD (multiple PZD
write)
130 = Cannot map Control word bit (parameter 933…937, eg,
double mapping of bits)
140 = Cannot change mode to TORQUE (frequency is used)
150 = Internal buffer overflow
160 = Internal communication error

8 No parameter change rights for PKW interface

9 Parameter data signal (word)
10 Parameter data signal (double word)
 Communication protocol 119

The allocation of drive control/actual words, drive parameters and

PROFIdrive parameters to the parameter identification part of the
PPO type is shown below.
• The Index column corresponds to the parameter number
(PNU) in the ID part of parameter identification.
• The Sub-index column corresponds to the IND part of
parameter identification.
• The Example No. column refers to the examples on the
following pages.
Virtual drive control area
Index Sub-index Par. No. Request label Example.
(Decimal) No.
0h 1h 1
0h 2h 2
R/W 6/7/81) 1, 2
•••
0h 63h 99
1)
Supported with an ACSM1 drive only

Drive parameters
Index Sub-index Par. No. Request label Example
(Decimal) No.
1 1 101
1 2 102
R/W 6/7/81) 1, 2
•••
63h 63h 9999
1)
Supported with an ACSM1 drive only
120 Communication protocol

PROFIdrive parameters
Index Sub-index Par. No Request label Example
(Decimal) No.
393h 2h 915 2
3h 3
R/W 6/7 6
••• •••
9h 9
394h 2h 916 2
3h 3
R/W 6/7 7
••• •••
9h 9
396h 0h 918 R/W 1/2 3, 4
•••
3B3h 0h 947 1
9h 9
11h 17
R 6 5
19h 25
21h 33
29h 41
•••
3CCh 0h 972 R/W 1/2 3, 4

For a complete PROFIdrive parameter list, see Appendix A –

PROFIdrive parameters.
Note: Continuous (cyclic) writing of PROFIdrive parameters should
be avoided as the values of these parameters are stored in the
flash memory of the adapter module. The estimated lifetime of the
flash memory is 100,000 program/erase cycles, and continuous
writing will cause the memory to fail prematurely.
 Communication protocol 121

„ Parameter data transfer examples (DP-V0)

Note: Only the ‘data unit’ part of the telegram is presented in the
examples. See section PROFIBUS SD2 telegram for Default SAP
(0) and SAP 58-62 on page 101.

Example 1: Reading a drive parameter (or data set)

To determine the parameter number and subindex for drive
parameter reading, convert the drive parameter group number and
the parameter index number to hexadecimal. The index number is
the Subindex (IND), and the group number is the Parameter
Number (PNU). For example, to read parameter 84.11 from the
drive:
84.11 = 54h.0Bh => Parameter Number = 54h, Subindex = 0Bh.

Request (Read parameter value [array])

Parameter Number

Subindex1)

CW REF PZD3 PZD4 PZD5 PZD6

Req 60 54 0B 00 00 00 00 00 04 7F 34 15 00 00 00 00 00 00 00 00
DP header

DP trailer
Resp 40 54 0B 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 00

SW ACT PZD3 PZD4 PZD5 PZD6

Parameter Value (100 decimal)

Subindex1)
Parameter Number

Response (Read parameter value [array])

1) 2nd byte reserved
122 Communication protocol

Error response
Resp DP header 70 54 0B 00 00 00 00 03 03 37 34 15 00 00 00 00 00 00 00 00

DP trailer
SW ACT PZD3 PZD4 PZD5 PZD6

Error Number (3: Erroneous subindex)

Subindex1)
Parameter Number
Response (Negative acknowledgement)

1)
2nd byte reserved
 Communication protocol 123

Example 2: Writing a drive parameter (or data set)

To determine the parameter number and subindex for drive
parameter writing, convert the drive parameter group number and
the parameter index number to hexadecimal. The index number is
the Subindex (IND), and the group number is the Parameter
Number (PNU). For example, to write parameter 12.02 to the drive:
12.02 = 0Ch.02h => Parameter number = 0Ch, Subindex = 02h.
The following is an example of writing a 16-bit parameter.

Request (Change parameter value [array])

Parameter Number
Subindex1)
Parameter Value (100 decimal)

CW REF PZD3 PZD4 PZD5 PZD6

Req 70 0C 02 00 00 00 00 64 04 7F 34 15 00 00 00 00 00 00 00 00
DP header

DP trailer
Resp 40 0C 02 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 00

SW ACT PZD3 PZD4 PZD5 PZD6

Parameter Value (100 decimal)

Subindex1)

Parameter Number

Response (Transfer parameter value [array])

1) 2nd byte reserved

124 Communication protocol

The following is an example of writing a 32-bit parameter:

Request (Change parameter value [array double word])

Parameter Number

Subindex1)
Parameter Value (100 decimal)

CW REF PZD3 PZD4 PZD5 PZD6

Req 80 0C 02 00 00 00 00 64 04 7F 34 15 00 00 00 00 00 00 00 00
DP header

DP trailer
Resp 50 0C 02 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 00

SW ACT PZD3 PZD4 PZD5 PZD6

Parameter Value (100 decimal)

Subindex1)

Parameter Number

Response (Transfer parameter value [array double word])

1) 2nd byte reserved

 Communication protocol 125

Example 3: Reading a PROFIdrive parameter (word)

In this example, PROFIdrive parameter 918 is used to read the
station number of the slave.
Request (Parameter value read)

Parameter Number (918 decimal)

IND Param.Value CW REF

Req DP 13 96 00 00 00 00 00 00 04 7F 34 15 DP
Read:
Resp header 13 96 00 00 00 00 00 02 03 37 34 15 trailer

IND Param.Value SW ACT

Parameter Number (918 decimal)

Request (Parameter value updated)

The slave returns its station number (2).

126 Communication protocol

Example 4: Writing a PROFIdrive parameter (word)

In this example, current parameter settings are saved to the
FLASH memory of the drive. This is done by setting the value of
PROFIdrive parameter 971 (3CBh) to 1.
Note that the drive always observes the Control word (CW)
and reference (REF) bytes. The values shown below are
examples.
Request (Parameter value write)

Parameter Number (971 decimal)

IND Param.Value CW REF

Req DP 23 CB 00 00 00 00 00 01 04 7F 34 15 DP
Write:
Resp header 13 CB 00 00 00 00 00 01 03 37 34 15 trailer

IND Param.Value SW ACT

Parameter Number (971 decimal)

Response (Parameter value updated)

 Communication protocol 127

Example 5: Reading a PROFIdrive parameter (array)

In this example, PROFIdrive parameter 945 is used to read the
code of the active fault. As shown on page 164, parameter 945 is
of the array type with subindexes 0 and 1.

Request (Request parameter value [array])

Parameter Number (945 decimal)

Subindex (Latest acknowledged fault)1)

Param.Value CW REF

Req DP 63 B1 01 00 00 00 00 00 04 7F 34 15 DP
Read:
Resp header 43 B1 01 00 00 00 23 00 03 37 34 15 trailer

Param.Value SW ACT

Subindex (Latest acknowledged fault)1)

Parameter Number (945 decimal)

Response (Transfer parameter value [array])

1) 2nd byte reserved

The slave returns the code of the active fault (2300h). The fault
codes are according to the DRIVECOM® standard. See the drive
User’s manual for drive-specific fault codes.
The implementation of the PROFIdrive profile in the adapter
module supports the storage of the active and the five latest
occurred different faults in the fault buffer. The fault codes can be
accessed by PROFIdrive parameters 945 and 947 (see page 164).
The value zero indicates no fault. The subindexes of these
parameters are related to each other, that is, parameter 945 with
subindex 1 relates to the subindex of parameter 947.
128 Communication protocol

Example 6: Configuring the process data written to the drive

PROFIdrive parameter 915 can be used to define which data is
written cyclically to a drive parameter as application-specific
process data.
In the example below, the value of drive parameter 12.02
(0Ch.02h) is selected to be taken from PZD3. The parameter will
continue to be updated with the contents of PZD3 in each Request
frame until a different selection is made.
Subindex (IND) defines which process data word (PZD) the
required data is taken from. Parameter Value selects the drive
parameter to which that word is mapped.

Request (Change parameter value [array])

Parameter Number (915 decimal)

Subindex (03 = PZD3)1)

Parameter Value

CW REF PZD3 PZD4 PZD5 PZD6

Req 73 93 03 00 00 00 0C 02 04 7F 34 15 00 00 00 00 00 00 00 00
DP header

DP trailer
Resp 43 93 03 00 00 00 0C 02 03 37 34 15 00 00 00 00 00 00 00 00

SW ACT PZD3 PZD4 PZD5 PZD6

Parameter Value
Subindex (03 = PZD3)1)

Parameter Number (915 decimal)

Response (Transfer parameter value [array])

1) 2nd byte reserved

Subsequently, the contents of PZD3 in each Request frame are

written to drive parameter 12.02 CONSTANT SPEED 1 until a
different selection is made.
 Communication protocol 129

Example 7: Configuring the process data read from the drive

PROFIdrive parameter 916 can be used to define which data is
read cyclically from the drive as application-specific process data.
In the example below, drive parameter 1.04 (01h.04h) is selected
to be transmitted by the drive as PZD3. The selection is in force
until it is superseded by another selection.
Subindex (IND) defines which process data word the required data
is transmitted in, and Parameter Value defines which drive
parameter is mapped to that word.

Request (Change parameter value [array])

Parameter Number (916decimal)

Subindex (03 = PZD3)1)

Parameter Value

CW REF PZD3 PZD4 PZD5 PZD6

Req 73 94 03 00 00 00 01 04 04 7F 34 15 00 00 00 00 00 00 00 00
DP header

DP trailer
Resp 43 94 03 00 00 00 01 04 03 37 34 15 00 00 00 00 00 00 00 00

SW ACT PZD3 PZD4 PZD5 PZD6

Parameter Value
Subindex (03 = PZD3)1)

Parameter Number (916 decimal)

Response (Transfer parameter value [array])

1)
2nd byte reserved

Subsequent response frames:

DP header

DP trailer

Resp xx xx xx xx xx xx xx xx xx xx xx xx 00 OB xx xx xx xx xx xx

PZD3 (Value of drive parameter 1.04)

130 Communication protocol

„ DP-V1 read/write request sequence

A read/write service on a drive parameter is illustrated below.
Master DP-V1 Slave
PROFIdrive Write request DB47 Parameter request
Parameter
request
Write response
without data

Read request DB47

without data
Parameter
Read response (–) processing
without data

Read request DB47

without data

PROFIdrive Read response

Parameter with data Parameter response
response

The messaging employs DP-V1 data units. The PROFIdrive

parameter request is included within the DP-V1 request as data.
Likewise, the DP-V1 response contains the PROFIdrive parameter
response as data.
A write request (Function number 5Fh – see page 132) is first sent
containing the parameter request.
If the write request is valid, the adapter module acknowledges it
with DP-V1 write response code 5Fh with no data. The master will
then send a read request. If the adapter module is still busy
performing the internal parameter request, it will return a negative
response with the DP-V1 error code B5h (State conflict). In this
case, the read request will be repeated by the master until the
adapter module has the PROFIdrive response data ready.
If the write request is invalid, a negative response is returned with
a DP-V1 error code (see page 133).
 Communication protocol 131

PROFIBUS SD2 telegram for SAP 51

The read/write service uses a variable-length PROFIBUS SD2
telegram shown below.

DP header DP trailer
SD LE LEr SD DA SA FC DSAP SSAP DU FCS ED
68h x x 68h xx xx x xx xx x… xx 16h
SD = Start delimiter
LE = Length
LEr = Length repeated
DA = Destination address
SA = Source address
FC = Function code
DSAP = Destination service access point
SSAP = Source service access point
DU = Data unit for DP services
FCS = Frame checking sequence
ED = End delimiter

Data unit
DP-V1 PROFIdrive V3 Parameter Channel
Command/Response
DU0 DU1 DU2 DU3 Request/Response header Data
(See the tables on pages 134
and 136.)

Byte Meaning Value

DU0 Function number See page 132.
DU1 Slot number 0 = Module itself
1 = Drive parameter access
DU2 Index 47 (0x2F)
DU3 Data length (Depends on type of
message)
DU4…DUn PROFIdrive data
132 Communication protocol

The table below lists the DP-V1 function numbers.

Value Meaning
0x48 Idle REQ, RES
0x51 Data transport REQ, RES
0x56 Resource manager REQ
0x57 Initiate REQ, RES
0x58 Abort REQ
0x5C Alarm REQ, RES
0x5E Read REQ, RES
0x5F Write REQ, RES
0xD1 Data transport negative response
0xD7 Initiate negative response
0xDC Alarm negative response
0xDE Read negative response
0xDF Write negative response

The table below lists the DP-V1 error responses.

Byte Meaning and value
DU0 Function number = 0xDF (Error Write) = 0xDE (Error
Read)
DU1 Error_Decode: PROFIdrive: Always 0x80 (DP-V1 codes)
DU2 Error_Code_1: Error class/error code (see page 133)
DU3 Error_Code_2: Always 0
 Communication protocol 133

The table below lists the error codes for the DP-V1 error
responses.

MSB x x x x x x x x LSB

Error class Meaning Error code

0…9 (Reserved)
10 (0x0A) Application 0 = Read error
1 = Write error
2 = Module failure
3…7 = Reserved
8 = Version conflict
9 = Feature not supported
10…15 = User-specific
11 (0x0B) Access 0 = Invalid index
1 = Write length error
2 = Invalid slot
3 = Type conflict
4 = Invalid area
5 = State conflict
6 = Access denied
7 = Invalid range
8 = Invalid parameter
9 = Invalid type
10…15 = User-specific
12 (0x0C) Resource 0 = Read constraint conflict
1 = Write constraint conflict
2 = Resource busy
3 = Resource unavailable
4…7 = Reserved
8…15 = User-specific
13…15 User-specific
134 Communication protocol

The table below shows the contents of the PROFIdrive Request

header.
Field(s) Description Range Byte/Word
Request Unique identification 1…255 Byte
Reference set by the master.
Changed for each
new request.
Request ID Request type for the Request Byte
issued block Parameter (01h)
Change
Parameter (02h)
Drive Object To be set to 0 or 1. 0…255 Byte
ID
No. of Number of parameters 1…37 Byte
Parameters that are present in the
request
Attribute Type of object being Value (10h) Byte
accessed Description (20h)
Note: “Description” Text (30h)
and “Text” are not
supported.
No. of Number of array 0, 1…234 Byte
Elements elements accessed or
length of string
accessed. Set to 0 if
non-array parameters
are used.
Parameter Address of the 1…65535 Word
Index parameter that is
being accessed. “0” is
allowed by FPBA-01.
 Communication protocol 135

Field(s) Description Range Byte/Word

Subindex Addresses 0…65535 Word
• the first array
element of the
parameter or
• the beginning of a
string access or
• the text array or
• the description
element that is
being accessed.
Format1) See the table on page See the table on Byte
137. page 137.
Number of Number of values 0…234 Byte
Values1) following
Values1) The values of the – See the
request. In case of an Format
odd number of bytes, field.
a zero byte is
appended to ensure
the word structure of
the telegram.
1)
Only if Request ID is 02h (Change Parameter). The Format, Number of
Values and Values fields are repeated for other parameters.
136 Communication protocol

The table below shows the contents of the PROFIdrive Response

header.
Field(s) Description Range
Request Mirrored from the request 1…255
Reference
(mirrored)
Response ID Response from the slave. In Request Param OK
case any requested services fail, (01h)
a “not acknowledged” (NAK) Request Param NAK
response will be indicated. (81h)
Change Param OK
(02h)
Change Param NAK
(82h)
Drive Object To be set to 1. 0…255
ID
No. of Number of parameters that are 1…37
Parameters present in the response
Format1) See the table on page 137. See the table on page
137.
Number of Number of values following 0…234
Values1)
Values1) The values of the request. In –
case of an odd number of bytes,
a zero byte is appended to
ensure the word structure of the
telegram.
1)
Only if Response ID is 01h (Request Parameter OK). The Format,
Number of Values and Values fields are repeated for other parameters.
 Communication protocol 137

The table below shows the data types for the Format field.
Code Type
0x00 (Reserved)
0x01…0x36 Standard data types
1 Boolean (not supported)
2 Integer8 (not supported)
3 Integer16
4 Integer32
5 Unsigned8 (not supported)
6 Unsigned16
7 Unsigned32
8 Floating point (not supported)
9 Visible string (not supported)
•••
0x37…0x3F (Reserved)
0x40 Zero
0x41 Byte
0x42 Word
0x43 Double word
0x44 Error
0x45…0xFF (Reserved)
138 Communication protocol

The table below shows the PROFIdrive parameter request error

codes.
Error # Meaning Used at
00h Impermissible Access to an unavailable parameter
parameter number
01h Parameter value cannot Change access to a parameter
be changed value that cannot be changed
02h Low or high limit Change access with a value outside
exceeded the limits
03h Invalid subindex Access to an unavailable subindex
04h No array Access with a subindex to a non-
indexed parameter
05h Incorrect data type Change access with a value that
does not match the data type of the
parameter
06h Setting not permitted Change access with a value
(can only be reset) unequal to 0 when this is not
permitted
07h Description element Change access to a description
cannot be changed element that cannot be changed
09h No description data Access to an unavailable
available description (Parameter value is
available.)
0Bh No operation priority Change access rights without rights
to change parameters
0Fh No text array available Access to a text array that is not
available (Parameter value is
available.)
11h Request cannot be Access is temporarily not possible
executed because of for reasons that are not specified in
operating mode detail.
14h Value impermissible Change access with a value that is
within limits but is not permissible
for other long-term reasons
(parameter with defined single
values)
 Communication protocol 139

Error # Meaning Used at

15h Response too long The length of the current response
exceeds the maximum
transmittable length.
16h Parameter address Illegal value or value that is not
impermissible supported for the attribute, number
of elements, parameter number or
sub-index, or a combination
17h Illegal format Write request: Illegal format or
format of parameter data that is not
supported
18h Number of values Write request: Number of values of
inconsistent parameter data does not match
number of elements at the
parameter address
65h…FF Manufacturer-specific –
error area
65h Vendor-specific error Vendor-specific error
66h Request not supported Request not supported
67h Communication error Request cannot be completed
because of a communication error.
6Eh Non-volatile error Failure during write to non-volatile
memory
6Fh Time-out error Request aborted because of
timeout
78h PZD map failure Parameter cannot be mapped to
PZD (size mismatch or non-
existent).
79h PZD memory failure Parameter cannot be mapped to
PZD (out of memory).
7Ah Multiple PZD map Parameter cannot be mapped to
PZD (multiple PZD write).
82h Control word bit map Cannot map Control word bit
(parameter 933…937, eg, double
mapping of bits).
8Ch Set torque mode error Cannot change mode to TORQUE
(frequency is used).
140 Communication protocol

Error # Meaning Used at

90h Illegal Request ID The request ID of the response is
illegal.
96h Internal buffer Buffer overflow
A0h Internal communication Communication error between the
module and the drive

„ Parameter data transfer examples (DP-V1)

The following examples show how parameter data is transferred
using the DP-V1 mechanisms READ and WRITE.
Note: Only the “data unit” part of the SD2 telegram is presented in
the examples. See PROFIBUS SD2 telegram for SAP 51 on page
131.

Example 1a: Reading a drive parameter (array element)

Drive parameters are addressed so that the drive parameter group
corresponds to the Parameter index (PNU), and the drive
parameter number within the group corresponds to the Subindex
(IND). In the following example, a value is read from drive
parameter number 12.04 (0C.04h).
• DP-V1 Write request (Read parameter value):
Function number
Slot number
Index
Data length
Request reference
Request ID (01h= Request Parameter
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter index
Subindex

DP 5F 01 2F 0A 05 01 01 01 10 01 00 0C 00 04 DP
header DP-V1 Command PROFIdrive V3 Parameter Channel trailer
 Communication protocol 141

• Positive Read response to DP-V1 Read request:

Function number
Slot number
Index
Data length
Response reference (mirrored)
Response ID
Drive object ID
Number of parameters
Format (42h = Word)
Number of values
Parameter value

DP 5E 01 2F 08 05 01 01 01 42 01 05 64 DP
header DP-V1 Response PROFIdrive V3 Parameter Channel trailer

• Negative response to PROFIdrive Read request:

Function number
Slot number
Index
Data length
Response reference (mirrored)
Response ID
Drive object ID (mirrored)
Number of parameters
Format (44h = Error)
Number of values
PROFIdrive error
code

DP 5E 01 2F 08 05 01 01 01 42 01 05 64 DP
header DP-V1 Response PROFIdrive V3 Parameter Channel trailer
142 Communication protocol

Example 1b: Reading 3 drive parameters (multi-parameter)

In this example, three parameters (12.04, 20.08 and 30.19) are
read using one telegram.
• DP-V1 Write request (Read parameter value):
Function number
Slot number
Index
Data length
Request reference
Request ID (01h= Request Parameter
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter number
Subindex

5F 01 2F 16 06 01 01 03 10 01 00 0C 00 04
DP
DP-V1 •••
header PROFIdrive V3 Parameter Channel
Command

10 01 00 14 00 08
••• (Par. Channel •••
continued)

10 01 00 1E 00 13
DP
••• (Par. Channel trailer
continued)
 Communication protocol 143

• Positive Read response to DP-V1 Read request:

Function number
Slot number
Index
Data length
Response reference (mirrored)
Response ID
Drive object ID
Number of parameters
Format (42h = Word)
Number of values
Parameter value

5F 01 2F 10 06 01 01 03 42 01 01 90
DP
DP-V1 PROFIdrive V3 Parameter •••
header
Response Channel

42 01 01 F4
••• (Par. Channel •••
cont’d)

42 01 00 30
DP
••• (Par. Channel trailer
cont’d)

The values 190h (400), 1F4h (500) and 1Eh (30) are returned.
144 Communication protocol

Example 2a: Writing a drive parameter (one array element)

Drive parameters are addressed so that the drive parameter group
corresponds to the Parameter index (PNU), and the drive
parameter number within that group corresponds to the Subindex
(IND). In the following example, a value is written to drive
parameter 12.02 (0C.02h).
Function number
Slot number
Index
Data length
Request reference
Request ID
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter number
Subindex
Format
(42h = Word)

Number of
values

Value

5F 01 2F 0E 07 02 01 01 10 01 00 0C 00 02 42 01 02 58
DP header

DP trailer

DP-V1
PROFIdrive V3 Parameter Channel
Command
 Communication protocol 145

Slot number
Slot number
Index
Data length
Request reference (mirrored)
Response ID
Drive object ID (mirrored)
Number of parameters

5E 01 2F 04 07 02 01 01
DP DP
header PROFIdrive V3 trailer
DP-V1 Response
Parameter Channel
146 Communication protocol

Example 2b: Writing 2 drive parameters (multi-parameter)

In this example, the values 300 (12Ch) and 500 (1F4h) are written
to drive parameters 12.02 (0C.02h) and 20.08 (14.08h)
respectively using one telegram.
Function number
Slot number
Index
Data length
Request reference
Request ID (02h= Change Parameter)
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter number
Subindex

5F 01 2F 14 08 02 01 02 10 01 00 0C 00 02
DP
PROFIdrive V3 Parameter •••
header DP-V1 Command
Channel

10 01 00 14 00 08
••• •••
(Par. Channel cont’d)

42 01 01 2C
••• •••
(Par. Channel
cont’d)

42 01 01 F4
DP
••• (Par. Channel trailer
cont’d)

Value
Number of values
Format (42h = Word)
 Communication protocol 147

Slot number
Slot number
Index
Data length
Request reference (mirrored)
Response ID
Drive object ID (mirrored)
Number of parameters

5E 01 2F 04 08 02 01 02
DP DP
header PROFIdrive V3 trailer
DP-V1 Response
Parameter Channel
148 Communication protocol

Example 3: Reading a PROFIdrive parameter

In this example, PROFIdrive parameter 918 (396h) is used to read
the station number of the slave.
• DP-V1 Write request (Reading a PROFIdrive parameter):
Function number
Slot number
Index
Data length
Request reference
Request ID (01h= Request Parameter)
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter index
Subindex

DP 5F 01 2F 0A 09 01 01 01 10 00 03 96 00 00 DP
header DP-V1 Command PROFIdrive V3 Parameter Channel trailer

• DP-V1 Read response:

Function number
Slot number
Index
Data length
Response reference (mirrored)
Response ID
Drive object ID
Number of parameters
Format (42h = Word)
Number of values
Value of error
values

DP 5E 01 2F 08 09 01 01 01 42 01 23 00 DP
header DP-V1 Response PROFIdrive V3 Parameter Channel trailer

The slave returns the station number of the slave (0003h in this
example).
 Communication protocol 149

Example 4: Configuring the process data written to the drive

PROFIdrive parameter 915 (393h) can be used to define which
data is written cyclically to a drive parameter as application-specific
process data.
In the example below, the value of drive parameter 12.06 (0C.06h)
is selected to be taken from PZD3. The parameter will continue to
be updated with the contents of PZD3 in each Request frame until
a different selection is made.
Subindex (IND) defines which process data word the required data
is taken from. Value selects the drive parameter to which that word
is mapped.
• DP-V1 Write request:
Function number
Slot number
Index
Data length
Request reference
Request ID (02h = Change
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter number
Subindex
Format (42h =
Word)

Number of
values

Value

5F 01 2F 0E 0A 02 01 01 10 01 03 93 00 03 42 01 0C 06
DP header

DP trailer

DP-V1
PROFIdrive V3 Parameter Channel
Command
150 Communication protocol

• DP-V1 Read response:

Function number
Slot number
Index
Data length
Request reference (mirrored)
Response ID
Drive object ID (mirrored)
Number of parameters
Format (42h = Word)
Number of values
Value of error
values

DP 5E 01 2F 08 0A 01 01 01 42 01 00 68 DP
header DP-V1 Response PROFIdrive V3 Parameter Channel trailer

Subsequently, the contents of PZD3 in each Request frame are

written to drive parameter 12.06 until a different selection is made.

Example 5: Determining the source of process data read from

the drive
PROFIdrive parameter 916 (394h) can be used to define which
data is read cyclically from the drive as application-specific process
data. In the example below, the parameter is used to determine
which drive parameter the contents of PZD3 are taken from.
Subindex (IND) defines which process data word the required data
is transmitted in.
 Communication protocol 151

• DP-V1 Write request:

Function number
Slot number
Index
Data length
Request reference
Request ID (01h = Read)
Drive object ID
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter index
Subindex

DP 5F 01 2F 0A 0B 01 01 01 10 01 03 94 00 03 DP
header DP-V1 Response PROFIdrive V3 Parameter Channel trailer

• DP-V1 Read response:

Function number
Slot number
Index
Data length
Request reference (mirrored)
Response ID
Drive object ID (mirrored)
Number of parameters
Format (42h = Word)
Number of values
Value of error
values

DP 5E 01 2F 08 0B 01 01 01 42 01 0C 05 DP
header DP-V1 Response PROFIdrive V3 Parameter Channel trailer

Value indicates the source of PZD3 as drive parameter 12.05

(0C.05h).
152 Communication protocol
 Diagnostics 153

Diagnostics

What this chapter contains

This chapter explains how to trace faults with the status LEDs on
the adapter module.
154 Diagnostics

LED indications
The adapter module is equipped with three bicolor diagnostic
LEDs. The LEDs are described below.

Name Color Function

Green Connection to host OK
Blinking red Establishing communication to
host, or communication to host
lost
HOST
Flashing orange, Internal file system error. The
alternating with the error may be cleared by
MODULE flashing orange cycling drive power. If the error
persists, contact your local
ABB representative.
 Diagnostics 155

Name Color Function

Green Module status OK
Blinking red Configuration mismatch
Blinking red in unison with Establishing communication to
HOST (blinking red) host
Blinking green in unison Network connection lost
with NETWORK (blinking
red)
Blinking green once per No communication with this
second with NETWORK node
MODULE steady green
Blinking green 3 times per Only Class 2 master
second with NETWORK connection (no cyclic
steady green communication established)
Red Module fault
Flashing orange, Internal file system error. The
alternating with the HOST error may be cleared by
flashing orange cycling drive power. If the error
persists, contact your local
ABB representative.
Blinking green Establishing network
connection
NETWORK
Green Network connection OK
Blinking red Network connection lost
156 Diagnostics
 Technical data 157

Technical data

What this chapter contains

This chapter contains the technical data of the adapter module and
the PROFIBUS link.

FPBA-01
Enclosure:
158 Technical data

Mounting: Into the option slot on the drive

Degree of protection: IP20
Ambient conditions: The applicable ambient conditions specified
for the drive in its manuals are in effect.
Indicators: Three bicolor LEDs (HOST, MODULE, NETWORK)
Connectors:
• 20-pin connector to drive (X2)
• 9-pin D-SUB connector to bus (X1)
Power supply:
• +3.3 V ±5% max. 450 mA (supplied by the drive)
• Isolated +5 V supply available for bus termination circuitry (X1
pins 5 and 6). 30 mA max.
General:
• Estimated min. lifetime: 100 000 h
• All materials UL/CSA-approved
• Complies with EMC standard EN 61800-3:2004
• Bus interface functionally isolated from drive
 Technical data 159

PROFIBUS link
Compatible devices: All PROFIBUS-compliant devices
Medium: Shielded twisted pair RS-485 cable (PROFIBUS-
approved cable recommended)
• Termination: 220 ohms, or active termination circuitry at each
end of trunk cable (termination not built in the FPBA-01
module)
• Specifications:
Parameter Line A Line B Unit
PROFIBUS DP DIN 19245 Part 1
Impedance 35…165 100…130 ohm
(3…20 MHz) (f > 100 kHz)
Capacitance < 30 < 60 pF/m
Resistance < 110 – ohm/km
Wire gauge > 0.64 > 0.53 mm
Conductor area > 0.34 > 0.22 mm2

• Maximum bus length:

Transfer rate ≤ 187.5 500 1500 3000 6000 12000
(kbit/s) 93.75
Line A (m) 1200 1000 400 200 100 100 100
Line B (m) 1200 600 200 – – – –

Topology: Trunk line, drop lines allowed. Max. 126 nodes with
repeaters (31 nodes + repeater per section)
Transfer rate: 12 Mb/s max., automatically detected by the
adapter module
Serial communication type: Asynchronous, half-duplex RS-485
Protocol: PROFIBUS DP
160 Technical data
 Appendix A – PROFIdrive parameters 161

Appendix A – PROFIdrive
parameters

What this chapter contains

This chapter contains a list of the PROFIdrive profile parameters.

PROFIdrive parameters
Par. no. R/W1) Data type Description
915 R/W Array [10] Assignment PZD1 to PZD10 in PPO-
Unsigned16 write
916 R/W Array [10] Assignment PZD1 to PZD10 in PPO-
Unsigned16 read
918 R/W Unsigned16 Node address. Writing this parameter will
change the node address. Module re-
start required.
919 R Octet Device system number.
String4
923 R Array [n] List of all parameters for signals.
Unsigned16 Mandatory if process data normalization
is used and/or parameters 915 and 916
are implemented.
Signal no. and name Type

1 – Control word 1 (STW1) Unsigned16

162 Appendix A – PROFIdrive parameters

Par. no. R/W1) Data type Description

2 – Status word 1 (ZSW1) Unsigned16

3 – Control word 2 (STW2) Unsigned16

4 – Status word 2 (ZSW2) Unsigned16

5 – Speed set point A Signed16

(NSOLL_A)
6 – Speed actual value A Signed16
(NIST_A)
7 – Speed set point B Signed32
(NSOLL_B)
8 – Speed actual value B Signed32
(NIST_B)
27 – Position set point A Signed32
(XSOLL_A)
28 – Position actual value A Signed32
(XIST_A)
32 – Traversing block Unsigned16
selection (SATZANW) (not
supported)
33 – Actual traversing block Unsigned16
(AKTSATZ) (not supported)
34 – Target position Signed32
(TARPOS_A) (not
supported)
35 – Velocity Unsigned32
(VELOCITY_A)
101…9999 – Drive-specific –

927 R/W Unsigned16 Operator control rights (parameter

identification, PKW)
Value Mode
0 Parameters cannot be
written, only read (927 can
be written).
1 Parameters can be written
and read (default).
 Appendix A – PROFIdrive parameters 163

Par. no. R/W1) Data type Description

928 R/W Unsigned16 Control rights (process data, PZD).
Value Mode
0 PZD part is disabled, ie,
Receipt of new PZD data is
ignored.
1 PZD part is enabled
(default).
929 R Unsigned16 Selected PPO type
Value PPO type Configuration
1 PPO1 F3h, F1h
2 PPO2 F3h, F5h
3 PPO3 F1h
4 PPO4 F5h
5 PPO5 F3h, F9h
6 PPO6 F9h
7 PPO7 0xF3, 0xFB
8 PPO8 0xFB
Note: This parameter is not available if
standard telegram ST1 or ST2 is
selected.
930 R/W Unsigned16 Selection switch for communication
profile.
Value Mode
1 PROFIdrive
8001h ABB Drives
8002h Transparent 16
8003h Transparent 32
8004h PROFIdrive positioning
mode
164 Appendix A – PROFIdrive parameters

Par. no. R/W1) Data type Description

933 R/W Unsigned16 Selection switch for Control word, bit 11.
Value Module Control word bit
0 None
1 to 5 Vendor-specific 1 to 52)
934 R/W Unsigned16 Selection switch for Control word, bit 12.
(See parameter 933 for coding.)
935 R/W Unsigned16 Selection switch for Control word, bit 13.
(See parameter 933 for coding.)
936 R/W Unsigned16 Selection switch for Control word, bit 14.
(See parameter 933 for coding.)
937 R/W Unsigned16 Selection switch for Control word, bit 15.
(See parameter 933 for coding.)
939 R/W Unsigned16 Selection switch for Status word, bit 11.
Value Module Status word bit
0 None
1 to 4 Vendor-specific 1 to 42)
940 R/W Unsigned16 Selection switch for Status word, bit 12.
(See parameter 939 for coding.)
941 R/W Unsigned16 Selection switch for Status word, bit 13.
(See parameter 939 for coding.)
942 R/W Unsigned16 Selection switch for Status word, bit 14.
(See parameter 939 for coding)
943 R/W Unsigned16 Selection switch for Status word, bit 15.
(See parameter 939 for coding.)
945 R Array[64] Fault code (coded according to
Unsigned16 DRIVECOM profile). Supported with
ACS355 drives only. Note: The drive
may limit the actual number of the faults
recorded.
Subindex Contents
1 Active fault
 Appendix A – PROFIdrive parameters 165

Par. no. R/W1) Data type Description

947 R Array [64] Fault number.
Unsigned16
Subindex Contents
See parameter 945.
952 R/W Unsigned16 Number of faults occurred. Writing a zero
clears the value.
953 R Unsigned16 3)
Last alarm
954 R Unsigned16 3)
Second last alarm
955 R Unsigned16 3)
Third last alarm
956 R Unsigned16 3)
Fourth last alarm
957 R Unsigned16 3)
Fifth last alarm
958 R Unsigned16 Sixth last alarm (not supported)
959 R Unsigned16 Seventh last alarm (not supported)
960 R Unsigned16 Eighth last alarm (not supported)
961 R Octet Hardware configuration (manufacturer-
String4 specific ID of the drive)
963 R Unsigned16 Detected baud rate:
0 = 9.6 kbit/s
1 = 19.2 kbit/s
2 = 93.75 kbit/s
3 = 187.5 kbit/s
4 = 500 kbit/s
6 = 1.5 Mbit/s
7 = 3 Mbit/s
8 = 6 Mbit/s
9 = 12 Mbit/s
11 = 45.45 kbit/s
255 = Invalid baud rate
166 Appendix A – PROFIdrive parameters

Par. no. R/W1) Data type Description

964 R Array [7] Subindex Contents
Unsigned16
0 Manufacturer
1 Device type
2 Version
3 Firmware date (year)
4 Firmware date (day/month)
5 Number of Axes
6 Identification (0959h)
965 R Octet Profile number of this device.
String2 Eg: 0302h = Profile 3, Version 2
967 R Unsigned16 Control word (CW)
968 R Unsigned16 Status word (SW)
970 R/W Unsigned16 Load parameter record
Value Description
0 No action
1 Restore factory settings
The parameter must do a zero-to-one
transition and the motor must be
stopped.
971 R/W Unsigned16 Save parameter record
Value Description
0 No action
1 Save the drive parameters
to non-volatile memory
The parameter must do a zero-to-one
transition and the motor must be
stopped.
 Appendix A – PROFIdrive parameters 167

Par. no. R/W1) Data type Description

972 R/W Unsigned16 Software reset
Value Description
0 No action
1 Re-boot PROFIBUS module
The parameter must do a zero-to-one
transition and the motor must be
stopped.
975 R Array[n] DO identification. For subindexes 0…4,
Unsigned16 see parameter 964.
Subindex Meaning
5 Value 2 = Axis
6 Bit 0=1 -> Application Class
1 supported
Bit 2=1 -> Application Class
3 supported
980 R Array[n] Number list of the defined parameters. If
981 Unsigned16 the subindex is 0, the end of the list has
been reached. If the subindex is the
number of the next list parameter, the list
is continued there.
1)
Read and/or Write
2)
The meaning of vendor-specific bits is defined by the drive application
program.
3)
Support depends on the drive type.
168 Appendix A – PROFIdrive parameters
 Appendix B – I&M records 169

Appendix B – I&M records

What this chapter contains

This chapter contains the telegram and response structures for
I&M (Identification & Maintenance) records.

I&M records
I&M records can be read, for example, with the DTM tool. The
FPBA-01 module supports the mandatory I&M0 record as well as
the optional I&M1 and I&M2 records.
170 Appendix B – I&M records

„ Call-REQ-PDU telegram for read/write access to

I&M records
Contents Size Coding Notes
DP-V1 Function_Num 1 Octet 5Fh fixed
header
Slot_Number 1 Octet 0…255 variable
Index 1 Octet 255 fixed
Length 1 Octet 4 / 68 Call Header only /
Write
Call Extended_Function_ 1 Octet 08h Indicates “Call”,
Header Num fixed
reserved 1 Octet 00h fixed
FI_Index 2 Octets 65000… Subindex of I&M0
Record
65000 = I&M0
65001 = I&M1
65002 = I&M2
IM_Function 64 Octets Data Write only (I&M1
or I&M2)
 Appendix B – I&M records 171

„ Response structure for I&M0 (Read-only)

Contents Size Coding
Header Manufacturer-specific 10 Octets “FPBA-01”
I&M MANUFACTURER_ID 2 Octets 0x1A = ABB Automation
block
ORDER_ID 20 Octets “68469325” (for FPBA-
01 kit)
SERIAL_NUMBER 16 Octets Serial number of FPBA
module
HARDWARE_REVISION 2 Octets Hardware version of
FPBA module
SOFTWARE_REVISION 4 Octets Format: V255.255.255
Eg, V1.0.0 = software
version 1.00
REVISION_COUNTER 2 Octets (Marks a change of
hardware or its
parameters)
PROFILE_ID 2 Octets 3A00 (…3AFF)
PROFIdrive
PROFILE_SPECIFIC_ 2 Octets 0 = no specific type
TYPE
IM_VERSION 2 Octets 0x0101 = version 1.1
IM_SUPPORTED 2 Octets 3 = I&M0, I&M1 and
I&M2 supported
172 Appendix B – I&M records

„ Response structure for I&M1 (Read/Write)

Contents Size Coding
Header Manufacturer-specific 10 Octets –
I&M0 TAG_FUNCTION 32 Octets Device function or task
block
TAG_LOCATION 22 Octets Device location

„ Response structure for I&M2 (Read/Write)

Contents Size Coding
Header Manufacturer-specific 10 Octets –
I&M0 INSTALLATION_DATE 16 Octets Installation date.
block Eg, 2011-01-01 16:23
RESERVED 38 Octets Reserved

Note: I&M1 and I&M2 are blank (0x20) by default.

Further information
Product and service inquiries
Address any inquiries about the product to your local ABB
representative, quoting the type designation and serial number of
the unit in question. A listing of ABB sales, support and service
contacts can be found by navigating to www.abb.com/drives and
selecting Sales, Support and Service network.

Product training
For information on ABB product training, navigate to
www.abb.com/drives and select Training courses.

Providing feedback on ABB Drives manuals

Your comments on our manuals are welcome. Go to
www.abb.com/drives and select Document Library – Manuals
feedback form (LV AC drives).

Document library on the Internet

You can find manuals and other product documents in PDF format
on the Internet. Go to www.abb.com/drives and select Document
Library. You can browse the library or enter selection criteria, for
example a document code, in the search field.
Contact us

3AFE68573271 Rev E (EN) 2011-09-07

ABB Oy ABB Inc. ABB Beijing Drive Systems
Drives Automation Technologies Co. Ltd.
P.O. Box 184 Drives & Motors No. 1, Block D,
FI-00381 HELSINKI 16250 West Glendale Drive A-10 Jiuxianqiao Beilu
FINLAND New Berlin, WI 53151 Chaoyang District
Telephone +358 10 22 11 USA Beijing, P.R. China, 100015
Fax +358 10 22 22681 Telephone 262 785-3200 Telephone +86 10 5821 7788
www.abb.com/drives 1-800-HELP-365 Fax +86 10 5821 7618
Fax 262 780-5135 www.abb.com/drives
www.abb.com/drives