Changed (Page 90): Cyclic High Priority Communication - ABB EtherCAT FECA-01 Manual Del Usuario

Update notice

CHANGED (page 90): Cyclic high priority communication

The minimum update cycle time for the following drives is:
ACSM1, ACS850 and ACS880: 500 us (2000 Hz)
ACS355: approximately 4 ms (250 Hz)
ACS580: 2 ms (500 Hz)
Use the high priority service for axis commands and feedback data, ie, torque, velocity and
position commands and feedback values. There is room for the drive control word and reference
values (command values) and the drive status word and two actual values (feedback values).
The values of the following objects are transferred – or the data where the values of the
following objects are derived is transferred – between the drive and the adapter module via the
cyclic high priority service.
Note: Since there is room only for two feedback values, the CiA 402 feedback data objects will
not be operational unless the corresponding feedback data has been selected to be transmitted
from the drive. See sections
examples – ACS850
ACS850 drives.
2001 Transparent CW
2002 Transparent REF1
2003 Transparent REF2
2101 ABB Drives control word
2102 ABB Drives REF1
2103 ABB Drives REF2
6040 Controlword
6042 vl target velocity
6071 Target torque
607A Target position
60FF Target velocity
Parameter setting examples – ACSM1
on how to select source data for feedback values on the ACSM1 and
2004 Transparent SW
2005 Transparent ACT1
2006 Transparent ACT2
2104 ABB Drives status word
2105 ABB Drives ACT1
2106 ABB Drives ACT2
6041 Statusword
6044 vl velocity actual value
6064 Position actual value
606C Velocity actual value
6077 Torque actual value
60F4 Following error actual value
and Parameter setting