ABB PROFIBUS.

ABB fieldbus options
User’s manual
FPBA-01 PROFIBUS DP adapter module

List of related manuals
See section Related manuals on page 16.

6. Start-up
User’s manual
FPBA-01 PROFIBUS DP adapter
module
3AFE68573271 Rev E
EN
EFFECTIVE: 2011-09-07
© 2011 ABB Oy
All Rights Reserved.
1. Safety
Table of contents
4. Mechanical installation
5. Electrical installation

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
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
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
Delivery check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Mounting the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . 30

6 Table of contents
5. Electrical installation
General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Connecting the module to the PROFIBUS network . . . . . . . . . . 32
Switching on the bus termination . . . . . . . . . . . . . . . . . . . . . . . . 34
6. Start-up
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
Position control using the PROFIdrive communication
communication profile with PPO Type 4. . . . . . . . . . . . . 61
Starting up ACS850 and ACQ810 drives . . . . . . . . . . . . . . . . . . 64
Parameter setting examples – ACS850 and ACQ810 . . . . . 65

Table of contents 7
Starting up ACS880 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Parameter setting examples – ACS880 . . . . . . . . . . . . . . . 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
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
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
FPBA-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
PROFIBUS link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
11. Appendix A – PROFIdrive parameters
PROFIdrive parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
12. Appendix B – I&M records
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

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.

About the manual 15
About the manual
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,
0.5…30 hp) user’s manual
3AUA0000066143
Drive hardware manuals and
guides
ACSM1-204 regen supply modules
(5.3 to 61 kW) hardware manual
3AUA0000053713
ACSM1-04 drive modules (0.75 to
45 kW) hardware manual
3AFE68797543
ACSM1-04 drive modules (55 to 110
kW) hardware manual
3AFE68912130
ACSM1-04Lx liquid-cooled drive
modules (55 to 160 kW) hardware
manual
3AUA0000022083
ACS850-04 (0.37…45 kW)
hardware manual
3AUA0000045496
ACS850-04 (55…160 kW, 75…200
hp) hardware manual
3AUA0000045487
ACS850-04 (200…500 kW,
250…600 hp) hardware manual
3AUA0000026234
ACQ810-04 drive modules
(0.37…45 kW, 0.5…60 hp) hardware
manual
3AUA0000055160
ACQ810-04 drive modules (55 to
160 kW, 75 to 200 hp) hardware
manual
3AUA0000055161

About the manual 17
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.
ACQ810-04 drive modules
(200…400 kW, 250…600 hp)
hardware manual
3AUA0000055155
ACS880-01 (0.55 to 250 kW, 0.75 to
350 hp) hardware manual
3AUA0000078093
Drive firmware manuals and
guides
ACSM1 motion control program
firmware manual
3AFE68848270
ACSM1 speed and torque control
program firmware manual
3AFE68848261
ACSM1 regen supply control
3AUA0000052174
ACS850 standard control program
firmware manual
3AUA0000045497
ACQ810 standard pump control
3AUA0000055144
ACS880 primary control program
firmware manual
3AUA0000085967
Option manuals and guides
FPBA-01 PROFIBUS DP adapter
module user’s manual
3AFE68573271
Code (English)

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
DP adapter module
One of the optional fieldbus adapter modules
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
PROFIBUS abbreviations
The text in italics is the original German term.
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
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.
Term Explanation

22 About the manual
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
Abbreviation Explanation

Overview of the PROFIBUS network and the FPBA-01 module 23
Overview of the PROFIBUS
network and the FPBA-01
module
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.

Example topology of the PROFIBUS link
An example of an allowable topology is shown below.
PROFIBUS
master
Segment 1
Segment 2
Segment 3
R
Other slave
device
Other slave
device
Other slave
device
R = Repeater
T = Termination
T T
T
ABB drive
T
ABB drive
ABB drive
T
R
T

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.

Layout of the adapter module
Diagnostic LEDs
(see chapter Diagnostics)
Bus connector X1
(see chapter Electrical
installation)Mounting screw

Mechanical installation 29
Mechanical installation
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
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.
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.
X1
1
69
5

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:
1A 1B 2A 2B
Red
Red
Green
Green
OUT
IN
Grounding (earthing) clamp/
Strain relief

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.).
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).
PROFIBUS
device
ON
PROFIBUS
device
OFF
PROFIBUS
device
ON
PROFIBUS
device
OFF
Term. Term. Term. Term.

Start-up 35
Start-up
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
as detected by the drive. The value cannot
be adjusted by the user.
If the value is 0 = None, the communication
between the drive and the module has not
been established.
1 =
Profibus_DP
02 NODE ADDRESS Each device on the PROFIBUS network
must have a unique node number. This
parameter defines a node number for the
drive the module is connected to.
Recommended node numbers are 3 to 125
inclusive.
3
ACS355:
FB PAR 2
ACSM1:
FBA PAR2
ACS850/ACQ810:
FBA par2
ACS880:
Node address
0…126 Node number
03 BAUD RATE Read-only. Indicates the detected
communication speed in kbit/s.
1)
Default value is 0 if there is no connection.
15001)
ACS355:
FB PAR 3
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
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
TYPE
Read-only. Indicates the telegram type
selected for PROFIBUS communication.
The adapter module automatically detects
the telegram type used.
For more information on the supported PPO
message types, see section PPO types on
page 114.
If standard telegrams (ST) are used,
parameter 05 PROFILE is automatically set.
1 = PPO1
ACS355:
FB PAR 4
ACSM1:
FBA PAR4
ACS850/ACQ810:
FBA par4
ACS880:
MSG type
1 = PPO1 PPO1 selected
7 = ST1 ST1 selected
8 = ST2 ST2 selected. Only supported with ACSM1.

Start-up 39
05 PROFILE Selects the communication profile used.
For more information on the communication
profiles, see chapter Communication
profiles.
1 = ABB
DRIVES
ACS355:
FB PAR 5
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
divisor for the adapter module. The
parameter is effective only when the
Transparent 16 profile is selected AND the
drive is using the native communication
profile (for example, DCU or FBA) and a 16-
bit transparent Reference 1/Actual value 1.
With an ACS355 drive, the speed reference
from the PLC is multiplied by the value of
this parameter plus one. For example, if the
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.
99
ACS355:
FB PAR 6
ACSM1:
FBA PAR6
ACS850/ACQ810:
FBA par6
ACS880:
T16 scale
0…65535 Reference multiplier/actual value divisor

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

Start-up 41
29 DRIVE TYPE
CODE
Read-only. Displays the drive type code of
the fieldbus adapter module mapping file
stored in the memory of the drive.
N/A
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
VER
Read-only. Displays the fieldbus adapter
module mapping file revision stored in the
memory of the drive in decimal format.
N/A
ACS355:
FILE CONFIG
REV
ACSM1:
MAPPING FILE
VER
ACS850/ACQ810/
ACS880:
Mapping file ver
Mapping file revision
31 D2FBA COMM
STA
Read-only. Displays the status of the
fieldbus adapter module communication.
Note: The value names may vary by drive.
0 = Idle
OR
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
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
VER
Read-only. Displays the common program
revision of the adapter module in format
axyz, where:
N/A
ACS355:
FBA CPI FW REV
ACSM1:
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
VER
Read-only. Displays the application
program revision of the adapter module in
format axyz, where:
N/A
ACS355:
FBA APPL FW
REV
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)
type. Group B (group 2) corresponds to:
• parameter group 55 in ACS355
• parameter group 53 in ACSM1, ACS850 and ACQ810
fieldbus adapter B.
No.1)
Name/Value Description Default
01 DATA OUT 1
(master to drive)
Selects data word 1 received by the drive over
the PROFIBUS network. The content is defined
by a decimal number in the range of 0 to 9999
as follows:
See also Virtual address allocation with
ACSM1 on page 46.
1 or 112)
ACS355:
FBA DATA OUT 1
ACSM1:
FBA DATA OUT1
ACS850/ACQ810/
ACS880:
FBA data out1
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
(ACS880 only)
Path to parameter area selection (ACS880
only)
0 Not used
1…99 Virtual address area of drive control
101…
9999
Parameter area of the drive

44 Start-up
02 DATA OUT 2 See parameter 01 DATA OUT 1. 0 or 24)
03…
12
DATA OUT 3…
DATA OUT 12
See parameter 01 DATA OUT 1. 0
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.
No.1)

Start-up 45
FPBA-01 configuration parameters – group C (group 3)
type. Group C (group 3) corresponds to:
• parameter group 54 in ACS355
• parameter group 52 in ACSM1, ACS850 and ACQ810
fieldbus adapter B.
No.1)
01 DATA IN 1
(drive to master)
Selects data word 1 sent by the drive over the
PROFIBUS network. The content is defined by
a decimal number in the range of 0 to 9999 as
follows:
See also Virtual address allocation with
ACSM1 on page 46.
4 or 142)
ACS355:
FBA DATA IN 1
ACSM1:
FBA DATA IN1
ACS850/ACQ810/
ACS880:
FBA data in1
0 = None Not used
4 = SW 16bit Status word (16 bits)
5 = Act1 16bit Actual value ACT1 (16 bits)
14 = SW 32bit Status word (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
(ACS880 only)
Path to parameter area selection (ACS880
only)
0 Not used
1…99 Virtual address area of drive control
101…
9999
Parameter area of the drive

46 Start-up
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.
02 DATA IN 2 See parameter 01 DATA IN 1. 0 or 53)
03…
12
DATA IN 3…
DATA IN 12
See parameter 01 DATA IN 1. 0
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.
Abbreviation Description Data
length
Recommended virtual
address with ACSM1
FBA REFx modes
Speed
mode
Position
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
No.1)

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.
The table below gives the recommended drive parameter settings
Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6
Out Control
word
Speed
reference
Accelera-
tion time1)
Decelera-
tion time
N/A N/A
In Status
word
Speed
actual value
Power1)
DC bus
voltage
N/A N/A
1)
Example
Drive parameter Setting for
ACS355 drives
Description
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
(NODE ADDRESS)
32)
Defines the PROFIBUS node
address of the fieldbus adapter
module.
5103 FB PAR 3
(BAUD RATE)
120001) Displays the current baud rate on
the PROFIBUS network in kbit/s.
5104 FB PAR 4
(TELEGRAM TYPE)
2 (= PPO2)1) Displays the telegram type
selected by the PLC configuration
tool.
5105 FB PAR 5
(PROFILE)
0 (= PROFIdrive) Selects the Control word
according to the PROFIdrive
profile (speed control mode).

50 Start-up
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
ACS355 drives
Description

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)
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.
(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.
Out Control
word
Speed
reference
Torque
reference
N/A N/A N/A
In Status word Speed actual
value
Torque
actual
N/A N/A N/A

52 Start-up
The table below gives the recommended drive parameter settings.
ACS355 drives
Description
9802 COMM PROT SEL 4 = EXT FBA Enables communication between
module.
5101 FBA TYPE PROFIBUS-DP1) Displays the type of the fieldbus
adapter module.
5102 FB PAR 2
(NODE ADDRESS)
42) Defines the PROFIBUS node
module.
5103 FB PAR 3
(BAUD RATE)
15001)
Displays the current baud rate on
5104 FB PAR 4
(TELEGRAM TYPE)
4 (= PPO4)1)
Displays the telegram type
tool.
5105 FB PAR 5
(PROFILE)
1 (= ABB DRIVES) Selects the Control word
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
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
9904 MOTOR CTRL
MODE
2 = VECTOR:
TORQ
Selects the vector control mode as
the motor control mode.

Start-up 53
below.
Control word:
• C7Fh (3199 decimal) –> OPERATING (Torque mode)
location 1.
location 2.
1102 EXT1/EXT2 SEL 8 = COMM Enables external control location
1/2 selection through the fieldbus.
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)
2)
Example
ACS355 drives
Description

54 Start-up
Starting up ACSM1 drives
the drive by setting parameter 50.01 FBA ENABLE to Enable.
3. With parameter 50.02 COMM LOSS FUNC, select how the
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
action.
5. Select application-specific values for parameters
50.04…50.11. Examples of appropriate values are shown in
the tables below.
minimum, set the required node address in parameter 51.02
and the communication profile in 51.05.
Note: The adapter module sets the Status word and Control
word automatically in parameters 52.01 and 53.01.
by setting parameter 51.27 FBA PAR REFRESH to REFRESH.

Start-up 55
Parameter setting examples – ACSM1
with PPO Type 2
PROFIdrive profile, speed control mode. For more information, see
the PROFIdrive state machine on page 88.
25.02 SPEED SCALING in the forward and reverse directions.
Out Control
word
Speed
reference
Acceleration time1)
Deceleration time1)
In Status
word
Speed actual
value
Power1)
DC bus voltage1)
1)
Example
ACSM1 drives
Description
50.01 FBA ENABLE Enable Enables communication between
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
time.
50.04 FBA 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
(NODE ADDRESS)
module.

56 Start-up
51.03 FBA PAR3
(BAUD RATE)
120001)
51.04 FBA PAR4
(TELEGRAM TYPE)
2 (= PPO2)1)
Displays the telegram type
tool.
51.05 FBA PAR5
(PROFILE)
0 (= PROFIdrive) Selects the Control word according
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
10.01 EXT1 START FUNC FBA Selects the fieldbus interface as
location 1.
24.01 SPEED REF1 SEL FBA REF1 Selects the fieldbus reference 1 as
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
ACSM1 drives
Description

Start-up 57
below.
Control word:
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.
Out Control word
(STW1)
Position set point Velocity reference N/A
In Status word
(ZSW1)
Position actual
value
Velocity actual value N/A
Drive parameter Setting for ACSM1
drives
Description
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 FBA REF1
MODESEL
Position Selects the fieldbus reference 1
scaling.

58 Start-up
50.05 FBA REF2
MODESEL
Velocity Selects the fieldbus reference 2
scaling.
51.01 FBA TYPE PROFIBUS-DP1)
adapter module.
51.02 FBA PAR2
(NODE ADDRESS)
module.
51.03 FBA PAR3
(BAUD RATE)
120001)
Displays the current baud rate on the
PROFIBUS network in kbit/s.
51.04 FBA PAR4
(TELEGRAM TYPE)
4 (= PPO4)1)
Displays the telegram type selected
by the PLC configuration tool.
51.05 FBA PAR5
(PROFILE)
4 (= PROFIdrive P) Selects the Control word according
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
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
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
1/2SEL
P.FBA MAIN CW.26 Selects the source for external 1
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
MODE1
Position Selects position control as the
control mode 1 for external control
location 1.
drives
Description

Start-up 59
The position set point is scaled as follows:
34.04 EXT1 CTRL
MODE2
Homing Selects homing control as the control
mode 2 for external control location
1.
62.01 HOMING
METHOD
CAN Methodxx Selects the homing mode. Select the
appropriate CAN Method.
62.03 HOMING START C.False Selects the fieldbus as the homing
start source.
65.01 POS
REFSOURCE
Fieldbus Position reference and speed are
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
SEL
FBA REF2 Selects the FBA reference 2 as the
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)
2)
Example
Drive parameter Setting
60.05 POS UNIT (Position unit) m1)
60.08 POS2INT SCALE 1001)
1) Example
drives
Description

60 Start-up
The position set point and actual values are scaled with the above
example values as follows:
Example for velocity set point scale:
The velocity set point and actual values are scaled with the above
example values as follows:
Pay attention to the following parameter groups:
Drive
parameter
Name Value Description
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
Group Description
90 Encoder selection
91/92/93 Settings of the encoder
1000 / 100 = 10.00 m
60.05 POS UNIT
Physical value
60.06 POS2INT SCALE
Set point value
1000 / 100 = 10.00 m
60.10 POS SPEED UNIT
Physical value
60.11 POS SPEED2INT
Set point value

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)
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.
(4E20h) corresponds to the reference set by parameter 25.02
SPEED SCALING in the forward and reverse directions.
(2710h) corresponds to the reference set by parameter 32.04
TORQUE REF 1 MAX in the forward and reverse directions.
Out Control
word
Speed
reference
Torque
reference
N/A N/A N/A
In Status
word
Speed actual
value
Torque actual N/A N/A N/A

62 Start-up
drives
Description
50.01 FBA ENABLE Enable Enables communication between the
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 FBA REF1
MODESEL
Speed Selects the fieldbus reference 1
scaling.
50.05 FBA REF2
MODESEL
Torque Selects the fieldbus reference 2
scaling.
51.01 FBA TYPE PROFIBUS-DP1)
adapter module.
51.02 FBA PAR2
(NODE ADDRESS)
32)
module.
51.03 FBA PAR3
(BAUD RATE)
120001)
51.04 FBA PAR4
(TELEGRAM TYPE)
4 (= PPO4)1)
51.05 FBA PAR5
(PROFILE)
1 (= ABB DRIVES) Selects the Control word according to
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
REFRESH Validates the FPBA-01 configuration
parameter settings.
10.01 EXT1 START
FUNC
location 1.

Start-up 63
below.
Control word:
• C7Fh (3199 decimal) –> OPERATING (Torque mode)
10.04 EXT2 START
FUNC
location 2.
24.01 SPEED REF1
SEL
FBA REF1 Selects the fieldbus reference 1 as
32.02 TORQ REF ADD
SEL
FBA REF2 Selects the fieldbus reference 2 as
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
MODE1
Speed Selects speed control as the control
mode 1 for external control location 1.
34.05 EXT2 CTRL
MODE1
Torque Selects torque control as the control
1)
2)
Example
drives
Description

64 Start-up
Starting up ACS850 and ACQ810 drives
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.
4. With parameter 50.03 Comm loss t out, define the time
action.
5. Select application-specific values for parameters
50.04…50.11. Examples of appropriate values are shown in
the tables below.
and the communication profile in 51.05.
by setting parameter 51.27 FBA par refresh to Refresh.

Start-up 65
Parameter setting examples – ACS850 and ACQ810
with PPO Type 2
19.01 Speed scaling in the forward and reverse directions.
Out Control
word
Speed
reference
Acceleration
time1)
Deceleration time1)
In Status
word
Speed actual
value
Power1)
DC bus voltage1)
1)
Example
ACS850/ACQ810
drives
Description
50.01 Fba enable Enable Enables communication between
module.
50.02 Comm loss func Fault Enables fieldbus communication
fault monitoring.
50.03 Comm loss t out 3.0 s Defines the fieldbus
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
(NODE ADDRESS)
32)
module.

66 Start-up
below.
Control word:
51.03 FBA par3
(BAUD RATE)
120001)
51.04 FBA par4
(TELEGRAM TYPE)
2 (= PPO2)1)
51.05 FBA par5
(PROFILE)
0 (= PROFIdrive) Selects the Control word according
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
10.01 Ext1 start func FB Selects the fieldbus interface as the
location 1.
21.01 Speed ref1 sel
(ACS850)
21.01 Speed ref sel
(ACQ810)
FBA ref1
FBA ref1
Selects the fieldbus reference 1 as
1)
2)
Example
ACS850/ACQ810
drives
Description

Start-up 67
Starting up ACS880 drives
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
4. With parameter 50.03 FBA A comm loss t out, define the time
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.
Node address and the communication profile in 51.05 Profile.
7. Define the process data transferred to and from the drive in
8. Save the valid parameter values to permanent memory by
setting parameter 96.07 Param save to Save.
by setting parameter 51.27 FBA par refresh to Configure.
according to the application. Examples of appropriate values

68 Start-up
Parameter setting examples – ACS880
with PPO Type 2
application that uses the PROFIdrive profile.
46.10 Speed scaling in the forward and reverse directions.
Out Control word Speed reference Acc time 1 Dec time 1
In Status word Speed actual
value
Motor current DC voltage
ACS880 drives
Description
50.01 FBA A Enable 1 = Enable Enables communication between the
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)
adapter module.
51.02 Node address 32) Defines the PROFIBUS node address
of the fieldbus adapter module.
51.03 Baud rate 120001)
51.04 MSG type 1 = PPO11)

Start-up 69
below.
Control word:
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
20.01 Ext1 commands 8 = Fieldbus A Selects the fieldbus A interface as the
location 1.
22.11 Speed ref1
selection
FB A ref1 Selects the fieldbus A reference 1 as
1)
2)
Example
ACS880 drives
Description

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.

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.

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.

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.

78 Start-up
3. Set the message type, baud rate and node number.

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.

Communication profiles 81
Communication profiles
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:
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.
FPBA-01 Drive
Profile selection:
Data conversion
Data conversion
PROFIdrive
ABB Drives
Transparent32
1) Native profile (eg, DCU or FBA)
Optional
reference/actual
value scaling
Transparent16
Select
Group A
Par. 05
Data conversion
PROFIdrive
positioning
PROFIBUS
CW
REF1
REF2
SW
ACT1
ACT2
16/32
-bit
Select
Group A
Par. 05
PROFIBUS
PZDx
•
•
•
•
PZD10
1)
1)
1)
Note: The diagram is applicable only when PPO messaging is used. If
standard telegrams (ST) are used, the communication profile is selected
automatically.
16/32
-bit

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
Bit Name Value
STATE/Description
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).

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_
ENABLE
1 Proceed to ENABLE OPERATION.
0 Inhibit operation. Proceed to OPERATION
INHIBIT.
4 ENABLE_
RAMP_
GENERATOR
or
1 Normal operation.
Proceed to RAMP
FUNCTION
GENERATOR:
ENABLE OUTPUT.
Normal operation.
Do not reject
traversing task.
TRAVERSING
_TASK
0 Stop according to
selected stop type.
Reject traversing
task.
5 1 Normal operation.
Proceed to RAMP
FUNCTION
GENERATOR:
ENABLE
ACCELERATOR.
Normal operation.
No intermediate
stop.
0 Halt ramping (Ramp
Function Generator
output held).
Intermediate stop
6 1 Normal operation.
Proceed to
OPERATING.
Note: This bit is
effective only if the
fieldbus interface is
set as the source for
this signal by drive
parameters.
Activate traversing
task (0 –> 1). This is
a toggle bit; each
rising edge of signal
enables a traversing
task or a new set
point.
0 Force Ramp
Function Generator
input to zero.
Bit Name Value
STATE/Description

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_
CMD
1 Fieldbus control enabled
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
as defined by
PROFIdrive
parameter 933.
Start homing
procedure.
0 Stop homing
procedure.
12 Vendor-specific bit as defined by
PROFIdrive parameter 934
Bit Name Value
STATE/Description

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
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 ENABLE OPERATION
0 DISABLE OPERATION
3 TRIPPED 1 FAULT
0 No fault
4 OFF_2_STA 1 OFF2 inactive
0 OFF2 ACTIVE
0 OFF3 ACTIVE
6 SWC_ON_INH
IB
1 SWITCH-ON INHIBIT ACTIVE
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

10 1 Actual frequency or
speed value equals
or is greater than
supervision limit.
Target position
reached
0 Actual frequency or
speed value is
within supervision
limit.
Not at target
position
as defined by
PROFIdrive
parameter 939
Homing procedure
was executed and is
valid.
0 No valid home
position available
as defined by
PROFIdrive
parameter 940
Traversing task
acknowledgement
(0 –> 1)
0
as defined by
PROFIdrive
parameter 941
Drive stopped.
0 Drive moving.
Traversing task is
executed (n <> 0).
Bit Name Value
STATE/Description

State machine for all operating modes
The general PROFIdrive state machine for all operating modes is
shown below.
‘n=0 or f =0’ and ‘I=0’
and pause expired
Jogging 1 or 2 OFF
(CW Bit8=0 or Bit9=0)
MAINS OFF
Power ON OFF1 (CW Bit0=0)
SWITCH-ON
INHIBIT (SW Bit6=1)
NOT READY
TO SWITCH ON (SW Bit0=0)
READY TO
SWITCH ON
from any state
(CW=xxxx x1xx xxxx x110)
READY TO
OPERATE (SW Bit1=1)
n(f)=0 / I=0
OPERATION
INHIBIT (SW Bit2=0)
A B C D
(CW Bit3=0)
operation
inhibited
OFF1 (CW Bit0=0)
OFF1
ACTIVE (SW Bit1=0)
(SW Bit0=1)
(CW Bit3=1)
C D
(CW Bit5=0)
OPERATION
ENABLE
(SW Bit2=1)
(SW Bit5=0)
from any state from any state
Emergency stop
OFF3 (CW Bit2=0)
n(f)=0 / I=0
OFF3
ACTIVE
Emergency stop
OFF2 (CW Bit1=0)
(SW Bit4=0)
OFF2
ACTIVE
RFG: ENABLE
OUTPUT
RFG: ENABLE
ACCELERATION
OPERATING
B
B C D
(CW Bit4=0)
(CW Bit4=1)
(CW Bit5=1)
D
(CW Bit6=0)
A
C
(CW Bit6=1)
(SW Bit8=1)
D
from any state
Fault
(SW Bit3=1)
FAULT
(CW Bit7=1)
ON (CW=xxxx x1xx xxxx x111)
CW = Control word
SW = Status word
n = Speed
I = Input Current
RFG = Ramp function
generator
f = Frequency
state
condition
rising edge
the bitof
JOGGING 1 or 2
Jogging 1 or 2 ON
(CW Bit4,5,6=0)
Enable operation
Main contactor ON
Main contactor OFF
(CW Bit8=1 or Bit9=1)
Jogging pause
SPEEDMODEONLY
F
ACTIVE
F
E
PROFIdrive
State machine

State machine for positioning mode
The PROFIdrive state machine for the positioning mode is shown
below.
State
condition
E
F
(SW Bit10,13=1)
(CW Bit4,5=1
and
CW Bit6
edge 0⇒1)
CW= Control word
SW = Status word
PROFIdrive
State machine
for PROFIdrive
positioning mode
(CW Bit11=1)
(SW Bit10,11,13=0)
BASIC STATE:
Operating1)
HOMING
RUNNING
(SW Bit10,11,13=1)
HOMING
READY
(CW Bit11=0)
(SW Bit10,13=0)
Traversing task
active
(CW Bit5=0)
(CW Bit5=0)
(SW Bit10,13=0)
Braking with
ramp
Intermediate
stop
(CW Bit6 edge
0⇒1)
F
F F
(SW Bit10,13=0)
(CW Bit4=0)
Braking with
ramp
E
1) In the “Operating”
state of the general
state machine:
SW bits 0, 1 and 2 = 1
SW bit 6 = 0.
F

References
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).

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).

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_
CONTROL
1 Proceed to READY TO OPERATE.
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_
CONTROL
1 Continue operation (OFF2 inactive).
0 Emergency OFF, coast to stop.
Proceed to OFF2 ACTIVE, proceed to
SWITCH-ON INHIBITED.
2 OFF3_
CONTROL
1 Continue operation (OFF3 inactive).
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.

3 INHIBIT_
OPERATION
1 Proceed to OPERATION ENABLED.
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_
ZERO
1 Normal operation. Proceed to RAMP
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_
ZERO
1 Normal operation. Proceed to
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

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.
10 REMOTE_
CMD
1 Fieldbus control enabled
0 Control word and reference not getting
through to the drive, except for CW bits
OFF1, OFF2 and OFF3.
11 EXT_CTRL_
LOC
1 Select External Control Location EXT2.
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…
15
Drive-specific (For information, see the drive documentation.)
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
0 OFF2 ACTIVE
0 OFF3 ACTIVE.
6 SWC_ON_
INHIB
1 SWITCH-ON INHIBITED
0 –

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_
LIMIT
1 Actual frequency or speed equals or
exceeds supervision limit (set by drive
parameter). Valid in both directions of
rotation.
0 Actual frequency or speed within
supervision limit
11 EXT_CTRL_
LOC
1 External Control Location EXT2 selected
0 External Control Location EXT1 selected
12 EXT_RUN_
ENABLE
1 External Run Enable signal received
0 No External Run Enable signal received
13…
14
Drive-specific (For information, see the drive documentation.)
15 FBA_ERROR 1 Communication error detected by
fieldbus adapter module
0 Fieldbus adapter communication OK

State machine
The state machine for the ABB Drives communication profile is
shown below.
Power ON (CW Bit0=0)
(SW Bit6=1)
(SW Bit0=0)
from any state
(SW Bit1=1)
n(f)=0 / I=0
(SW Bit2=0)
A B C D
(CW Bit3=0)
operation
inhibited
OFF1 (CW Bit0=0)
(SW Bit1=0)
(SW Bit0=1)
(CW Bit3=1
and
SW Bit12=1)
C D
(CW Bit5=0)
(SW Bit2=1)
(SW Bit5=0)
from any state from any state
Emergency stop
OFF3 (CW Bit2=0)
n(f)=0 / I=0
Emergency OFF
OFF2 (CW Bit1=0)
(SW Bit4=0)
B
B C D
(CW Bit4=0)
(CW=xxxx x1xx xxx1 1111)
(CW=xxxx x1xx xx11 1111)
D
(CW Bit6=0)
A
C
(CW=xxxx x1xx x111 1111)
(SW Bit8=1)
D
from any state
Fault
(SW Bit3=1)
(CW Bit7=1)
(CW=xxxx x1xx xxxx 1111
and SW Bit12=1)
state
condition
rising edge
the bitof
ABB Drives
communication
profile
CW = Control word
SW = Status word
n = Speed
I = Input current
RFG = Ramp function
generator
f = Frequency
RFG:OUTPUT
ENABLED
OFF2
ACTIVE
OFF3
ACTIVE
OPERATION
FAULTREADY TO
OPERATE
READY TO
SWITCH ON
NOT READY TO
SWITCH ON
SWITCH-ON
INHIBITED
OPERATION
INHIBITED
OFF1
ACTIVE
OPERATION
ENABLED
RFG:ACCELERATOR
ENABLED
MAINS OFF

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.
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.
DriveFieldbus
REFx MIN
-(REFx MIN)
REFx MAX / Speed scale
-(REFx MAX) / Speed scale
0
REF2: -10000
REF1: -20000
REF2: 10000
REF1: 20000

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.
0
REFx MAX
-(REFx MAX)
0
ACT2: -10000
ACT1: -20000
ACT2: 10000
ACT1: 20000
DriveFieldbus

Communication protocol 99
Communication protocol
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

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.
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)
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.

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
1 Group_Select
0…255. The value must match the Group Identification number
of SAP 61 (DU Byte 6).
0 0 x x x x x 0
00 = No function
10 = Activated
x1 = Deactivated
MSB LSB
00 = No function
10 = Activated
x1 = Deactivated
Reserved
Clear Data
0 = Do not clear output
1 = Clear output
Reserved
Un_Sync
Sync
Freeze
Unfreeze

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
Byte
Value Description
0 B8h
(Recom-
mended
default
value)
Station status
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
(Default)
MinTSDR – Minimum Station Delay Respond Time
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)
x x 1 1 1 0 0 0
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
MSB LSB
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
Lock_Req
1)
1)

6 00h Group Identification
7 DPV1_Status_1 (DP-V1 only)
x 0 x 0 0 x x x
Dis_Start_Control (Disable Stop-Bit
Control)
0 = Start bit monitoring in receiver
enabled
1 = Start bit monitoring in receiver
disabled
MSB LSB
WD_Base (Watchdog time base)
0 = 10 ms
1 = 1 ms
Dis_Stop_Control (Disable Stop-Bit
Control)
0 = Stop bit monitoring in receiver
enabled
1 = Stop bit monitoring in receiver
disabled
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

8 DPV1_Status_2 (DP-V1 only) (Not supported)
x x x x x x 0 x
Chk_Cfg_Mode
0 = Chk_Cfg according to EN 50170
(default state)
1 = User-specific evaluation of Chk_Cfg
MSB LSB
Enable_Update_Alarm
0 = Enable_Update_Alarm disabled
1 = Enable_Update_Alarm enabled
Reserved. To be parameterized with ‘0’.
Enable_Manufacturer_Specific_Alarm
0 = Enable_Manufacturer_Specific_Alarm
disabled
1 = Enable_Manufacturer_Specific_Alarm
enabled
Enable_Status_Alarm
0 = Enable_Status_Alarm disabled
1 = Enable_Status_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

9 DPV1_Status_3 (DP-V1 only)
10 1Bh
(Default)
Structured_Length
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
0 0 0 x 1 x x x
Alarm_Mode. Not supported.
Limits the number of active alarms.
0 = 1 alarm of each type
1 = 2 alarms in total
MSB LSB
Prm_Structure
0 = Prm telegram according to
EN 50170
1 = Prm telegram in structure form
(DPV2 extension)
Reserved. To be parameterized
with ‘0’.
IsoM_Req (Isochron Mode
Request) Not supported.
0 = Isochron Mode disabled
1 = Isochron Mode enabled

User_Prm_Data (Parameter Data Extended)
Type: Octet String - Length: 23
14 00h
(Default)
Header byte
15…
16
0…
65536
Cut off time out in milliseconds. 0 = Cut off disabled.
17…
18
0…
65536
Fail-safe, PZD1 (typically CW)
19…
20
0…
65536
Fail-safe, PZD2 (typically REF)
21…
22
0…
65536
Fail-safe, PZD3
23…
24
0…
65536
Fail-safe, PZD4
0 0 0 0 0 x 0 x
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.
Reserved
MSB LSB
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

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).
25…
26
0…
65536
Fail-safe, PZD5
27…
28
0…
65536
Fail-safe, PZD6
29…
30
0…
65536
Fail-safe, PZD7
31…
32
0…
65536
Fail-safe, PZD8
33…
34
0…
65536
Fail-safe, PZD9
35…
36
0…
65536
Fail-safe, PZD10
Telegram
name
Cyclical telegram
length (in words)
Default code for
message type
(see figure below)
Supported
parameter
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
in/out
F3 F9 DP-V0 / DP-V11)
in/out
F9 DP-V11)

The default codes for the PPO types in the table above define data
consistency over the message as follows:
in/out
0xF3, 0xFB DP-V0 / DP-V11)
in/out
0xFB DP-V11)
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)
Telegram
name
Cyclical telegram
length (in words)
Default code for
message type
(see figure below)
Supported
parameter
channel access
mode
x x x x x x x x
Length of data
0000 = 1 byte per word
• • •
1111 = 16 bytes per word
MSB LSB
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

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
Byte
Description
0 Station_Status_1
x x x x x x x x
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
MSB LSB

1 Station_Status_2
2 Station_Status_3
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
x 0 x x x 1 x x
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
MSB LSB
x 0 0 0 0 0 0 0MSB LSB
Reserved
Diag.Ext_Diag_Overflow (Set by
slave)

61)
Header Byte (DP-V1 only)
The complete header consists of 5 bytes with FPBA-01.
72) Communication Diagnostic (DP-V0 only)
71)
Status Type = Status Message (0x81) (DP-V1 only)
81) Slot Number (0x00) (DP-V1 only)
Slot Number (0…244).
0 0 x x x x x xMSB LSB
Block length in bytes including
header
Diagnostic type
00 = Device-related diagnostic
according to PROFIdrive 3.1.
0 0 0 0 0 0 x xMSB LSB
Reserved
Communication temporarily lost
Communication permanently lost
1 x x x x x x x
Set to 1
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
MSB LSB

Other SAPs for DP-V1 communication
91)
Specifier (0x00) (DP-V1 only)
101) Communication Diagnostic (DP-V1 only)
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.
Master
class
Master
SAP
Slave
SAP
Short name Meaning
C1 51 51 Server SAP Read, Write, Alarm
C1 51 50 Alarm SAP Alarm
C2 50 49 Resource Mgmt.
SAP
Req PDU
C2 50 48...0 Communication
SAP
Abort, Read/Write,
Data_Transfer
C2 62 55 Set_Slave_Add Change Station
Address (C2 Master)
0 0 0 0 0 0 x xMSB LSB
Reserved
Specifier
0 0 0 0 0 0 x xMSB LSB
Reserved
Communication temporarily lost
Communication permanently lost

Cyclical message types
PPO types
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
Type 1
Type 2
Type 3
Type 4
Type 5
Parameter
Process data
CW REF PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10VALUEIND
identification
PZD3SW ACT PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10
Fixed area Freely mappable area
OUT area
IN area ID IND VALUE
Type 6
Parameter
channel
DP-V0
DP-V0
DP-V0
DP-V1
DP-V1
DP-V1
PKW PZD
Type 7
PZD11
PZD11
PZD12
PZD12
Type 8
DP-V0
DP-V1

Standard telegram (ST) types (DP-V1)
Note: For the contents of the Control word, the Status word,
references and actual values, see chapter Communication profiles.
ST1 PZD1 PZD2
OUT area STW1
Control word 1
NSOLL_A
Speed set point A
IN area ZSW1
Status word 1
NIST_A
Speed actual value A
ST2 PZD1 PZD2…3 PZD4
OUT area STW1
Control word 1
NSOLL_B
Speed set point B
STW2
Control word 2
IN area ZSW1
Status word 1
NIST_B
Speed actual
value B
ZSW2
Status word 2

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.
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
word)
2 7, 8
4 Request description element 3 7
5 Change description element 3 7, 8
6 Request parameter value (array) 4, 5 7, 8
ID IND VALUE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Request label
Response label
Request signal
Parameter number (PNU)
Process data
Parameter
identification
Not used (=0)
CW REF
(PD1, PD2...)SW ACT

7 Change parameter value (array
word)
4 7, 8
8 Change parameter value (array
double word)
5 7, 8
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
Request labels (from master to slave)
Request Function Response labels
Ackn. (+) Ackn. (-)

7 Task cannot be executed, followed by error number
8 No parameter change rights for PKW interface
9 Parameter data signal (word)
10 Parameter data signal (double word)
Response label (Acknowledgement from slave to master)
Ackn. Function
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

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.
(Decimal)
Request label Example.
No.
0h 1h 1
R/W 6/7/81)
1, 2
0h 2h 2
• • •
0h 63h 99
1)
Supported with an ACSM1 drive only
Drive parameters
Index Sub-index Par. No.
(Decimal)
Request label Example
No.
1 1 101
R/W 6/7/81)
1, 2
1 2 102
• • •
63h 63h 9999
1)
Supported with an ACSM1 drive only

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

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.
Req
DPheader
60 54 0B 00 00 00 00 00 04 7F 34 15 00 00 00 00 00 00 00 00
DPtrailer
Resp 40 54 0B 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 00
CW REF PZD3 PZD4 PZD5 PZD6
Request (Read parameter value [array])
Parameter Number
Subindex1)
SW ACT PZD3 PZD4 PZD5 PZD6
Parameter Value (100 decimal)
Subindex1)
Parameter Number
Response (Read parameter value [array])
1) 2nd byte reserved

Error response
Resp DPheader 70 54 0B 00 00 00 00 03 03 37 34 15 00 00 00 00 00 00 00 00
DPtrailer
Error Number (3: Erroneous subindex)
Subindex1)
Parameter Number
Response (Negative acknowledgement)
1)
2nd byte reserved

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.
Req
DPheader
70 0C 02 00 00 00 00 64 04 7F 34 15 00 00 00 00 00 00 00 00
DPtrailer
Resp 40 0C 02 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 00
Request (Change parameter value [array])
Parameter Number
Subindex1)
Subindex1)
Parameter Number
Response (Transfer parameter value [array])

The following is an example of writing a 32-bit parameter:
Req
DPheader
80 0C 02 00 00 00 00 64 04 7F 34 15 00 00 00 00 00 00 00 00
DPtrailer
Resp 50 0C 02 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 00
Request (Change parameter value [array double word])
Parameter Number
Subindex1)
Subindex1)
Parameter Number
Response (Transfer parameter value [array double word])

Example 3: Reading a PROFIdrive parameter (word)
In this example, PROFIdrive parameter 918 is used to read the
station number of the slave.
The slave returns its station number (2).
Read:
Req DP
header
13 96 00 00 00 00 00 00 04 7F 34 15 DP
trailerResp 13 96 00 00 00 00 00 02 03 37 34 15
CW REF
Request (Parameter value read)
Parameter Number (918 decimal)
IND Param.Value
SW ACTParam.ValueIND
Request (Parameter value updated)

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.
Write:
Req DP
header
23 CB 00 00 00 00 00 01 04 7F 34 15 DP
trailerResp 13 CB 00 00 00 00 00 01 03 37 34 15
CW REF
Request (Parameter value write)
IND Param.Value
SW ACTParam.ValueIND
Response (Parameter value updated)

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.
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.
Read:
Req DP
header
63 B1 01 00 00 00 00 00 04 7F 34 15 DP
trailerResp 43 B1 01 00 00 00 23 00 03 37 34 15
SW ACTParam.Value
Subindex (Latest acknowledged fault)1)
CW REF
Request (Request parameter value [array])
Param.Value
Subindex (Latest acknowledged fault)1)

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.
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.
Req
DPheader
73 93 03 00 00 00 0C 02 04 7F 34 15 00 00 00 00 00 00 00 00
DPtrailer
Resp 43 93 03 00 00 00 0C 02 03 37 34 15 00 00 00 00 00 00 00 00
CW REF
Subindex (03 = PZD3)1)
Parameter Value
PZD3 PZD4 PZD5 PZD6
SW ACT
Parameter Value
PZD3 PZD4 PZD5 PZD6

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.
Subsequent response frames:
Req
DPheader
73 94 03 00 00 00 01 04 04 7F 34 15 00 00 00 00 00 00 00 00
DPtrailer
Resp 43 94 03 00 00 00 01 04 03 37 34 15 00 00 00 00 00 00 00 00
Resp
DPheader
xx xx xx xx xx xx xx xx xx xx xx xx 00 OB xx xx xx xx xx xx
DPtrailer
SW ACT
Parameter Value
PZD3 PZD4 PZD5 PZD6
1)
2nd byte reserved
CW REF
Parameter Number (916decimal)
Parameter Value
PZD3 PZD4 PZD5 PZD6
PZD3 (Value of drive parameter 1.04)

DP-V1 read/write request sequence
A read/write service on a drive parameter is illustrated below.
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).
Master DP-V1 Slave
Parameter
processing
Parameter request
Parameter response
PROFIdrive Write request DB47
Write response
without data
Read request DB47
without data
Read response (–)
without data
Read request DB47
without data
Read response
with data
Parameter
PROFIdrive
Parameter
response
request

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

The table below lists the DP-V1 function numbers.
The table below lists the DP-V1 error responses.
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
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

The table below lists the error codes for the DP-V1 error
responses.
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
12 (0x0C) Resource 0 = Read constraint conflict
1 = Write constraint conflict
2 = Resource busy
3 = Resource unavailable
4…7 = Reserved
13…15 User-specific
x x x x x x x xMSB LSB

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

Subindex Addresses
• 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.
0…65535 Word
Format1)
See the table on page
137.
See the table on
page 137.
Byte
Number of
Values1)
Number of values
following
0…234 Byte
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.
– See the
Format
field.
1)
Only if Request ID is 02h (Change Parameter). The Format, Number of
Values and Values fields are repeated for other parameters.
Field(s) Description Range Byte/Word

The table below shows the contents of the PROFIdrive Response
header.
Field(s) Description Range
Request
Reference
(mirrored)
Mirrored from the request 1…255
Response ID Response from the slave. In
case any requested services fail,
a “not acknowledged” (NAK)
response will be indicated.
Request Param OK
(01h)
Request Param NAK
(81h)
Change Param OK
(02h)
Change Param NAK
(82h)
Drive Object
ID
To be set to 1. 0…255
No. of
Parameters
Number of parameters that are
present in the response
1…37
Format1) See the table on page 137. See the table on page
137.
Number of
Values1)
Number of values following 0…234
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.

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)

The table below shows the PROFIdrive parameter request error
codes.
Error # Meaning Used at
00h Impermissible
parameter number
Access to an unavailable parameter
01h Parameter value cannot
be changed
Change access to a parameter
value that cannot be changed
02h Low or high limit
exceeded
Change access with a value outside
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
(can only be reset)
Change access with a value
unequal to 0 when this is not
permitted
07h Description element
cannot be changed
Change access to a description
element that cannot be changed
09h No description data
available
Access to an unavailable
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
executed because of
operating mode
Access is temporarily not possible
for reasons that are not specified in
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)

15h Response too long The length of the current response
exceeds the maximum
transmittable length.
16h Parameter address
impermissible
Illegal value or value that is not
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
inconsistent
Write request: Number of values of
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).

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):
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
DP
header
5F 01 2F 0A 05 01 01 01 10 01 00 0C 00 04 DP
trailerDP-V1 Command PROFIdrive V3 Parameter Channel
Function number
Slot number
Index
Data length
Request reference
Request ID (01h= Request Parameter
Drive object ID
Attribute (10h = Value)
Number of elements
Parameter index
Subindex

• Positive Read response to DP-V1 Read request:
• Negative response to PROFIdrive Read request:
DP
header
5E 01 2F 08 05 01 01 01 42 01 05 64 DP
trailerDP-V1 Response PROFIdrive V3 Parameter Channel
DP
header
5E 01 2F 08 05 01 01 01 42 01 05 64 DP
Function number
Slot number
Index
Data length
Response reference (mirrored)
Response ID
Drive object ID
Format (42h = Word)
Number of values
Parameter value
Function number
Slot number
Index
Data length
Response ID
Drive object ID (mirrored)
Format (44h = Error)
Number of values
PROFIdrive error
code

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):
DP
header
5F 01 2F 16 06 01 01 03 10 01 00 0C 00 04
•••DP-V1
Command
•••
10 01 00 14 00 08
•••(Par. Channel
continued)
•••
10 01 00 1E 00 13
DP
trailer(Par. Channel
continued)
Function number
Slot number
Index
Data length
Request reference
Request ID (01h= Request Parameter
Drive object ID
Number of elements
Parameter number
Subindex

• Positive Read response to DP-V1 Read request:
The values 190h (400), 1F4h (500) and 1Eh (30) are returned.
DP
header
5F 01 2F 10 06 01 01 03 42 01 01 90
•••DP-V1
Response
PROFIdrive V3 Parameter
Channel
•••
42 01 01 F4
•••(Par. Channel
cont’d)
•••
42 01 00 30
DP
cont’d)
Function number
Slot number
Index
Data length
Response ID
Drive object ID
Format (42h = Word)
Number of values
Parameter value

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).
DPheader
5F 01 2F 0E 07 02 01 01 10 01 00 0C 00 02 42 01 02 58
DPtrailer
DP-V1
Command
Function number
Slot number
Index
Data length
Request reference
Request ID
Drive object ID
Number of elements
Parameter number
Subindex
Format
(42h = Word)
Number of
values
Value

DP
header
5E 01 2F 04 07 02 01 01
DP
trailerDP-V1 Response
PROFIdrive V3
Parameter Channel
Slot number
Slot number
Index
Data length
Request reference (mirrored)
Response ID

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.
DP
header
5F 01 2F 14 08 02 01 02 10 01 00 0C 00 02
•••
DP-V1 Command
PROFIdrive V3 Parameter
Channel
•••
10 01 00 14 00 08
•••
(Par. Channel cont’d)
•••
42 01 01 2C
•••
(Par. Channel
cont’d)
•••
42 01 01 F4
DP
cont’d)
Function number
Slot number
Index
Data length
Request reference
Request ID (02h= Change Parameter)
Drive object ID
Number of elements
Parameter number
Subindex
Value
Number of values
Format (42h = Word)

DP
header
5E 01 2F 04 08 02 01 02
DP
trailerDP-V1 Response
PROFIdrive V3
Parameter Channel
Slot number
Slot number
Index
Data length
Response ID

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):
• DP-V1 Read response:
The slave returns the station number of the slave (0003h in this
example).
DP
header
5F 01 2F 0A 09 01 01 01 10 00 03 96 00 00 DP
trailerDP-V1 Command PROFIdrive V3 Parameter Channel
DP
header
5E 01 2F 08 09 01 01 01 42 01 23 00 DP
Function number
Slot number
Index
Data length
Request reference
Request ID (01h= Request Parameter)
Drive object ID
Number of elements
Parameter index
Subindex
Function number
Slot number
Index
Data length
Drive object ID
Response ID
Format (42h = Word)
Number of values
Value of error
values

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.
is taken from. Value selects the drive parameter to which that word
is mapped.
• DP-V1 Write request:
DPheader
5F 01 2F 0E 0A 02 01 01 10 01 03 93 00 03 42 01 0C 06
DPtrailer
DP-V1
Command
Value
Number of
values
Format (42h =
Word)
Subindex
Parameter number
Number of elements
Drive object ID
Request ID (02h = Change
Request reference
Function number
Slot number
Index
Data length

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.
is transmitted in.
DP
header
5E 01 2F 08 0A 01 01 01 42 01 00 68 DP
Function number
Slot number
Index
Data length
Response ID
Format (42h = Word)
Number of values
Value of error
values

• DP-V1 Write request:
Value indicates the source of PZD3 as drive parameter 12.05
(0C.05h).
DP
header
5F 01 2F 0A 0B 01 01 01 10 01 03 94 00 03 DP
DP
header
5E 01 2F 08 0B 01 01 01 42 01 0C 05 DP
Function number
Slot number
Index
Data length
Request reference
Request ID (01h = Read)
Drive object ID
Number of elements
Parameter index
Subindex
Function number
Slot number
Index
Data length
Response ID
Format (42h = Word)
Number of values
Value of error
values

Diagnostics 153
Diagnostics
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
HOST
Green Connection to host OK
Blinking red Establishing communication to
host, or communication to host
lost
Flashing orange,
alternating with the
MODULE flashing orange
Internal file system error. The
error may be cleared by
cycling drive power. If the error
persists, contact your local
ABB representative.

Diagnostics 155
MODULE
Green Module status OK
Blinking red Configuration mismatch
Blinking red in unison with
HOST (blinking red)
Establishing communication to
host
Blinking green in unison
with NETWORK (blinking
red)
Network connection lost
Blinking green once per
second with NETWORK
steady green
No communication with this
node
Blinking green 3 times per
second with NETWORK
steady green
Only Class 2 master
connection (no cyclic
communication established)
Red Module fault
Flashing orange,
alternating with the HOST
flashing orange
Internal file system error. The
error may be cleared by
cycling drive power. If the error
persists, contact your local
ABB representative.
NETWORK
Blinking green Establishing network
connection
Green Network connection OK
Blinking red Network connection lost
Name Color Function

Technical data 157
Technical data
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:
• Maximum bus length:
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
Parameter Line A
PROFIBUS DP
Line B
DIN 19245 Part 1
Unit
Impedance 35…165
(3…20 MHz)
100…130
(f > 100 kHz)
ohm
Capacitance < 30 < 60 pF/m
Resistance < 110 – ohm/km
Wire gauge > 0.64 > 0.53 mm
Conductor area > 0.34 > 0.22 mm2
Transfer rate
(kbit/s)
≤
93.75
187.5 500 1500 3000 6000 12000
Line A (m) 1200 1000 400 200 100 100 100
Line B (m) 1200 600 200 – – – –

Appendix A – PROFIdrive parameters 161
Appendix A – PROFIdrive
parameters
This chapter contains a list of the PROFIdrive profile parameters.
PROFIdrive parameters
Par. no. R/W1)
Data type Description
915 R/W Array [10]
Unsigned16
Assignment PZD1 to PZD10 in PPO-
write
916 R/W Array [10]
Unsigned16
Assignment PZD1 to PZD10 in PPO-
read
918 R/W Unsigned16 Node address. Writing this parameter will
change the node address. Module re-
start required.
919 R Octet
String4
Device system number.
923 R Array [n]
Unsigned16
List of all parameters for signals.
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
2 – Status word 1 (ZSW1) Unsigned16
3 – Control word 2 (STW2) Unsigned16
4 – Status word 2 (ZSW2) Unsigned16
5 – Speed set point A
(NSOLL_A)
Signed16
6 – Speed actual value A
(NIST_A)
Signed16
7 – Speed set point B
(NSOLL_B)
Signed32
8 – Speed actual value B
(NIST_B)
Signed32
27 – Position set point A
(XSOLL_A)
Signed32
28 – Position actual value A
(XIST_A)
Signed32
32 – Traversing block
selection (SATZANW) (not
supported)
Unsigned16
33 – Actual traversing block
(AKTSATZ) (not supported)
Unsigned16
34 – Target position
(TARPOS_A) (not
supported)
Signed32
35 – Velocity
(VELOCITY_A)
Unsigned32
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).
Par. no. R/W1)

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
Par. no. R/W1)

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)
(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)
(See parameter 939 for coding)
945 R Array[64]
Unsigned16
Fault code (coded according to
DRIVECOM profile). Supported with
ACS355 drives only. Note: The drive
may limit the actual number of the faults
recorded.
Subindex Contents
1 Active fault
Par. no. R/W1)

947 R Array [64]
Unsigned16
Fault number.
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
String4
Hardware configuration (manufacturer-
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
Par. no. R/W1)

964 R Array [7]
Unsigned16
Subindex Contents
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
String2
Profile number of this device.
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
stopped.
Par. no. R/W1)

972 R/W Unsigned16 Software reset
Value Description
0 No action
1 Re-boot PROFIBUS module
stopped.
975 R Array[n]
Unsigned16
DO identification. For subindexes 0…4,
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
981
R Array[n]
Unsigned16
Number list of the defined parameters. If
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.
Par. no. R/W1)

Appendix B – I&M records 169
Appendix B – I&M records
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
header
Function_Num 1 Octet 5Fh fixed
Slot_Number 1 Octet 0…255 variable
Index 1 Octet 255 fixed
Length 1 Octet 4 / 68 Call Header only /
Write
Call
Header
Extended_Function_
Num
1 Octet 08h Indicates “Call”,
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
block
MANUFACTURER_ID 2 Octets 0x1A = ABB Automation
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_
TYPE
2 Octets 0 = no specific 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)
Response structure for I&M2 (Read/Write)
Note: I&M1 and I&M2 are blank (0x20) by default.
Header Manufacturer-specific 10 Octets –
I&M0
block
TAG_FUNCTION 32 Octets Device function or task
TAG_LOCATION 22 Octets Device location
Header Manufacturer-specific 10 Octets –
I&M0
block
INSTALLATION_DATE 16 Octets Installation date.
Eg, 2011-01-01 16:23
RESERVED 38 Octets Reserved

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
ABB Oy
Drives
P.O. Box 184
FI-00381 HELSINKI
FINLAND
Telephone +358 10 22 11
Fax +358 10 22 22681
www.abb.com/drives
ABB Inc.
Automation Technologies
Drives & Motors
16250 West Glendale Drive
New Berlin, WI 53151
USA
Telephone 262 785-3200
1-800-HELP-365
Fax 262 780-5135
www.abb.com/drives
ABB Beijing Drive Systems
Co. Ltd.
No. 1, Block D,
A-10 Jiuxianqiao Beilu
Chaoyang District
Beijing, P.R. China, 100015
Telephone +86 10 5821 7788
Fax +86 10 5821 7618
www.abb.com/drives
3AFE68573271RevE(EN)2011-09-07

ABB PROFIBUS.

More Related Content

What's hot (20)

Similar to ABB PROFIBUS. (20)

Recently uploaded (20)

ABB PROFIBUS.