The two data sets containing actual information on the drive are referred to as the

90.03. The two data sets containing actual information on the drive are referred to as the

Main Actual Signal data set and the Auxiliary Actual Signal data set. The contents of both data sets are partly selectable with the parameters at group 92.

Data from fieldbus controller to drive Data from drive to fieldbus controller Word

Contents

Selector

Word Contents Selector

*Index Main Reference data set DS1 *Index Main Actual Signal data set DS2

1 1st word

Control Word

(Fixed)

4 1st word

Status Word (Fixed)

2 2nd word

Reference 1

(Fixed)

5 2nd word

Actual 1 **Par. 92.02

3 3rd word

Reference 2

(Fixed)

6 3rd word

Actual 2 Par. 92.03

*Index Auxiliary Reference data set DS3 *Index Aux. Actual Signal data set DS4

7 1st word

Reference 3

Par. 90.01

10 1st word

Actual 3 Par. 92.04

8 2nd word

Reference 4

Par. 90.02

11 2nd word

Actual 4 Par. 92.05

9 3rd word

Actual 5 Par. 92.06 *The index number is required when data word allocation to process data is defined

Reference 5

Par. 90.03

12 3rd word

via the fieldbus parameters at group 51. This function is dependent on the type of the fieldbus adapter.

**With the Generic Drive communication profile active, Actual 1 is fixed to actual signal 01.02 SPEED (in DTC motor control mode) or 01.03 FREQUENCY (in Scalar mode).

The update time for the Main Reference and Main Actual Signal data sets is 6 milliseconds; for the Auxiliary Reference and Auxiliary Actual Signal data sets, it is 100 milliseconds.

The Control Word (CW) is the principal means of controlling the drive from a fieldbus system. It is effective when the active control location (EXT1 or EXT2, see parameters 10.01 and 10.02) is set to COMM.CW, or if par. 10.07 is set to 1 (with Generic Drive communication profile only).

The Control Word is sent by the fieldbus controller to the drive. The drive switches between its states according to the bit-coded instructions of the Control Word.

The Status Word (SW) is a word containing status information, sent by the drive to the fieldbus controller.

See section Communication profiles on page 210 for information on the composition of the Control Word and the Status Word.

References

References (REF) are 16-bit signed integers. A negative reference (indicating reversed direction of rotation) is formed by calculating the two’s complement from the corresponding positive reference value.

Fieldbus reference selection and correction

Fieldbus reference (called COM.REF in signal selection contexts) is selected by setting a Reference selection parameter – 11.03 or 11.06 – to COMM.REFx, FAST COMM, COM.REFx+AI1, COM.REFx+AI5, COM.REFx*AI1 or COM.REFx*AI5. (With Generic Drive communication profile, fieldbus reference is also selected when par. 10.08 is set to 1.) The latter four selections enable correction of the fieldbus reference using analogue inputs as shown below. (An optional RAIO-01 Analogue I/O Extension Module is required for use of Analogue input AI5).

COMM.REF1 (in 11.03) or COMM.REF2 (in 11.06) The fieldbus reference is forwarded as such without correction.

FAST COMM The fieldbus reference is forwarded as such without correction. The reference is read every 2 milliseconds if either of the following conditions is met:

• Control location is EXT1, par. 99.04 MOTOR CTRL MODE is DTC, and par. 40.14 TRIM MODE is OFF