DRIVE SYSTEMS with 8C SERIES Brushless Servomotors and 300 ... · with 8C SERIES Brushless...

DRIVE SYSTEMSwith 8C SERIES

Brushless Servomotorsand 300 & 500 BIVECTOR

ConvertersIn compliance with EEC Directives and mark

Description of the SerialCommunication Protocol

Ref. MANSER09.9810 GBUpdate 01

Issue July 1999

ABB Servomotors S.r.l.

MANSER09.9810 GB - ABB Servomotors S.r.l.

Ref. MANSER09.9810 GBUpdate 01

Issue July 1999

ABB Servomotors S.r.l.Registered office: piazzale Lodi, 3 I 20137 Milano

Headquarter, Offices and Plant:Frazione Stazione Portacomaro 97/C

I 14100 ASTI

Reserved literary copyright 1999, ABB Servomotors S.r.l. Asti

Printed in Italy

This document contains confidential information owned by ABB Servomotors S.r.l. With theacceptance of the present document, the receiver agrees not to reproduce, copy by anysystem, or transmit to third parties the document itself and the related information in part oras a whole and not to allow third parties, for any reason, to carry out any of these actionswithout the previous written permission of ABB Servomotors S.r.l.

MANSER09.9810 GB - ABB Servomotors S.r.l. Contents Page 1

CONTENTS

CONTENTS

CHAPTER 1 OVERVIEW1.1 Preliminary note1.2 Usage warnings1.3 Content of this document

CHAPTER 2 DESCRIPTION OF RS-485 COMMUNICATION PROTOCOL2.1 General features of RS-485 line2.2 Format of the command string2.3 Connection diagram for RS-485 multipoint communication

CHAPTER 3 DESCRIPTION OF RS-485 COMMANDS3.1 Instructions for the identification of drive status3.2 Instructions for system management3.3 Instructions for parameters editing3.4 Instructions for drive “clonation”3.5 Instructions for diagnostics

CHAPTER 4 PARAMETERS READING/WRITING AND CONVERSION4.1 Parameters of system table # 04.2 Parameters of system table # 14.3 Parameters of control table4.4 Parameters of motor-converter data table4.5 Parameters of user table

APPENDIXA.1 Examples of RS-485 communication protocol usageA.2 Description of RS-232 communication protocolA.3 Full scales definitions

Contents Page 2 MANSER09.9810 GB - ABB Servomotors S.r.l.

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MANSER09.9810 GB - ABB Servomotors S.r.l. Page 1.1

CHAPTER 1 - OVERVIEW

1.1 Preliminary note

The content of this manual is compatible with the SW version 1.04 of the 300 & 500 SeriesBIVECTOR converters.

1.2 Usage warnings

1.2.1This documentation is particularly intended for users who need to use the RS-485 serialconnection, especially to carry out a multipoint connection between an external device (i.e. aPC, a PLC, etc.) and drive systems with 300 & 500 Series BIVECTOR converters.Furthermore, Appendix A.2 describes RS-232 communication protocol. BIVCOM program issuitably made for the communication between BIVECTOR converters and PC and is basedon RS-232 communication protocol.

1.2.2Users of this documentation should be properly skilled in software knowledge and shouldhave experience in serial communication field, because they will have to create the softwareapplication for multipoint connection network management between the master and thedifferent slaves made of the 300 & 500 Series BIVECTOR converters.Users will also have to know basic principles and specific drive system operating modes,through the knowledge of the contents of the First and Second Part of the “Installation,Commissioning and Use Manual for Drive Systems with 8C Series (vs. A) brushlessservomotors and 300 Series BIVECTOR converters”, MANIU08.9809 GB and the relatedversion for 500 Series convertors, in preparation at the moment of printing of the presentmanual.

1.2.3Since chapter numbering of both parts of the manual and of this documentation starts withnumber 1 - in order not to create confusion when referring to First and Second Part of themanual - the reference is followed by the indication (1st Part) or (2nd Part) respectively,whereas when this note is not present, it is the present documentation which is referred to.

1.2.4WARNING Since each converter is part as a slave of the network with RS-485

multipoint connection, it must be marked with the serial identifier(Par. 23, Serial Identification, in system table #0).

1.2.5Before testing the software created by users on the multipoint network, we suggest to makesure that each drive system is correctly installed and suitably tested as a single drive system.

1.2.6As far as safety is concerned, users must bear in mind the content of the First and SecondPart of the manual quoted at item 1.2.2, mainly the content of § 1.4 of Chapter 1(1st Part).

1.3 Content of this document

Chapter 1 of this document provides preliminary information mainly of editorial type, notes onthe skills of the users of the document and some practical suggestions.Chapter 2 describes RS-485 communication protocol and it provides hardware connectiondiagram calling for multipoint communications.

Chapter 1 - Overview

Page 1.2 ABB Servomotors S.r.l. - MANSER09.9810 GB

Chapter 3 describes the RS-485 controls and it is a fundamental chapter for multipointnetwork software engineers. It provides instructions for drive status identification, systemmanagement, parameters editing, drive “clonation” and diagnostics.Chapter 4 describes parameters reading/writing and conversion.Appendix A.1 provides some examples of RS-485 communication protocol usage, whileAppendix A.2 describes RS-232 communication and Appendix A.3 defines the full scales ofspecific sizes (obviously, these definitions are valid independently of the serialcommunication system used).


CHAPTER 2 - DESCRIPTION OFRS-485 COMMUNICATION PROTOCOL

2.1 General features of RS-485 line

• the RS-485 serial (asynchronous, half-duplex differential) line is suitable for multidropcommunications (bidirectional multiple connections to buses);

• in half-duplex communication, transmitters and receivers share the bus; only one device(drive, PC) can transmit over the line and all the other devices connected in the networkcan receive data; the Echo Mode is not used (each character received is not retransmittedin echo);

• no hardware handshaking is required;• in case of communication error during instruction transmission (parity, checksum or illegal

character), the drive does not respond (because there could be an error on the driveidentifier field, causing all the drives to respond); the communication error could bedetected as a time-out error;

• the protocol is of “master-slave” type: the converter is a “slave” and it only responds onthe request of the “master”, usually made of a PC or a PLC;

• data format: 1 start bit, 8 data bits, 1 (even) parity bit and 1 stop bit;• the transmission speed can be adjusted by Par.25, Baud Rate Serial RS485, in system

table #0 (default value: 9600 bits/sec.). In order to guarantee both serial communicationand drive system functions in the heaviest operation modes for CPU calculation time(positioning, synchronizing), the maximum value of baud rate must be 38400 bits/sec.Higher transmission speeds are used for dedicated proprietary procedures (i.e. softwareupgrade via serial link);

• recommended timing for RS-485 communication: - leave at least 5 ms between the latest character sent by the drive and the first character

sent to the drive (to guarantee a correct reception by the drive); - time between the latest character sent to the drive and the start of the response from the

drive: min. 2 ms ÷ max. 35 ms (in order to size the switching of the master buffer into thereceiving mode and to size the time-out logic during waiting for the response from thedrive);

• up to 32 drives can be connected on the same serial line and they can be distinguishedthrough the serial identifier (Par. 23, Serial Identification, in system table #0). For moredrives, contact Customer Service (see section 1.6.4 of Chapter 1 in the first part of themanual, MANIU08.9809 GB).

2.2 Format of the command string

2.2.1 General commands

In the following descriptions for command strings, the following elements will be used:- bold characters which are the preset parts of the command string which will have tobe transmitted as they are, in ASCII format;- <variable_name>, representing the part to be specified by users when creating thestring; for example, if the variable to transmit is a byte having the value 3F, the ASCIIvalue of 3 (33H) and the ASCII value of F (46H) will have to be sent in succession.

The convention used for drive responses is similar to the previous one:- preset characters/values - bold characters;- data received by the drive - normal characters; since the response length is known,the response is specified through the number of characters to be received; forexample, when the response is one byte long, the length is specified as xx (2

Chapter 2 - Description of RS-485 communication protocol


characters); for a word it is xxxx and for a long word it is XXXXxxxx (by highlightingthe most significant part of the data, too).

Format of a general command string (in ASCII):

&<DD><II><data_field>/<CC>

where:

& = start character of a generic command string;<DD> = drive identifier; all the drives receive the string, but only the drive where

<DD> is equal to its identifier decodes and executes the string; the case<DD>=FF is for synchronizable commands (see the following section);

<II> = instruction code<data_field> = (for some instructions) address and/or hexadecimal values (data) sent to

the drive/ = end character of the command string, followed by the CC checksum of the

string<CC> = checksum of the command string (module sum 256 of byte values of all the

fields, except for & and / ); if = is sent instead of /<CC>, the checksum must notbe transmitted or checked.

If checksum (string finishing with /<CC>) check is required, the drive:- does not respond in case of checksum error;- sends the normal response, without additional characters, when the checksumverifying is OK.

When the command is accepted by the drive (there is no communication error and the drivestatus is suitable for that command), the drive responds with Y^ (for instructions without datafield) or with Y<data_field>/<CC>^ (for instructions with data field), where:<data_field> = hex value requested by the “master”/<CC> = the character / indicates that the CC checksum of data sent by the drive

follows^ = it indicates the end of the response string.When the drive does not accept a command (its status is not suitable), its response is N^.The drive responses (format, dependence of the drive status) are described in detail inChapter 3.

2.2.2 Synchronizable commands

These commands are used to execute mechanisms of broadcast type (carried out by all theslaves) or multicast type (carried out by some slaves). This mechanism is made up of twophases:

1) synchronizable commands (%<DD>.../<CC>) are transmitted to a certain numberof drives; these commands are not executed, but only stored in a buffer; all theslaves which have to execute this kind of command are “loaded” in this way; if all thedrives have to receive the command string, they can all be addressed with%FF.../<CC>.2) the execution command is transmitted (the “trigger” of synchronizable commands);at that moment, the commands “loaded” in the concerned slaves are simultaneouslyexecuted.General format of a synchronizable command string (in ASCII):

%<DD><II><data_field>/<CC>where:

% = start character of the synchronizable command string;The meaning of the other fields is identical to the general commands.



The drive response is Y^ when the checksum verifying is OK; in this case, the command isstored in a buffer. In case of checksum error, the drive does not respond and the commandis not loaded into the buffer. If DD = FF, the drives do not respond.The synchronization command is as follows:

&FFD4/<CC>The command is received and decoded by all the slaves. All the slaves that “loaded” asynchronizable command into the buffer simultaneously execute that command. Noresponse is sent over the line (to avoid conflicts).In order to ease the management of this mechanism, an instruction to “clear” the buffer ofsynchronizable commands is also available for all the drives:

&FFD5/<CC>Also in this case no response is sent over the line (in order to avoid conflicts).This final command allows the synchronization mechanism to be started from a knowncondition concerning the commands buffer.

2.3 Connection diagram for RS-485 multipoint communication

2.3.1 RS-232 / RS-485 connector on the 300 & 500 Series Bivector converter

On the front side: SUB-D type female 9-pin drawer connector.This device connects multiple cables for serial connection to external devices by means oftwo different protocols: RS-232 and RS-485. The two protocols have different features;Table 2/1 provides the most significant ones.

WARNING The physical features of this connector are equal to the features of theRESOLVER and FREQUENCY IN connectors (which are all femaleconnectors) and there is no mechanical polarization; it is thereforenecessary not to exchange cables during installation and in case ofconverter replacement.

Table 2/1Name Maximum distance Some features

RS-232-C 20 m Single-point Bidirectional unipolarRS-485 1000 m Multi-point Half-duplex differential

Fig. 2-1 shows the flying connector (300 & 500 Series BIVECTOR side) of the cable for theconnection with the external devices, as well as the numbering of pins to which connectionhas to be carried out in the two different cases; as it can be seen, GND (ground) andSHIELD references lead to the same pins, while the active conductors lead to pin couples,different for each type of protocol.The connection can be made for the following equipment:

A) KEY-B control keyboard;B) Personal Computer (PC) (see Fig. A-1);C) any other equipment provided with serial input.



Terminals to be used forRS232 communication

Terminal Description 2 Tx ( RS 232 ) 3 Rx ( RS 232 ) 5 GND 1 SHIELD

Terminals to be used for RS485communication

Terminal Description 8 RX/ Tx - (RS 485 B) 9 RX/ Tx + (RS 485 A) 5 GND 1 SHIELD

1

5

6

9

RS 232 / RS 485

(Flying) male9-pin drawerconnector

Fig. 2-1: Serial Connection Terminals.

2.3.2 Connection diagram for RS-485 multipoint communication

Fig. 2-2 shows a connection diagram based on RS-485 protocol between an external device(PC, PLC, etc.) having the function of a master and a certain number of 300 & 500 SeriesBIVECTOR converters, having the function of slaves. In order to carry out this connection, itis necessary to consider the following recommendations:- a maximum of 32 slaves can be connected;- the master can never be a BIVECTOR;- branched connections, for example Y connections, are not expected;- the connection between the devices must be physically made as it is shown in the figure; inparticular, the connection cables must only be multiplexed on BIVECTOR terminal blocks;- terminal resistors (RT = 120 Ω, 1/4 W) must be directly mounted onto the connectors of thetwo devices at the ends of the line, cables must be twisted and shielded, and shields mustbe connected on both sides, as it is shown in the figure.

RTRT

RS 485MASTER

(PC, Controller, PLC,etc. )

NOTE485A = Tx / Rx +485B = Tx / Rx -

RS232/RS485CONNECTOR

BIVECTOR 1

RS 485 DRIVER

1895485A

485B SHIELDGND

SHIELD

485B

485A

GND

RS232/RS485CONNECTOR

BIVECTOR N

RS 485 DRIVER

1895485A

485B SHIELDGND

Twisted Pair

Shield

Fig. 2-2: RS-485 Multipoint Connection Diagram


CHAPTER 3 - DESCRIPTION OF RS-485 COMMANDS

3.1 Instructions for the identification of drive status

3.1.1 Definition of drive status

The drive can be set in one of the following statuses:• RFO (Ready For Operation): no signalled protection or failure; Power Switches are OFF;

status in which PLC (for example Homing) and autotuning functions can be launched or inwhich changes on the general system configuration can be made.

• GO: no signalled protection or failure; Power Switches are ON; status in which the variousoperating tasks are executed; functions of control loop tuning, (analog or digital)monitoring of some variables and motion task changes can be made.

• FAIL: at least one protection or one failure is signalled; Power Switches are OFF; in thisstatus diagnostic and alarm reset functions are active.

The Editor can be opened and the drive parameters can be changed in any of the previousstatuses. Parameters saving in EEPROM is only accepted in RFO status.

3.1.2 Instruction for identification of the drive status

Send the string &<DD>A615/<CC> to the drive;- if the drive response is: Y00/00^ ==> RFO- if the drive response is: Y01/01^ ==> GO- if the drive response is: Y02/02^ ==> FAIL

3.2 Instructions for system management

3.2.1 Start (RUN) command

Action executed: the drive switches from RFO status to GO status; the user table whichbecomes active is the general user table #0. The same action is executed at the Lo-Hitransition of the dedicated digital input Enable.String to be sent: &<DD>A1/<CC>When the drive is in RFO status, the response is Y^, otherwise N^(not accepted command).

3.2.2 Start (RUN) command with the general user table #...

A command of “Start with table N... “ is available. Unlike the previous command, the startuser table is directly specified in the command. The drive responses are the same as before.String to be sent: &<DD>DDxx/<CC>, where xx = byte specifying the number of the startuser table ( 20H ÷ 3FH correspond to general tables N. 0 ÷ N. 31 ).

3.2.3 Stop command

Action executed: the motor is stopped and once it arrives at 0 rpm, the RFO status becomesactive and the drive is disabled (if, for any reason, the motor cannot be brought to 0 rpm,switching to RFO status is automatically carried out after a 2 s time-out). When the drive isnot in GO status, the command is not accepted (response N^).When GO status is active, the Stop command can be sent through the dedicated digital inputEnable (Hi-Lo passage) or via serial link, by using the command &<DD>BF/<CC>.

3.2.4 User Stop command (Customizable end of operating cycle)

Users can define their procedure to end an operating cycle by configuring the special usertable #8 (User Stop).

Chapter 3 - Description of RS-485 commands


The User Stop command can be selected through a digital input configured as “User Stop”by one of the 4...11 parameters, Digital Input 1...8 Configuration, system table #0, or by theserial command &<DD>CF/<CC>.

3.2.5 User table change command

Action executed: on-the-fly change of the user table currently active with the user tablespecified in the command.String to be sent: &<DD>A7xx/<CC>, where xx = N. of the new hexadecimal user table:

- the special user tables are in the range 00H ÷ 1FH:

Special user table Coding

RFO (Ready For Operation) 00HSecurity 01HLimit Switch Hardware – Right 02HLimit Switch Hardware – Left 03HLimit Switch Software #1 – Right 04HLimit Switch Software #1 – Left 05HLimit Switch Software #2 – Right 06HLimit Switch Software #2 – Left 07HUser Stop 08HHoming 09HFree for further developments 0AHJog + 0BHJog - 0CHTune 0DH

- in the range 20H ÷ 3FH there are 32 general user tables (General Purpose): fromgeneral table #0 to general table #31.

The serial command is only accepted (response Y^) if the drive is in GO status and if Par.26, Serial Priority, in system table #0, is set as ‘Yes’, otherwise the drive response is N^.

3.2.6 Alarm Reset command

The Alarm Reset command can be sent through the dedicated digital input Reset (Lo - Hitransition), or through the serial command &<DD>CE/<CC>.Action executed: when the drive is not in FAIL status, only the reset of a warning is carriedout; when the drive is in FAIL status, all the alarm flags are reset and the alarm checkroutine is commanded. If at the end of the check routine there are no alarms (all flags areset to zero), the RFO status and the status flags are restored.

3.2.7 Homing procedure

At startup, the drive must be in RFO status.“Start Homing” command: &<DD>EB/<CC> (or &<DD>C3/<CC>). If the drive is in RFOstatus, the response is Y^ (otherwise N^). During Homing procedure, the drive is in GOstatus and it works with special user table #9 (Homing). This table is typically configured inSpeed Mode, with digital speed reference. One of the digital inputs must be configured as“Home Input High/Low” (system table #0) and connected to the machine proximity sensor.When this input reaches the active level, the drive executes the following operations: thedrive multiturn position is forced to the value of Par. 07, Home Position, system table #1. Atthe same time, the motor is stopped and the drive gets back to RFO status. From thatmoment on, any positioning operation is allowed to be executed and Limit Switch Softwareprotections can also be enabled.To know the progress status of Homing procedure, the following command is sent:&<DD>A614/<CC>. The possible responses of the drive are as follows:



Y00/00^ - no Homing executed after the drive is poweredY01/01^ - Homing in progressY02/02^ - Homing completed

3.2.8 Jog procedure

At startup, the drive must be in RFO status.One of the “Start Jog+” or “Start Jog-” commands is selected. The motor will turn in thepositive (+) direction (clockwise as seen from the motor A-side) or in the negative (-)direction. To stop the motor, send the Stop command. Motions in the 2 directions (rotationalspeed, various limitations, gains, etc.) are configured through 2 special user tables, Jog+and Jog-, which can be suitably customized by the user.“Start Jog+” command: &<DD>C0/<CC> . If the drive is in RFO status, the response is Y^(otherwise N^).“Start Jog-” command: &<DD>C1/<CC> . If the drive is in RFO status, the response is Y^(otherwise N^).

3.2.9 Tune procedure

At startup, the drive must be in RFO status.When the “Start Tuning” command is selected, the motor will turn in the positive (+) direction(clockwise as seen from the motor A-side) at 1000 rpm. Be sure that the motor shaft canrotate freely. In this situation, through the 2 AOUT1 (“Actual Speed”) and AOUT2(“Mechanical Angle”) analog signals and by suitable acting on parameters of control tablePar.07, 2-nd Harmonic Tuning, tuning of the 2nd harmonic of the measured speed signalcan be executed.The default motion for harmonic tuning is configured through the special user table Tune,which can be suitably customized by the user.“Start Tuning” command: &<DD>C2/<CC> . If the drive is in RFO status, the response is Y^(otherwise N^).After tuning is completed, send the Stop command to stop the motor.

3.2.10 Microcontroller software reset command

To reset the microcontroller, 2 serial commands are available:• &<DD>AF/<CC> - the Reset command is not accepted when the drive is in GO status

(response N^).• &<DD>B0/<CC> - the Reset command is not influenced by the drive status (to use with

utmost attention!).When one of these commands is accepted, the drive responds Y^ and is then reset.

3.3 Instructions for parameters editing

3.3.1 Instruction “Open the editor”

It is the first instruction to be sent to the drive in order to start a parameters editing session(reading/changing/saving).String to be sent: &<DD>F0/<C>.Actions executed:

- all the 68 tables (motor-converter data, system #0, system #1, control and user) arecopied from the EEPROM into the RAM;- from that moment on, active tables (used by the drive software) are the tablescopied into the RAM;- the Edit_bit is placed at 1 (Editing ON) (editor had to be previously closed, Edit_bit =0, otherwise the command is not executed).

Drive response:- Y^ (command accepted) if the editor was closed (Edit_bit = 0)- N^ (command denied) if the editor had already been opened (Edit_bit = 1)



3.3.2 Instruction “Read editor status”

This instruction can be used to know in any moment if the editor has been opened or not.String to be sent: &<DD>A622/<CC>.Drive response:

- Y00/00^ when editor is closed (Edit_bit = 0)- Yxx/xx^, where xx byte is different from 0, when editor is open (the same asEdit_bit = 1)

3.3.3 Instruction “Load table... “

After opening editor by loading all the tables into the RAM, specify the table to be editedthrough an instruction “Load table ...”; after the editing of a table and if you want to editanother table, use an instruction of the same type. The following choices are available:a) selection of tables copied from EEPROM (configurated by the user):

- converter-motor data table - string to be sent: &<DD>FF/<CC>- system table #0 - string to be sent: &<DD>F9/<CC>- system table #1 - string to be sent: &<DD>FA/<CC>- control table - string to be sent: &<DD>FB/<CC>- user table - string to be sent: &<DD>FCxx/<CC>where xx = N. of user table to be edited in hex form:

- in the range 00H ÷ 1FH there is a maximum number of 32 special user tables(see also the User Table Change command)- in the range 20H ÷ 3FH there are 32 general user tables (General Purpose):from general table N. 0 to general table N. 31.

- for user tables a command of “Replace table N. ... with table N. ...” type is alsoavailable; in this case, send the string &<DD>FDssdd/<CC>, where ss = N. ofsource user table (in hexadecimal form) and dd = N. of final user table (inhexadecimal form).In any case, the drive responds:

- Y^ (command accepted) if the drive is open;- N^ (command denied) if the editor is closed.

Moreover, if the drive is in GO status, the command “Replace table N. ... with table N....” is not accepted.

Note: parameters contained in the motor-converter data table determine the size full scalesand therefore condition the physical meaning of some parameters of the other tables.Particular attention may then be paid when editing this table; this is the normal procedure tofollow: edit the motor-converter data table only, save it and then edit the other tables. Theediting of this table is more binding: the command is accepted (response Y^) when theeditor is open and also when the drive is in RFO status.b) selection of tables copied from EPROM (default), a useful option when one or more tablesin EEPROM have been given values which are not consistent with the drive system, in whichcase the user wants to move the drive back to a start status with sure settings; this operationis made up of 2 phases; first of all copy the table from EPROM into RAM than activate theediting of this table accordingly; select the following commands:

- default copy of motor-converter data table - string to be sent: &<DD>FE/<CC>- default copy of system table #0 - string to be sent: &<DD>F3/<CC>- default copy of system table #1 - string to be sent: &<DD>F4/<CC>- default copy of control table - string to be sent: &<DD>F5/<CC>- default copy of user table - string to be sent: &<DD>F6ssdd/<CC> wheress = N. of source default user table and dd = N. of final user table, in hexadecimalformDrive response:

- Y^ (command accepted) if the editor is opened and the drive is not in GOstatus;



- N^ (command denied) if the editor is closed or the drive is in GO status.Note: a command which copies all the 68 tables from EPROM into RAM (by gathering all theinstruction set described above) is also available. Send the following string:&<DD>F8/<CC>. The drive will respond as stated above. Tables loaded in this way areselected to be edited by following the instructions in item a).The note in item a) remains valid.

3.3.4 Instruction “Save”

It is used to save in EEPROM changes made to tables, without closing the editor. Whensaving, data are copied from RAM into EEPROM, which is only allowed in RFO status.Active tables are the tables written in the RAM (which can still be edited). Saving operationlasts about 3 seconds; it is therefore necessary to configure the time-out for responsewaiting for this situation.String to be sent: &<DD>ED/<CC>.Drive response:

- Y^ (command accepted) if the editor is open and the drive is not in GO status;- N^ (command denied) if the editor is closed or the drive is in GO status.

3.3.5 Instruction “Close the editor”

It is used to end an editing session. Active tables will be the ones written in the EEPROMand the Edit_bit will be placed at 0. To exit the editor, two modes are available:- without saving - string to be sent: &<DD>F1/<CC>; command accepted (response Y^)when the drive is not in GO status;- by saving before exit - string to be sent: &<DD>F2/<CC>; command accepted (responseY^) when the editor is open and the drive is not in GO status. Saving operation lasts about 3seconds; it is therefore necessary to configure the time-out for response waiting for thissituation.

3.3.6 Instructions for parameters reading/writing

Once the editor is open and the table to be edited is loaded, any parameter (byte, word,long) can be read/written through an appropriate instruction. These instructions, togetherwith the formula for hexadecimal - physical value conversion, are described in Chapter 4.

3.3.7 Instructions for reading from an (absolute) address

WARNING We recommend that you limit as far as possible the use of theseinstructions, since the absolute addresses of the variables can varyaccording to software updates. When you want to use theseinstructions, contact Customer Service.

By these instructions, any memory variable can be read in general:- reading of a byte from xxxxxxxx address - string to be sent: &<DD>E1xxxxxxxx/<CC>; thedrive responds with Yzz/<CC>^, where zz is the required byte;- reading of a word (2 bytes) from the xxxxxxxx address - string to be sent:&<DD>E2xxxxxxxx/<CC>; the drive responds with Yzzzz/<CC>^, where zzzz is therequired word;- reading of a long (double word) from xxxxxxxx address - string to be sent:&<DD>E3xxxxxxxx/<CC>; the drive responds with YZZZZzzzz/<CC>^, where ZZZZzzzz isthe required long.

3.3.8 Instructions for writing to an (absolute) address

The warning stated in the previous section remains valid; moreover, writing to an incorrectabsolute address could produce malfunctions in the drive operation.By these instructions, any memory variable can be written in general:



- writing of a byte (dd) to xxxxxxxx address - string to be sent: &<DD>E4xxxxxxxxdd/<CC>;the drive response is Y^;- writing of a word (2 bytes - dddd) to xxxxxxxx address- string to be sent:&<DD>E5xxxxxxxxdddd/<CC>; the drive response is Y^;- writing of a long (double word - dddddddd) to xxxxxxxx address - string to be sent:&<DD>E6xxxxxxxxdddddddd/<CC>; the drive response is Y^.

3.4 Instructions for drive “clonation”

When 2 or more drives have to be set in the same way, it is better to use the drive“clonation” procedure: read the parameters (from EEPROM) of the model drive, store thethem through an external device and then write them into the drives to be identically set (inthe EEPROM).

3.4.1 Instructions for parameters reading

Read the 68 tables in the drive model one at a time, as indicated below:- reading of system table #0 - string to be sent: &<DD>A901/<CC>; the command isaccepted when the drive is in RFO status and the editor is closed; in this case, the driveresponds Yxx...xx/<CC>^, where xx...xx is the block of 64 bytes (128 ASCII characters) ofparameters of system table #0;- reading of system table #1 - string to be sent: &<DD>A902/<CC>; same type of response;- reading of control table - string to be sent: &<DD>A903/<CC>; same type of response;- reading of converter-motor data table - string to be sent: &<DD>A905/<CC same type ofresponse;- reading of user tables - string to be sent: &<DD>AAxx/<CC>, where xx = 00H ... 3FH,which represents the number of the user table to be read.

3.4.2 Instructions for parameter writing

Carry out the following operations:1) start of tables copy - string to be sent: &<DD>A2/<CC>; the command is accepted(response Y^) when the drive is in RFO status and the editor is closed;2) transfer of tables one at a time:- transfer of system table #0 - string to be sent: &<DD>A401/<CC>; if the drive is in RFOstatus, its response is Y^; then send the string xx...xx/<CC>^, where xx...xx is the block of64 bytes (128 ASCII characters) of parameters of system table #0; drive response: /^ for acorrect transmission, or ?^ if a transmission error (checksum, even parity, illegal character)has been detected.- transfer of system table #1 - string to be sent: &<DD>A402/<CC>; carry on as statedabove;- transfer of control table - string to be sent: &<DD>A403/<CC; carry on as stated above;- transfer of motor-converter data table - string to be sent: &<DD>A405/<CC>; carry on asstated above;- transfer of user tables - string to be sent: &<DD>A5xx/<CC>; where xx = 00H ... 3FH,which represents the number of the user table to be written; carry on as stated above.3) end of tables copy and saving in EEPROM - string to be sent: &<DD>A3/<CC>; thecommand is accepted (response Y^) when the drive is in RFO status.

3.5 Instructions for diagnostics

3.5.1 General description

Failures, protections and warnings are different types of alarms.- Failures are the most critical alarms; they require immediate disabling of power stage(Power Switches OFF) and the motor rotates freely;



- also protections require that the drive is disabled, but not immediately. In case ofprotection, motor braking up to 0 rpm (by calling the special Security user table) iscommanded, then the drive is disabled.Both in case of failures and protections, the drive moves to FAIL status.- Warnings do not disable the drive (the drive remains in GO or RFO status where it wasbefore the alarm). These are the possible warning effects: only a signalling (i.e.: Error CheckSum), a power limitation (in case of a thermal image) or a special table calling (in case ofhardware/software limit switches).Each type of alarm is assigned with a flag (flag = 1 means that an alarm is present). Flagsare gathered as follows:

- 2 bytes for failures- 2 bytes for protections- 2 bytes for warnings

3.5.2 Commands for reading of Protections and Failures

In case of Failures, 2 options are available: know the first failure occurred or know all failurespresent at a certain moment (because further failures could occur as a consequence of thefirst failure).To read the first failure, send the following string: &<DD>A62B/<CC>.To read all failures, send the following string: &<DD>A62C/<CC>.In both cases, the drive response is: YPPPPffff/<CC>^ (4 data bytes). The 2 mostsignificant bytes, PPPP, include the protection flags, while the 2 least significant bytes, ffff,include failure flags.

3.5.3 Protections and Failures decoding

Here follows the flag decoding:Protections:

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

bit 31: - Undervoltage DC Busbit 30: - OverHeating Convertor Heatsinkbit 29: - Motor Thermal Probe Protectionbit 28: - Not Usedbit 27: - Undervoltage Linebits 26-16: - Not Used

Failures:

15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00

bit 15: - Failure Driver IPMbit 14: - Overvoltage DC Bus - HWbit 13: - Overvoltage DC Bus - SWbit 12: - Current Trippingbit 11: - Homopolar Current Limiterbit 10: - Not Usedbit 09: - Not Usedbit 08: - Braking Resistor Thermal Estimatebit 07: - Overspeedbit 06: - Fault Resolverbit 05: - Not Usedbit 04: - Firmware Errorbit 03: - Not Usedbit 02: - ICB Supply Downbit 01: - Not Usedbit 00: - Not Used



3.5.4 Warnings reading command

Warnings can be read at any moment by using this string: &<DD>A62A/<CC>. The driveresponse is Yxxxx/<CC>^ (2 data bytes including warning flags).

3.5.5 Warnings decoding

Here follows the flag decoding:Warnings:

15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00

bit 15: - Not Usedbit 14: - Not Usedbit 13: - Not Usedbit 12: - Convertor Thermal Estimatebit 11: - Motor Thermal Estimatebit 10: - Not Usedbit 09: - HW Limit Switchbit 08: - SW1 Limit Switchbit 07: - SW2 Limit Switchbit 06: - Auxiliary 230 V Undeliveredbit 05: - Weak Boards Supplybit 04: - RAM Errorbit 03: - EEPROM Errorbit 02: - EPROM Errorbit 01: - Not Usedbit 00: - Not Used


CHAPTER 4 - PARAMETERS READING/WRITINGAND CONVERSION

4.1 Parameters of system table # 0

In order to read/write the parameters of system table #0, open the editor on this table byusing the commands &<DD>F0/<CC> (editor opening, if not already opened) and&<DD>F9/<CC> (system table #0 loading).

01: Auxiliary Supply• data type: byte unsigned• reading instruction: &<DD>42/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>62xx/<CC>; drive response: Y^• hexadecimal coding (xx): “No” = 00H, “Yes” = 01H

02: Motor Thermal Probe• data type: byte unsigned• reading instruction: &<DD>43/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>63xx/<CC>; drive response: Y^• hexadecimal coding (xx): “Klixon ON” = 00H, “Klixon OFF” = 01H, “PTC-1” = 02H, “PTC-

3” = 03H

03: User Tables Selected• data type: byte unsigned• reading instruction: &<DD>44/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>64xx/<CC>; drive response: Y^• hexadecimal coding (xx):

Selection Selected tables Used digital inputs Coding

00 User Tables None None 00H02 User Tables GenP 0 ÷ GenP 1 DIN 1 01H04 User Tables GenP 0 ÷ GenP 3 DIN 1 ÷ DIN 2 02H08 User Tables GenP 0 ÷ GenP 7 DIN 1 ÷ DIN 3 03H16 User Tables GenP 0 ÷ GenP 15 DIN 1 ÷ DIN 4 04H32 User Tables GenP 0 ÷ GenP 31 DIN 1 ÷ DIN 5 05H

04: Digital Input 1 Configuration• data type: byte unsigned• reading instruction: &<DD>45/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>65xx/<CC>; drive response: Y^• hexadecimal coding (xx):

Chapter 4 - Parameters reading/writing and conversion


Digital input configuration Coding

User Tables Selector 00HRight HW Limit Switch High 01HRight HW Limit Switch Low 41HLeft HW Limit Switch High 02HLeft HW Limit Switch Low 42HUser Stop High 03HUser Stop Low 43HSpeed Reverse High 05HSpeed Reverse Low 45HHome Input High 06HHome Input Low 46HJog+ High 07HJog+ Low 08HJog- High 47HJog- Low 48HNot Used 3FH

05: Digital Input 2 Configuration• specifications: the same as Par.04• reading instruction: &<DD>46/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>66xx/<CC>; drive response: Y^




09: Digital Input 6 Configuration• specifications: the same as Par.04, except for “User Tables Selector” function, which is

not available on this digital input• reading instruction: &<DD>4A/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>6Axx/<CC>; drive response: Y^

10: Digital Input 7 Configuration• specifications: the same as Par.09• reading instruction: &<DD>4B/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>6Bxx/<CC>; drive response: Y^

11: Digital Input 8 Configuration• specifications: the same as Par.09• reading instruction: &<DD>4C/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>6Cxx/<CC>; drive response: Y^



12: Digital Output 1 Configuration• data type: byte unsigned• reading instruction: &<DD>4D/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>6Dxx/<CC>; drive response: Y^• hexadecimal coding (xx):

Configuration Meaning Coding

Fail Status “L” ⇒ Fail status 00HDrive Enable “L” ⇒ Drive enabled 01HZero Speed Reached “L” ⇒ Zero speed reached 02HSpeed Sign “H” ⇒ Positive rotation 03HReached Speed “L” ⇒ Reference speed reached 04HReached Position “L” ⇒ Reference position reached 05HReached Time Target Toggle ⇒ Time target reached 06HConverter I2xt “L” ⇒ “Converter Thermal Estimate” alarm

occurrence (H.3)07H

Motor I2xt “L” ⇒ “Motor Thermal Estimate” alarmoccurrence (H.3)

08H

HW Limit Switch “L” ⇒ Overtravel of one of the HW limitswitches

09H

SW1 Limit Switch “L” ⇒ Overtravel of one of the SW limitswitches, level 1

0AH

SW2 Limit Switch “L” ⇒ Overtravel of one of the SW limitswitches, level 2

0BH

Not Used FFH

13: Digital Output 2 Configuration• specifications: the same as Par. 12• reading instruction: &<DD>4E/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>6Exx/<CC>; drive response: Y^

14: Digital Output 3 Configuration• specifications: the same as Par. 12• reading instruction: &<DD>4F/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>6Fxx/<CC>; drive response: Y^

15: Digital Output 4 Configuration• specifications: the same as Par. 12• reading instruction: &<DD>50/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>70xx/<CC>; drive response: Y^



18: Digital Output Reversing• data type: byte unsigned



• reading instruction: &<DD>5D/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>7Dxx/<CC>; drive response: Y^• hexadecimal coding (xx): “No Reverse” = 00H, “Reverse” = FFH

19: Analog Output 1 Configuration• data type: byte unsigned• reading instruction: &<DD>53/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>73xx/<CC>; drive response: Y^• hexadecimal coding (xx):

Configuration Meaning Full Scale Coding

Actual Speed Speed feedback W_FS = 7324.2 rpm 00HReference Speed Speed reference W_FS = 7324.2 rpm 01HActual Speed Module Speed reference module W_FS = 7324.2 rpm 02HCurrent Module Measured current module I_FS 03HFlux Current Current – “flux component” I_FS 04HTorque Current Current – “torque component” I_FS 05HConverter I2xt Level Converter integral I2xt level I_FS x I_FS 0FMotor I2xt Level Motor integral I2xt level I_FS x I_FS 12Brake Ixt Level Brake integral Ixt level Duty-cycle = 100% 14DC Bus Voltage Voltage level on DC Bus Vbus_FS = 450 V 19HMechanical Angle Mechanical angle π 48HNot Used Not used FFH

20: Analog Output 2 Configuration• specifications: the same as Par. 19• data type: byte unsigned• reading instruction: &<DD>54/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>74xx/<CC>; drive response: Y^

21: Analog Output 1 Scale• data type: byte unsigned• reading instruction: &<DD>56/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>76xx/<CC>; drive response: Y^• hexadecimal coding (xx): “5 V” = 00H, “10 V” = 01H

22: Analog Output 2 Scale• data type: byte unsigned• reading instruction: &<DD>57/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>77xx/<CC>; drive response: Y^• hexadecimal coding (xx): “5 V” = 00H, “10 V” = 01H

23: Serial Identification• the value becomes active after being saved in EEPROM• data type: byte unsigned• reading instruction: &<DD>5F/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>7Fxx/<CC>; drive response: Y^• coding (xx): the range 1 ÷ 254 corresponds to a hexadecimal range of 01H ÷ FEH

24: Baud Rate Serial RS232• the value becomes active after being saved in EEPROM• data type: byte unsigned• reading instruction: &<DD>40/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>60xx/<CC>; drive response: Y^



• hexadecimal coding (xx):

Baud Rate (bits/sec) Coding

2400 014800 029600 03

25: Baud Rate Serial RS485• the value becomes active after being saved in EEPROM• data type: byte unsigned• reading instruction: &<DD>41/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>61xx/<CC>; drive response: Y^• hexadecimal coding (xx):

Baud Rate (bits/sec) Coding

2400 014800 029600 0319200 0431250 0538400 06

26: Serial Priority• data type: byte unsigned• reading instruction: &<DD>58/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>78xx/<CC>; drive response: Y^• hexadecimal coding (xx): “No” = 00H, “Yes” = 01H

27: Resolver Pole Pairs• parameter not accessible to user• data type: byte unsigned• reading instruction: &<DD>59/<CC>; drive response: Yxx/<CC>^

28: Resolver Phase Adjustment• data type: word signed• reading instruction: &<DD>12/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>32xxxx/<CC>; drive response: Y^• coding (xxxx): the physical range -4095 ÷ 4095 corresponds to a hexadecimal range of

8001H ÷ 7FFFH

29: Switching Frequency• parameter not accessible to user• data type: byte unsigned• reading instruction: &<DD>5E/<CC>; drive response: Yxx/<CC>^

30: Output Encoder Resolution• data type: byte unsigned• reading instruction: &<DD>5A/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>7Axx/<CC>; drive response: Y^• hexadecimal coding (xx): “256 ppr” = 03H, “512 ppr” = 02H, “1024 ppr” = 01H, “2048 ppr”

= 00H

31: Output North Marker Width• data type: byte unsigned



• reading instruction: &<DD>5B/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>7Bxx/<CC>; drive response: Y^• hexadecimal coding (xx): “1/4 A” = 00H, “1/2 A” = 01H, “3/4 A” = 02H, “1/1 A” = 03H

32: Output North Marker Position• data type: word signed• reading instruction: &<DD>13/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>33xxxx/<CC>; drive response: Y^• coding (xxxx): the physical range –179.9° ÷ +179.9° corresponds to a hexadecimal range

of 8001H ÷ 7FFFH

33: Input Encoder Resolution• data type: byte unsigned• reading instruction: &<DD>5C/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>7Cxx/<CC>; drive response: Y^• hexadecimal coding (xx): “256 ppr” = 03H, “512 ppr” = 02H, “1024 ppr” = 01H, “2048 ppr”

= 00H

34: Speed Reference Full Scale• data type: word signed• reading instruction: &<DD>15/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>35xxxx/<CC>; drive response: Y^• the conversion of the rpm value (for the user) into the hexadecimal value xxxx (for the

drive) is given by the following formula:

[ ]

×

×=

[rpm] W 4

7FFFH [rpm]riferim. valuehexa

FS

FS

where W_FS = 7324.2 rpm, is the speed full scale

35: Torque Reference Full Scale• data type: word signed• reading instruction: &<DD>16/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>36xxxx/<CC>; drive response: Y^• the conversion of the rpm value (for the user) into the hexadecimal value xxxx (for the

drive) is given by the following formula: [ ]

×

×=

[Nm]T 4

7FFFH [Nm]riferim. valuehexa

FS

FS

where T_FS = torque full scale (see A.3)

36: Analog Input 1 Offset• data type: word signed• reading instruction: &<DD>17/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>37xxxx/<CC>; drive response: Y^• coding (xxxx): the physical range -4095 ÷ +4095 corresponds to a hexadecimal range of

8001H ÷ 7FFFH

37: Analog Input 2 Offset• data type: word signed• reading instruction: &<DD>18/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>38xxxx/<CC>; drive response: Y^• coding (xxxx): the physical range -4095 ÷ +4095 corresponds to a hexadecimal range of

8001H ÷ 7FFFH

38: Offset Current Phase 1• data type: word signed• reading instruction: &<DD>19/<CC>; drive response: Yxxxx/<CC>^



• writing instruction: &<DD>39xxxx/<CC>; drive response: Y^• coding (xxxx): the physical range -511 ÷ +511 corresponds to a hexadecimal range of

8001H ÷ 7FFFH

39: Offset Current Phase 2• data type: word signed• reading instruction: &<DD>1A/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>3Axxxx/<CC>; drive response: Y^• coding (xxxx): the physical range -511 ÷ +511 corresponds to a hexadecimal range of

8001H ÷ 7FFFH

40: Offset Current Phase 3• data type: word signed• reading instruction: &<DD>1B/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>3Bxxxx/<CC>; drive response: Y^• coding (xxxx): the physical range -511 ÷ +511 corresponds to a hexadecimal range of

8001H ÷ 7FFFH

4.2 Parameters of system table #1

In order to read/write the parameters of system table #1, open the editor on this table byusing the commands &<DD>F0/<CC> (editor opening, if not already opened) and&<DD>FA/<CC> (system table #1 loading).

01: Enable Software Limit Switch #1• data type: byte unsigned• reading instruction: &<DD>5C/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>7Cxx/<CC>; drive response: Y^• hexadecimal coding (xx): “Disable” = 00H, “Enable” = 01H

02: Enable Software Limit Switch #2• data type: byte unsigned• reading instruction: &<DD>5D/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>7Dxx/<CC>; drive response: Y^• hexadecimal coding (xx): “Disable” = 00H, “Enable” = 01H

03: Right Software Limit Switch #1• data type: long word signed• reading instruction: &<DD>80/<CC>; drive response: YXXXXxxxx/<CC>^• writing instruction: &<DD>90XXXXxxxx/<CC>; drive response: Y^• coding (XXXXxxxx): the physical range -32767.9999 turns ÷ + 32767.9999 turns

corresponds to a hexadecimal range of 80000001H ÷ 7FFFFFFFH, where the word high(the most significant part) corresponds to the number of turns, while the word low (theleast significant part) corresponds to fractions of turns.

04: Left Software Limit Switch #1• data type: long word signed• reading instruction: &<DD>81/<CC>; drive response: YXXXXxxxx/<CC>^• writing instruction: &<DD>91XXXXxxxx/<CC>; drive response: Y^• coding (XXXXxxxx): the physical range -32767.9999 turns ÷ + 32767.9999 turns


05: Right Software Limit Switch #2• data type: long word signed



• reading instruction: &<DD>82/<CC>; drive response: YXXXXxxxx/<CC>^• writing instruction: &<DD>92XXXXxxxx/<CC>; drive response: Y^• coding (XXXXxxxx): the physical range -32767.9999 turns ÷ + 32767.9999 turns


06: Left Software Limit Switch #2• data type: long word signed• reading instruction: &<DD>83/<CC>; drive response: YXXXXxxxx/<CC>^• writing instruction: &<DD>93XXXXxxxx/<CC>; drive response: Y^• coding (XXXXxxxx): the physical range -32767.9999 turns ÷ + 32767.9999 turns


07: Home Position• data type: long word signed• reading instruction: &<DD>84/<CC>; drive response: YXXXXxxxx/<CC>^• writing instruction: &<DD>94XXXXxxxx/<CC>; drive response: Y^• coding (XXXXxxxx): the physical range -32767.9999 turns ÷ + 32767.9999 turns

corresponds to a hexadecimal range of 80000001H ÷ 7FFFFFFFH where the word high(the most significant part) corresponds to the number of turns, while the word low (theleast significant part) corresponds to fractions of turns.

08: Motor Rated Current• data type: word signed• reading instruction: &<DD>10/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>30xxxx/<CC>; drive response: Y^• coding (xxxx): the physical range 0.0 ÷ IPEAK Arms ( IPEAK = Converter Peak Current,

Par.02 in motor-converter data table); corresponds to a hexadecimal range of 0000H ÷7FFFH

09: Motor Thermal Constant• data type: word signed• reading instruction: &<DD>12/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>32xxxx/<CC>; drive response: Y^• the conversion of the value expressed in seconds (for the user) into the value expressed

in hexadecimal xxxx (for the drive) is given by the following formula:

[ ]

×=

]constant[s time

7FFFH0.2 valuehexa

10: Brake Thermal Constant• parameter not accessible to user• data type: word signed• reading instruction: &<DD>13/<CC>; drive response: Yxxxx/<CC>^

11: Brake Resistance• parameter not accessible to user• data type: word signed• reading instruction: &<DD>14/<CC>; drive response: Yxxxx/<CC>^

12: Brake Rated Power• parameter not accessible to user• data type: word unsigned



• reading instruction: &<DD>15/<CC>; drive response: Yxxxx/<CC>^

13: Converter Rated Current• parameter not accessible to user• data type: word signed• reading instruction: &<DD>16/<CC>; drive response: Yxxxx/<CC>^

14: Converter Thermal Constant• parameter not accessible to user• data type: word signed• reading instruction: &<DD>17/<CC>; drive response: Yxxxx/<CC>^

15: Overspeed Limit• data type: word signed• reading instruction: &<DD>18/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>38xxxx/<CC>; drive response: Y^• coding: the physical range 0.0 ÷ W_FS rpm (W_FS = 7324.2 rpm) corresponds to a

hexadecimal range of 0000H ÷ 7FFFH

16: Undervoltage SW Level• parameter not accessible to user• data type: word unsigned• reading instruction: &<DD>19/<CC>; drive response: Yxxxx/<CC>^

17: Overvoltage SW Level• parameter not accessible to user• data type: word unsigned• reading instruction: &<DD>1A/<CC>; drive response: Yxxxx/<CC>^

4.3 Parameters of control table

In order to read/write the parameters of control table, open the editor on this table by usingthe commands &<DD>F0/<CC> (editor opening, if not already opened) and&<DD>FB/<CC> (control table loading).

01: Peak Current• parameter not accessible to user• data type: word signed• reading instruction: &<DD>10/<CC>; drive response: Yxxxx/<CC>^

02: Modulation Index Gain• parameter not accessible to user• data type: word signed• reading instruction: &<DD>11/<CC>; drive response: Yxxxx/<CC>^

03: Voltage Margin• parameter not accessible to user• data type: word signed• reading instruction: &<DD>12/<CC>; drive response: Yxxxx/<CC>^

04: Modulation Index Reference• parameter not accessible to user• data type: word signed• reading instruction: &<DD>13/<CC>; drive response: Yxxxx/<CC>^

05: Current Module Regulator Gain• parameter not accessible to user• data type: word signed



• reading instruction: &<DD>14/<CC>; drive response: Yxxxx/<CC>^

06: Current Loop Regulator Gain• parameter not accessible to user• data type: word signed• reading instruction: &<DD>15/<CC>; drive response: Yxxxx/<CC>^

07: 2-nd Harmonic Tuning• data type: word signed• reading instruction: &<DD>16/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>36xxxx/<CC>; drive response: Y^• coding (xxxx): the physical range -127 ÷ 127 corresponds to a hexadecimal range of

0001H ÷ 00FFH

08: 4-th Harmonic Tuning• parameter not accessible to user• data type: word signed• reading instruction: &<DD>17/<CC>; drive response: Yxxxx/<CC>^

09: Leading Factor• parameter not accessible to user• data type: word signed• reading instruction: &<DD>19/<CC>; drive response: Yxxxx/<CC>^

10: Minimum Flux Level• parameter not accessible to user• data type: word unsigned• reading instruction: &<DD>1A/<CC>; drive response: Yxxxx/<CC>^

11: Flux Feedforward Gain• parameter not accessible to user• data type: word signed• reading instruction: &<DD>1B/<CC>; drive response: Yxxxx/<CC>^

12: Saturation Gain• parameter not accessible to user• data type: word unsigned• reading instruction: &<DD>1C/<CC>; drive response: Yxxxx/<CC>^

4.4 Parameters of motor-converter data table

In order to read/write the parameters of motor-converter data table, open the editor on thistable by using the commands &<DD>F0/<CC> (editor opening, if not already opened) and&<DD>FF/<CC> (motor-converter data table loading).

01: Main Supply• parameter not accessible to user• data type: word unsigned• reading instruction: &<DD>00/<CC>; drive response: Yxxxx/<CC>^

02: Converter Peak Current• parameter not accessible to user• data type: word unsigned• reading instruction: &<DD>01/<CC>; drive response: Yxxxx/<CC>^

03: Motor Rated Speed• parameter currently not used



• data type: word unsigned• reading instruction: &<DD>02/<CC>; drive response: Yxxxx/<CC>^

04: Motor Phase-Phase Bemf• parameter currently not used• data type: word unsigned• reading instruction: &<DD>03/<CC>; drive response: Yxxxx/<CC>^

05: Motor Pole Pairs• parameter not accessible to user• data type: word unsigned• reading instruction: &<DD>04/<CC>; drive response: Yxxxx/<CC>^

06: Motor Phase-Phase Inductance• parameter currently not used• data type: word unsigned• reading instruction: &<DD>05/<CC>; drive response: Yxxxx/<CC>^

07: Motor KT Saturation• parameter currently not used• data type: word unsigned• reading instruction: &<DD>06/<CC>; drive response: Yxxxx/<CC>^

08: Motor Phase-Phase Resistance• parameter currently not used• data type: word unsigned• reading instruction: &<DD>07/<CC>; drive response: Yxxxx/<CC>^

09: Motor Inertia• parameter currently not used• data type: word unsigned• reading instruction: &<DD>08/<CC>; drive response: Yxxxx/<CC>^

10: Load Inertia• parameter currently not used• data type: word unsigned• reading instruction: &<DD>09/<CC>; drive response: Yxxxx/<CC>^

11: Motor Type• parameter currently not used• data type: word unsigned• reading instruction: &<DD>0A/<CC>; drive response: Yxxxx/<CC>^

12: Flux Full Scale• parameter not accessible to user• data type: word unsigned• reading instruction: &<DD>0B/<CC>; drive response: Yxxxx/<CC>^

13: Brake Voltage Threshold• parameter not accessible to user• data type: word signed• reading instruction: &<DD>0E/<CC>; drive response: Yxxxx/<CC>^

14: Maximum Motor Current• parameter not accessible to user• data type: word unsigned• reading instruction: &<DD>0C/<CC>; drive response: Yxxxx/<CC>^



4.5 Parameters of user table

In order to read/write the parameters of a user table, open the editor on this table by usingthe commands &<DD>F0/<CC> (editor opening, if not already opened) and<DD>FCxx/<CC> (user table xx loading, see section 3.3.3).

01: Operating Mode• data type: byte unsigned• reading instruction: &<DD>40/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>60xx/<CC>; drive response: Y^• hexadecimal coding (xx):

Operating mode Reference type Analog torque limitation Coding

Torque Mode - 0 Digital (Par. 11) No 00HTorque Mode - 1 Digital (Par. 11) Reference: AIN1 02HTorque Mode - 2 Digital (Par. 11) Reference: AIN2 01HTorque Mode - 3 Analog - AIN1 No 08HTorque Mode - 4 Analog - AIN1 Reference: AIN2 09HTorque Mode - 5 Analog - AIN2 No 04HTorque Mode - 6 Analog - AIN2 Reference: AIN1 06H

Speed Mode - 0 Digital (Par. 12) No 10HSpeed Mode - 1 Digital (Par. 12) Reference: AIN1 12HSpeed Mode - 2 Digital (Par. 12) Reference: AIN2 11HSpeed Mode - 3 Analog - AIN1 No 30HSpeed Mode - 4 Analog - AIN1 Reference: AIN2 31H

Positioning - 0 Digital (Par. 13) No 50HPositioning - 1 Digital (Par. 13) Reference: AIN1 52HPositioning - 2 Digital (Par. 13) Reference: AIN2 51H

Synchronizing - 0 Digital No 90HSynchronizing - 1 Digital Reference: AIN1 92HSynchronizing - 2 Digital Reference: AIN2 91H

02: Power Switches• data type: byte unsigned• reading instruction: &<DD>41/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>61xx/<CC>; drive response: Y^• hexadecimal coding (xx): “ON” = 00H , “OFF” = 01H

03: Analog Torque Limitation• data type: byte unsigned• reading instruction: &<DD>42/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>62xx/<CC>; drive response: Y^• hexadecimal coding (xx):

Limitation type Coding

Superior & Inferior Limitation 00HSuperior Limitation 01HInferior Limitation 02HNo Limitation 03H



04: Enable Ramps• data type: byte unsigned• reading instruction: &<DD>43/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>63xx/<CC>; drive response: Y^• hexadecimal coding (xx): “Disable” = 00H , “Enable” = 01H

05: Target Table• data type: byte unsigned• reading instruction: &<DD>44/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>64xx/<CC>; drive response: Y^• hexadecimal coding (xx): “Not” = 00H , “Yes” = 01H

06: Target Type• data type: byte unsigned• reading instruction: &<DD>45/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>65xx/<CC>; drive response: Y^• hexadecimal coding (xx):

Target type Target value Coding

Enable Not available for user 01HTime Par.31, Target Value 02HSpeed Par.12, Digital Speed Reference 03HPosition Par.13, Position Reference 04HNo Target - FFH

07: Ratio Numerator• data type: byte unsigned• reading instruction: &<DD>46/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>66xx/<CC>; drive response: Y^• coding (xx): the physical range 1 ÷ 255 corresponds to a hexadecimal range of 01H ÷

FFH

08: Ratio Denominator• data type: byte unsigned• reading instruction: &<DD>47/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>67xx/<CC>; drive response: Y^• coding (xx): the physical range 1 ÷ 255 corresponds to a hexadecimal range of 01H ÷

FFH

09: Synchro Direction• data type: byte unsigned• reading instruction: &<DD>49/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>69xx/<CC>; drive response: Y^• hexadecimal coding (xx): No Reverse = 00H , Reverse = 01H

10: Synchro Phase Shift• data type: word signed• reading instruction: &<DD>18/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>38xxxx/<CC>; drive response: Y^• coding (xxxx): the physical range -179.9 deg ÷ + 179.9 deg corresponds to a

hexadecimal range of 8001H ÷ 7FFFH

11: Digital Torque Reference• data type: word signed



• reading instruction: &<DD>06/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>26xxxx/<CC>; drive response: Y^• coding (xxxx): the physical range -T_FS Nm ÷ + T_FS Nm (T_FS torque full scale, see

appendix A.3) corresponds to a hexadecimal range of 8001H ÷ 7FFFH

12: Digital Speed Reference• data type: word signed• reading instruction: &<DD>07/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>27xxxx/<CC>; drive response: Y^• coding (xxxx): the physical range -W_FS rpm ÷ + W_FS rpm (W_FS = 7324.2 rpm)

corresponds to a hexadecimal range of 8001H ÷ 7FFFH

13: Position Reference• data type: long word (4 byte) signed• reading instruction: &<DD>8E/<CC>; drive response: Yxxxxxxxx/<CC>^• writing instruction: &<DD>9Exxxxxxxx/<CC>; drive response: Y^• coding (XXXXxxxx): the physical range -32767.9999 turns ÷ + 32767.9999 turns


14: Positive Torque Limit• data type: word signed• reading instruction: &<DD>08/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>28xxxx/<CC>; drive response: Y^• coding (xxxx): the physical range 0.0 Nm ÷ + T_FS Nm (T_FS = torque full scale, see

appendix A.3) corresponds to a hexadecimal range of 0000H ÷ 7FFFH

15: Negative Torque Limit• data type: word signed• reading instruction: &<DD>09/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>29xxxx/<CC>; drive response: Y^• coding (xxxx): the physical range - T_FS Nm ÷ 0.0 Nm (T_FS = torque full scale, see

appendix A.3) corresponds to a hexadecimal range of 8001H ÷ 0000H

16: Maximum Phase Current• data type: word signed• reading instruction: &<DD>0A/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>2Axxxx/<CC>; drive response: Y^• coding: the physical range 0.0 ÷ IPEAK Arms ( IPEAK = Converter Peak Current, Par.02

in motor-converter data table) corresponds to a hexadecimal range of 0000H ÷ 7FFFH

17: Maximum Positive Speed• data type: word signed• reading instruction: &<DD>0B/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>2Bxxxx/<CC>; drive response: Y^• coding (xxxx): the physical range 0.0 rpm ÷ + W_FS rpm (W_FS = 7324.2 rpm)

corresponds to a hexadecimal range of 0000H ÷ 7FFFH

18: Maximum Negative Speed• data type: word signed• reading instruction: &<DD>0C/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>2Cxxxx/<CC>; drive response: Y^• coding (xxxx): the physical range -W_FS rpm ÷ 0.0 rpm (W_FS = 7324.2 rpm)

corresponds to a hexadecimal range of 8001H ÷ 0000H



19: Motor Power Limit• data type: word signed• reading instruction: &<DD>0D/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>2Dxxxx/<CC>; drive response: Y^• coding (xxxx): the physical range 0 W ÷ + P_FS W (P_FS = mechanical power full scale,

see appendix A.3) corresponds to a hexadecimal range of 0000H ÷ 7FFFH

20: Brake Power Limit• data type: word signed• reading instruction: &<DD>0E/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>2Exxxx/<CC>; drive response: Y^• coding (xxxx): the physical range 0 W ÷ + P_FS W (P_FS = mechanical power full scale,

see appendix A.3) corresponds to a hexadecimal range of 0000H ÷ 7FFFH

21: CW Acceleration Ramp• data type: word signed• reading instruction: &<DD>0F/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>2Fxxxx/<CC>; drive response: Y^• the conversion of the ms value (for the user) into the hexadecimal value xxxx (for the


[ ] [ ][ ]

s15 C2,ms ramp

rpm W_FS 20 valuehexa

+

×=

where W_FS = 7324.2 rpm, speed full scale

22: CCW Acceleration Ramp• data type: word signed• reading instruction: &<DD>10/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>30xxxx/<CC>; drive response: Y^• the conversion of the ms value (for the user) into the hexadecimal value xxxx (for the


[ ] [ ][ ]

s15 C2,ms ramp


+

×−=


23: CW Deceleration Ramp• data type: word signed• reading instruction: &<DD>11/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>31xxxx/<CC> ; drive response: Y^• turning of the ms value (for user) into the hexadecimal value xxxx (for drive) is expressed

by the following formula:

[ ] [ ][ ]

s15 C2,ms ramp


+

×−=


24: CCW Deceleration Ramp• data type: word signed• reading instruction: &<DD>12/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>32xxxx/<CC> ; drive response: Y^• the conversion of the ms value (for the user) into the hexadecimal value xxxx (for the


[ ] [ ][ ]

s15 C2,ms ramp


+

×=



25: Torque Reference Filter• data type: byte unsigned• reading instruction: &<DD>48/<CC>; drive response: Yxx/<CC>^• writing instruction: &<DD>68xx/<CC> ; drive response: Y^• coding (xx): the physical range 0 ÷ 7 corresponds to a hexadecimal range of 00H ÷ 07H

26: Speed Proportional Gain• data type: word signed• reading instruction: &<DD>13/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>33xxxx/<CC> ; drive response: Y^• coding (xxxx): the physical range 0 ÷ 16383 corresponds to a hexadecimal range of

0000H ÷ 7FFFH

27: Speed Integral Gain• data type: word signed• reading instruction: &<DD>14/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>34xxxx/<CC> ; drive response: Y^• coding (xxxx): the physical range 0 ÷ 16383 corresponds to a hexadecimal range of

0000H ÷ 7FFFH

28: Speed FeedForward• data type: word signed• reading instruction: &<DD>15/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>35xxxx/<CC> ; drive response: Y^• coding (xxxx): the physical range 0 ÷ 16383 corresponds to a hexadecimal range of

0000H ÷ 7FFFH

29: Position Proportional Gain• data type: word signed• reading instruction: &<DD>16/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>36xxxx/<CC> ; drive response: Y^• coding (xxxx): the physical range 0 ÷ 16383 corresponds to a hexadecimal range of

0000H ÷ 7FFFH

30: Position Integral Gain• data type: word signed• reading instruction: &<DD>17/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>37xxxx/<CC> ; drive response: Y^• coding (xxxx): the physical range 0 ÷ 16383 corresponds to a hexadecimal range of

0000H ÷ 7FFFH

31: Target Value• data type: long word signed• reading instruction: &<DD>8F/<CC>; drive response: Yxxxxxxxx/<CC>^• writing instruction: &<DD>9Fxxxxxxxx/<CC> ; drive response: Y^• coding (XXXXxxxx): the physical range 0.000 ÷ 99999.999 sec corresponds to a

hexadecimal range of 00000000H ÷ 05F5E0FFH (0.001 sec is assigned to an LSB)

32: Target Error• data type: word unsigned• reading instruction: &<DD>19/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>39xxxx/<CC> ; drive response: Y^• coding (xxxx): the physical range 0 ÷ 32767 corresponds to a hexadecimal range of

0000H ÷ 7FFFH



33: Next Table• data type: word unsigned• data type: word unsigned• reading instruction: &<DD>1A/<CC>; drive response: Yxxxx/<CC>^• writing instruction: &<DD>3Axxxx/<CC> ; drive response: Y^• the tables which can be selected and their codings are shown below:

- special user tables:

Special user table Coding

RFO (Ready For Operation) 0000HSecurity 0001HLimit Switch Hardware – Right 0002HLimit Switch Hardware – Left 0003HLimit Switch Software #1 – Right 0004HLimit Switch Software #1 – Left 0005HLimit Switch Software #2 – Right 0006HLimit Switch Software #2 – Left 0007HUser Stop 0008HHoming 0009HFree for further developments -Jog+ 000BHJog- 000CHTune 000DH

- 32 general user tables (General Purpose): from general table #0 to general table#31, with 0020H ÷ 003FH hexadecimal coding



This page has been intentionally left blank.

MANSER09.9810 GB - ABB Servomotors S.r.l. Page A.1

APPENDIX

A.1 Examples of RS-485 communication protocol usage

Let’s suppose that you work with a drive having the identifier 26 (1AH), prepare 2 operatingmodes described through user tables GenP #0 (configured in Speed Mode with digitalreference) and GenP #1 (configured in Positioning Mode) and then launch them one at atime. The operation in Positioning Mode must follow a homing procedure.

A.1.1 Example of drive status identification and diagnostics

• after the power on of the drive, identify its status:- send the string: &1AA615/D5 (see section 3.1.2);

• the drive may respond: Y02/02^ ==> FAIL status• to identify the fault occurred:

- send the string: &1AA62B/EB (see section 3.5.2);• in case of Fault Resolver (see section 3.5.3), the drive will respond: Y00000040/40^;• remedy the fault (e.g.: resolver connector disconnected) and select the “Alarm Reset”

command:- send the string: &1ACE/E8 (see section 3.2.6); the drive response is Y^ (commandaccepted)

• identify again the drive status:- send the string: &1AA615/D5 (see section 3.1.2);

• if the fault has been remedied, the drive will respond: Y00/00^ ==> RFO status (faultreset)

A.1.2 Example of parameters editor usage

• open the editor to configure the 2 user tables:- send the string: &1AF0/0A (see section 3.3.1); the command is accepted by the drive(response Y^)

• load user table GenP #0:- send the string: &1AFC20/36 (see section 3.3.3); the command is accepted by the drive(response Y^)

• define the drive operation mode - “Speed Mode - 0 “ through Par. 01, Operating Mode:- send the string: &1A6010/8A (see section 4.5, Par.01); the command is accepted by thedrive (response Y^)

• define the reference speed (e.g.:1000 rpm) through Par. 12, Digital Speed Reference:- send the string: &1A27117A/CC (see section 4.5, Par.12); the command is accepted bythe drive (response Y^)

• other parameters (gains, various limitations, ramps, etc.) can be set in the same way• move to table GenP #1 which is loaded:

- send the string: &1AFC21/37 (see section 3.3.3); the command is accepted by the drive(response Y^)

• define the drive operating mode - “Positioning - 0 “ through Par. 01, Operating Mode:- send the string: &1A6050/CA (see section 4.5, Par.01); the command is accepted by thedrive (response Y^)

• define the absolute position to be reached (e.g.: 1000.5 turns) through Par. 13, PositionReference:- send the string: &1A9E03E88000/23 (see section 4.5, Par.13); the command isaccepted by the drive (response Y^)

Appendix

Page A.2 ABB Servomotors S.r.l. - MANSER09.9810 GB

• load system table #1 to define homing absolute position (e.g.: 900.75 turns) through Par.07, Home Position:- send the string: &1AFC09/1F (see section 3.3.2) to load system table #1; the commandis accepted by the drive (response Y^)- send the string: &1A940384C000/F5 (see section 4.2, Par.07) to set Par. 07, HomePosition; the command is accepted by the drive (response Y^)

• exit the editor, by saving it in EEPROM:- send the string: &1AF2/0C (see section 3.3.5); the command is accepted by the drive(response Y^, after about 3 seconds, which is the time required for EEPROM saving)

A.1.3 Example of system management instructions usage

• Select the Start (RUN) command:- send the string: &1AA1/BB (see section 3.2.1); the command is accepted by the drive(response Y^)

• the active table will be GenP #0; the motor rotates at 1000 rpm; to stop it, select thecommand “Stop”:- send the string: &1ABF/D9 (see section 3.2.3); the command is accepted by the drive(response Y^); the motor is therefore stopped and the drive moves back to RFO status

• execute homing procedure:- send the string: &1AEB/05 (see section 3.2.7), start homing; the command is acceptedby the drive (response Y^)- the motor rotates at the speed set in the special Homing user table;- the drive is prompted for the progress state of the procedure: &1AA614/D4 (see section3.2.7); until the digital input configured as “Home Input” reaches the active level, the driveresponse is: Y01/01^ (homing in progress); drive prompt carries on up to when the driveresponse is Y02/02^ (homing completed); in this case, the active level of “Home Input”digital input has been reached, the multiturn position is forced to the Home Positionparameter value and the drive moves back to RFO status; at that moment, the drive isready to carry out positioning operations;

• launch the second operating mode, Positioning Mode, configured through the GenP #1user table; send the command “RUN with table # ...”:- send the string: &1ADD21/18 (see section 3.2.2); the command is accepted by the drive(response Y^);

• execute the commanded multiturn positioning; once the reference position (1000.5 turns)has been reached, the motor remains still in this position, in GO status; to disable thedrive and move it back to RFO status, select again a “Stop” command:- send the string: &1ABF/D9 (see section 3.2.3); the command is accepted by the drive(response Y^); the drive is therefore disabled and RFO status is restored.

A.2 Description of RS-232 communication protocol

A.2.1 General features of RS-232 line

• RS-232 serial (asynchronous, unipolar, full-duplex) line is suitable for single-pointcommunications.

• no hardware handshaking is required• the protocol is of “master-slave” type: the converter is a “slave” and it only responds to the

prompt of the “master”, usually a PC.• data format: 1 start bit, 8 data bits, 1 even parity bit and 1 stop bit• transmission speed can be changed by Par. 24, Baud Rate Serial RS232, in system table

#0; default value: 9600 bits/sec.• for the RS-232 line, the Echo Mode is used, a procedure by which the command is

retransmitted in echo character by character; in case of communication error (parity error,illegal character or checksum not verified) the drive responds with ? and it is possible to

Appendix

MANSER09.9810 GB - ABB Servomotors S.r.l. Page A.3

immediately transmit a new string. If the drive response is ? when an illegal character istransmitted (for example <space>), the receiver is to be considered reset and it ispossible to send a new instruction.

A.2.2 Command string format

Format on the command string (in ASCII):*<DD><II><data_field>/<CC>

where:* = start character of a general command string<DD> = drive identifier; only the drive where <DD> is the same as its identifierdecodes and executes the string; if <DD> = FF, the instruction is decoded and executed,independently of the drive identifier<II> = instruction code<data_field> = (for some instructions) address and/or hexadecimal value sent to the drive/<CC> = command string end character / followed by CC checksum of the commandstring (256 module sum of byte values of all excluded field * and / ); if = is sent instead of/<CC>, the checksum is neither transmitted nor verified.If checksum verifying is required (string ending with /<CC>), the drive response is:

? for checksum not verified;/ for checksum verified, followed then by the normal drive response, described below.

When the command is accepted by the drive (there is no communication error and the drivestatus is suitable for that command), the drive always responds with Y followed, in somecases, by <data_field>/<CC>where:<data_field> = hexadecimal value required by the “master”/<CC> = response string end character / followed by CC checksum of datasent by the driveWhen the drive does not accept a command (its status is not suitable) its response is N.

A.2.3 Description of RS-232 commands

The RS-485 commands, described in chapter 3, are also valid in RS-232 mode, with thefollowing differences:- string start character * for RS-232, while for RS-485 it is &;- RS-232 does not have the string end character ^ previously existing in the RS-485 driveresponse;- RS-232 Echo Mode was used- in RS-232, the instructions “Load table...” (see section 2.3.3), after the acceptanceresponse Y, get the content of the loaded table back: a block of 64 bytes (128 ASCIIcharacters), followed by its checksum;- in RS-232 there are no synchronizable commands.

A.2.4 Connection diagram for RS-232 communication

RS-232 serial communication features are shown in Table 2/1, section 2.3.1. As far as theconnection of the 300 & 500 Series BIVECTOR side is concerned, refer to section 2.3.1 andto Fig. 2-1.Fig. A-1 shows the general connection diagram for RS-232 communication, between theBIVECTOR and, for example, a PC.

Appendix

Page A.4 ABB Servomotors S.r.l. - MANSER09.9810 GB

PC

SERIALLINE

3

2

BIVECTOR300

RS232/RS485

5

1

2

3

5

1

TX ( RS232 )

RX ( RS232 )

GND

SHIELD

(Flying) female9-pin drawerconnector

(Flying) male9-pin drawerconnector

Fig. A-1: RS-232 Connection Diagram (PC - BIVECTOR)

A.3 Full scales definitions

A.3.1 Definitions

The values of sizes full scales are used in the conversion (see chapter 4) from physical values(for the user) to hexadecimal values (for the drive) of some Bivector parameters.

The following full scales are defined:• W_FS = speed full scale;

- value: W_FS [rpm] = 7324.2, fixed; - corresponding hexadecimal value: 7FFFH

• I_FS = current full scale - value: I_FS[A^] = IPEAK[Arms] * 1.4142, where IPEAK is the Converter Peak Current,

Par.02 in motor-converter data table - corresponding hexadecimal value: 7FFFH• λ_FS = flux full scale

- value: λ_FS[Vs^] = Flux Full Scale, Par. 12 in motor-converter data table - corresponding hexadecimal value: FFFFH

• T_FS = torque full scale - value: T_FS[Nm] = 1.5 * MOT_PP * λ_FS[Vs^] * I_FS[A^] - MOT_PP = Motor Pole Pairs, Par. 05 in motor-converter data table - corresponding hexadecimal value: 7FFFH

• P_FS = mechanical power full scale - value: P_FS[W] = T_FS[Nm] * W_FS[rpm] * 0.1047 - corresponding hexadecimal value: 7FFFH

• Vbus_FS = voltage full scale in the intermediate DC circuit - value: Vbus_FS[V] = 450 V (if VMAINS = “230 Vrms”) or 800 V (if VMAINS = “400

Vrms”), where VMAINS = Main Supply, Par. 01 in motor-converter data table - corresponding hexadecimal value: FFFFH

A.3.2 Calculation example

For example: 865.2.30 type motor coupled with the 300 Bivector converter, size 18/36. In themotor-converter data table, the following parameters are fixed:

Par. 01, Mains Supply = 230 Vrms Par. 02, Converter Peak Current = 36 Arms Par. 05, Motor Pole Pairs = 3 pole pairs Par. 12, Flux Full Scale = 0.311 Vs^ According to these data, the full scales will have the following values:

• W_FS = 7324.2 rpm• I_FS = 36 * 1.4142 = 50.91 A^• λ_FS = 0.311 Vs^• T_FS = 1.5 * 3 * 0.311 * 50.91 = 71.25 Nm• P_FS = 71.25 * 7324.2 * 0.1047 = 54638 W• Vbus_FS = 450 V

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