Control through the embedded fieldbus interface 311

Control through the

embedded fieldbus interface
What this chapter contains
The chapter describes how the drive can be controlled by external devices over a
communication network (fieldbus) using an embedded fieldbus interface.
312 Control through the embedded fieldbus interface

System overview
The drive can be connected to an external control system through a serial
communication link using either a fieldbus adapter or an embedded fieldbus
interface.
The embedded fieldbus interface supports the Modbus RTU protocol. The drive
control program can receive and send cyclic data from and to the Modbus master on
10 ms time level. The actual communication speed depends on other factors as well,
such as the baud rate (a parameter setting in the drive).
The drive can be set to receive all of its control information through the fieldbus
interface, or the control can be distributed between the fieldbus interface and other
available sources, for example, digital and analogue inputs.

Fieldbus controller

Fieldbus

Data flow
Control Word (CW)
References
Process I/O (cyclic)
Status Word (SW)
Actual values
Parameter R/W Service messages (acyclic)
requests/responses

XD2D XD2D XD2D

Termination Termination ... Termination
ON OFF ON
JCU Drive 1 JCU Drive 2 JCU Drive n
 Control through the embedded fieldbus interface 313

Connecting the embedded fieldbus to the drive

Connect the embedded fieldbus interface to terminal XD2D on the JCU control unit of
the drive. See the appropriate Hardware Manual for more information on the
connection, chaining and termination of the link.
XD2D is the connection point for a drive-to-drive link, a daisy-chained RS-485
transmission line with one master and multiple slaves.
Note: If the XD2D connector is used for the embedded fieldbus interface (parameter
58.01 Protocol ena sel is set to Modbus RTU), the drive-to-drive link operation
(parameter group 57) is automatically disabled.
314 Control through the embedded fieldbus interface

Setting up the embedded fieldbus interface

Set the drive up for the embedded fieldbus communication with the parameters
shown in the table below. The Setting for fieldbus control column gives either the
value to use or the default value. The Function/Information column gives a
description of the parameter or instructs in its use.
Parameter Setting for Function/Information
fieldbus control

COMMUNICATION INITIALIZATION
50.15 Fb cw used P.02.36 Selects the address of the fieldbus Control
Word in use (02.36 EFB main cw).
58.01 Protocol ena Modbus RTU Initializes embedded fieldbus communication.
sel (default) Drive-to-drive link operation (parameter group
57) is automatically disabled.

EMBEDDED MODBUS CONFIGURATION

58.03 Node address 1 (default) Node address. There may not be two nodes
with the same node address online.
58.04 Baud rate 9600 (default) Defines the communication speed of the link.
Use the same setting as in the master station.
58.05 Parity 8 none 1 (default) Selects the parity and stop bit setting. Use the
same setting as in the master station.
58.06 Control profile ABB Enhanced Selects the communication profile used by the
(default) drive. See section Basics of the embedded
fieldbus interface on page 318.
58.07 Comm loss t 600 (default) Defines the timeout limit for the EFB
out communication monitoring.
58.08 Comm loss None (default) Enables/disables EFB communication loss
mode monitoring and defines the means for resetting
the counter of the communication loss delay.
58.09 Comm loss None (default) Defines the drive operation after the EFB
action communication loss monitoring awakes.
58.10 Refresh Done (default) Refreshes the settings of parameters
settings 58.01…58.09.
58.30 Transmit delay 0 (default) Defines the delay time which the slave waits
until it sends a response.
58.31 Ret app errors Yes (default) Selects whether the drive returns Modbus
exception codes or not.
58.32 Word order LSW MSW (default) Defines the order of the data words in the
Modbus frame.
 Control through the embedded fieldbus interface 315

Parameter Setting for Function/Information

fieldbus control
58.35 Data I/O 1 0 (default) Defines the address of the drive parameter
… … which the Modbus master accesses when it
58.58 reads from or writes to the register address
Data I/O 24
corresponding to Modbus In/Out parameters.
Select the parameters that you want to read or
write through the Modbus I/O words.

The new settings will take effect when the drive is powered up the next time, or when
parameter 58.10 Refresh settings is activated.
316 Control through the embedded fieldbus interface

Setting the drive control parameters

After the embedded fieldbus interface has been set up, check and adjust the drive
control parameters listed in the table below. The Setting for fieldbus control column
gives the value or values to use when the embedded fieldbus signal is the desired
source or destination for that particular drive control signal. The Function/
Information column gives a description of the parameter.
Parameter Setting for Function/Information
fieldbus control

CONTROL COMMAND SOURCE SELECTION

10.01 Ext1 start func FB Selects fieldbus as the source for the start
and stop commands when EXT1 is selected
as the active control location.
10.04 Ext2 start func FB Selects fieldbus as the source for the start
and stop commands when EXT2 is selected
as the active control location.
10.10 Fault reset sel P.02.36.08 Selects the fault reset bit of signal 02.36
EFB main cw as the source for the fault reset
command of the drive.
Note: To start and stop the drive through control location EXT1, set parameter 10.01 to FB and
keep parameter 12.01 to its default value (C.FALSE).

SPEED REFERENCE SELECTION

21.01 Speed ref1 sel EFB ref1 or Selects a reference received through the
EFB ref2 embedded fieldbus interface as the speed
reference ref1 of the drive.
21.02 Speed ref2 sel EFB ref1 or Selects a reference received through the
EFB ref2 embedded fieldbus interface as the speed
reference ref2 of the drive.
Note: To control the drive speed with fieldbus reference REF1, set parameter 21.01 to EFB
ref1, and keep parameters 12.03 and 21.04 to their default values (Speed and C.FALSE).

TORQUE REFERENCE SELECTION

24.01 Torq ref1 sel EFB ref1 or Selects one of the references received
EFB ref2 through the embedded fieldbus interface as
the torque reference ref1 of the drive.
24.02 Torq ref add sel EFB ref1 or Selects one of the references received
EFB ref2 through the embedded fieldbus interface as
the torque reference ref2 of the drive.
Note: To control the torque of the drive with fieldbus reference REF2, set parameter 24.01 to
EFB ref2, keep 12.01 to its default value (C.FALSE) and set 12.03 to Torque.

REFERENCE SCALING
50.04 Fb ref1 Raw data Defines the fieldbus reference REF1 scaling.
modesel Torque Selects also the fieldbus actual signal act1
Speed when set to Torque or Speed.
 Control through the embedded fieldbus interface 317

Parameter Setting for Function/Information

fieldbus control
50.05 Fb ref2 Raw data Defines the fieldbus reference REF2 scaling.
modesel Torque Selects also the fieldbus actual signal act2
Speed when set to Torque or Speed.

ACTUAL VALUE ACT1 AND ACT 2 SELECTION (if 50.04 or 50.05 has value Raw data).
50.06 Fb act1 tr src Any Selects the source for fieldbus actual value
act1 when parameter 50.04 Fb ref1 modesel
is set to Raw data.
50.07 Fb act2 tr src Any Selects the source for fieldbus actual value
act2 when parameter 50.05 Fb ref2 modesel
is set to Raw data.

SYSTEM CONTROL INPUTS

16.07 Param save Save (restores to Saves parameter value changes (including
Done) those made through fieldbus control) to
permanent memory.
318 Control through the embedded fieldbus interface

Basics of the embedded fieldbus interface

The cyclic communication between a fieldbus system and the drive consists of 16-bit
data words (with the ABB Drives profile or DCU 16-bit profile) or 32-bit data words
(with the DCU 32-bit profile).
The diagram below illustrates the operation of the embedded fieldbus interface. The
signals transferred in the cyclic communication are explained further below the
diagram.

Fieldbus network
1)

Cyclic communication EXT1/2

Start func

SEL
CW 2) 0 02.36 EFB main cw
REF1 1 02.38 EFB main ref1
2
REF2 3 02.39 EFB main ref2 10.01
58.06 10.04
SEL
SW 02.37 EFB main sw Speed/Torque
2) 0
1 REF1 sel
ACT1 2 Actual 1 3)
ACT2 3 Actual 2 3)
58.06

DATA I/O
selection 21.01 / 24.01 /
I/O 1 24.02
I/O 2
I/O 3 Par. 01.01…99.99 Speed/Torque
… REF2 sel

I/O 24
Group 58

21.02 / 24.01 /
24.02
Acyclic communication
Parameter
table

1) See also other parameters which can be controlled by the fieldbus.

2) Data conversion if parameter 58.06 Control profile is ABB Classic or ABB Enhanced. See section
About the EFB communication profiles on page 321.
3) See parameter 50.01 Fb ref1 modesel and 50.02 Fb ref2 modesel for the actual value selections.
 Control through the embedded fieldbus interface 319

Control Word and Status Word

The fieldbus Control Word (CW) is a 16-bit or 32-bit packed boolean word. It is the
principal means of controlling the drive from a fieldbus system. The CW is sent by the
fieldbus controller to the drive. The drive switches between its states according to the
bit-coded instructions of the CW. In the embedded fieldbus communication, the CW is
written to drive parameter 02.36 EFB main cw from where you can use it in the
control of the drive. The fieldbus CW is either written to the drive CW as it is, or the
data is converted. See section About the EFB communication profiles on page 321.
The fieldbus Status Word (SW) is a 16-bit or 32- bit packed boolean word. It contains
status information from the drive to the fieldbus controller. In the embedded fieldbus
communication, the SW is read from drive parameter 02.37 EFB main sw. The drive
SW is either written to the fieldbus SW as it is or the data is converted. See section
About the EFB communication profiles on page 321.

References
Fieldbus references (REF1 and REF2) are 16-bit or 32-bit signed integers. The
contents of each reference word can be used as the speed, frequency, torque or
process reference. In the embedded fieldbus communication, the REF1 and REF2
are written to 02.38 EFB main ref1 and 02.39 EFB main ref2 from where you can use
them in the control of the drive. The references are either written to the drive
references as they are, or the values are scaled. See section About the EFB
communication profiles on page 321.

Actual values
Fieldbus actual signals (ACT1 and ACT2) are 16-bit or 32-bit signed integers. They
convey selected drive parameter values from the drive to the master. The drive
values are either written to the fieldbus actual values as they are, or the values are
scaled. See section About the EFB communication profiles on page 321.

Data inputs/outputs
Data input/output (I/O) are 16-bit or 32-bit words containing selected drive parameter
values. Parameters 58.35 Data I/O 1 … 58.58 Data I/O 24 define the addresses from
which the master either reads data (input) or to which it writes data (output).

Register addressing
The address field of Modbus requests for accessing holding registers is 16 bits. This
allows the Modbus protocol to support addressing of 65536 holding registers.
Historically, Modbus master devices used 5-digit decimal addresses from 40001 to
49999 to represent holding register addresses. The 5-digit decimal addressing limited
to 9999 the number of holding registers that could be addressed.
320 Control through the embedded fieldbus interface

Modern Modbus master devices typically provide a means to access the full range of
65536 Modbus holding registers. One of these methods is to use 6-digit decimal
addresses from 400001 to 465536. This manual uses 6-digit decimal addressing to
represent Modbus holding register addresses.
Modbus master devices that are limited to the 5-digit decimal addressing, may still
access registers 400001 to 409999 by using 5-digit decimal addresses 40001 to
49999. Registers 410000-465536 are inaccessible to these masters.
Note: Register addresses of the 32-bit parameters cannot be accessed by using 5-
digit register numbers.
 Control through the embedded fieldbus interface 321

About the EFB communication profiles

A communication profile defines the rules for data transfer between the drive and the
fieldbus master, for example:
• if packed boolean words are converted and how
• if signal values are scaled and how
• how drive register addresses are mapped for the fieldbus master.
You can configure the drive to receive and send messages according to one of the
four profiles: the ABB Drives classic profile, ABB Drives enhanced profile, DCU 16-bit
profile or DCU 32-bit profile. For either one of the ABB Drives profile, the embedded
fieldbus interface of the drive converts the fieldbus data to and from the native data
used in the drive. Both DCU profiles are transparent, that is, no data conversion is
done. The figure below illustrates the effect of the profile selection.

Profile selection

SEL
Data
conv. & 0
Fieldbus scaling 1 Drive
2
3
58.06

Communication profile selection with parameter 58.06 Control profile is:

• ABB Classic
• ABB Enhanced
• DCU 16-bit
• DCU 32-bit
322 Control through the embedded fieldbus interface

ABB Drives classic profile and ABB Drives enhanced

profile
Control Word for the ABB Drives profiles
The table below shows the contents of the fieldbus Control Word for both ABB Drives
profiles. The embedded fieldbus interface converts this word to the form in which it is
used in the drive (02.36 EFB main cw). The upper case boldface text refers to the
states shown in State transition diagram for the ABB Drives profiles on page 326.
Bit Name Value STATE/Description
0 OFF1_ 1 Proceed to READY TO OPERATE.
CONTROL 0 Stop along currently active deceleration ramp. Proceed to
OFF1 ACTIVE; proceed to READY TO SWITCH ON
unless other interlocks (OFF2, OFF3) are active.
1 OFF2_ 1 Continue operation (OFF2 inactive).
CONTROL 0 Emergency OFF, coast to stop.
Proceed to OFF2 ACTIVE, proceed to SWITCH-ON
INHIBITED.
2 OFF3_ 1 Continue operation (OFF3 inactive).
CONTROL 0 Emergency stop, stop within time defined by drive
parameter. Proceed to OFF3 ACTIVE; proceed to
SWITCH-ON INHIBITED.
Warning: Ensure that the motor and driven machine can
be stopped using this stop mode.
3 INHIBIT_ 1 Proceed to OPERATION ENABLED.
OPERATION Note: Run enable signal must be active; see the drive
documentation. If the drive is set to receive the Run
enable signal from the fieldbus, this bit activates the
signal.
0 Inhibit operation. Proceed to OPERATION INHIBITED.
4 RAMP_OUT_ 1 Normal operation. Proceed to RAMP FUNCTION
ZERO GENERATOR: OUTPUT ENABLED.
0 Force Ramp Function Generator output to zero. Drive
ramps to stop (current and DC voltage limits in force).
5 RAMP_HOLD 1 Enable ramp function.
Proceed to RAMP FUNCTION GENERATOR:
ACCELERATOR ENABLED.
0 Halt ramping (Ramp Function Generator output held).
6 RAMP_IN_ 1 Normal operation. Proceed to OPERATING.
ZERO 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.
 Control through the embedded fieldbus interface 323

Bit Name Value STATE/Description

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.
10 REMOTE_ 1 Fieldbus control enabled.
CMD 0 Control Word <> 0 or Reference <> 0: Retain last Control
Word and Reference.
Control Word = 0 and Reference = 0: Fieldbus control
enabled. Reference and deceleration/acceleration ramp
are locked.
11 EXT_CTRL_ 1 Select External Control Location EXT2. Effective if the
LOC control location is parameterized to be selected from the
fieldbus.
0 Select External Control Location EXT1. Effective if the
control location is parameterized to be selected from the
fieldbus.
12 Reserved
…15
324 Control through the embedded fieldbus interface

Status Word for the ABB Drives profiles

The table below shows the fieldbus Status Word for both ABB Drives profiles. The
embedded fieldbus interface converts the drive Status Word (02.37 EFB main sw) to
this form for the transfer in the fieldbus. The upper case boldface text refers to the
states shown in State transition diagram for the ABB Drives profiles on page 326.
Bit Name Value STATE/Description
0 RDY_ON 1 READY TO SWITCH ON.
0 NOT READY TO SWITCH ON.
1 RDY_RUN 1 READY TO OPERATE.
0 OFF1 ACTIVE.
2 RDY_REF 1 OPERATION ENABLED.
0 OPERATION INHIBITED.
3 TRIPPED 1 FAULT.
0 No fault.
4 OFF_2_STA 1 OFF2 inactive.
0 OFF2 ACTIVE.
5 OFF_3_STA 1 OFF3 inactive.
0 OFF3 ACTIVE.
6 SWC_ON_ 1 SWITCH-ON INHIBITED.
INHIB 0 –
7 ALARM 1 Warning/Alarm.
0 No warning/alarm.
8 AT_ 1 OPERATING. Actual value equals Reference = is
SETPOINT within tolerance limits, i.e. in speed control, speed
error is 10% max. of nominal motor speed.
0 Actual value differs from Reference = is outside
tolerance limits.
9 REMOTE 1 Drive control location: REMOTE (EXT1 or EXT2).
0 Drive control location: LOCAL.
10 ABOVE_ 1 Actual frequency or speed equals or exceeds
LIMIT supervision limit (set by drive parameter). Valid in both
directions of rotation.
0 Actual frequency or speed within supervision limit.
11 EXT_CTRL_ 1 External Control Location EXT2 selected.
LOC 0 External Control Location EXT1 selected.
12 EXT_RUN_ 1 External Run Enable signal received.
ENABLE 0 No External Run Enable signal received.
13 … Reserved
14
 Control through the embedded fieldbus interface 325

Bit Name Value STATE/Description

15 1 Communication error detected by fieldbus adapter
module.
0 Fieldbus adapter communication OK.
326 Control through the embedded fieldbus interface

State transition diagram for the ABB Drives profiles

The diagram below shows the state transitions in the drive when the drive has either
one of the ABB Drives profiles in use and the drive is configured to follow the
commands of the fieldbus Control Word. The upper case texts refer to the states
which are used in the tables representing the fieldbus Control and Status words. See
sections Control Word for the ABB Drives profiles on page 322 and Status Word for
the ABB Drives profiles on page 324.

SWITCH-ON ABB Drives

MAINS OFF INHIBITED (SW Bit6=1)
communication profile
Power ON (CW Bit0=0)

NOT READY TO
SWITCH ON (SW Bit0=0) CW= Control Word
A B C D
SW= Status Word
n= Speed
I= Input Current
(CW=xxxx x1xx xxxx x110)
RFG= Ramp Function
(CW Bit3=0)
Generator
READY TO f= Frequency
OPERATION SWITCH ON (SW Bit0=1)
INHIBITED (SW Bit2=0)
from any state
operation (CW=xxxx x1xx xxxx x111)
inhibited Fault
READY TO
FAULT
from any state OPERATE (SW Bit1=1) (SW Bit3=1)

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

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

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

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

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

RFG: ACCELERATOR
state
ENABLED
C
(CW=xxxx x1xx x111 1111) condition
rising edge
OPERATION
(SW Bit8=1) of the bit
D
 Control through the embedded fieldbus interface 327

References for the ABB Drives profiles

The ABB Drives profiles support the use of two fieldbus references, REF1 and REF2.
The references are 16-bit words each containing a sign bit and a 15-bit integer. A
negative reference is formed by calculating the two’s complement from the
corresponding positive reference.
The fieldbus references are scaled before they are written into signals 02.38 EFB
main ref1 or 02.39 EFB main ref2 for the use in the drive. Parameters 50.04 Fb ref1
modesel and 50.05 Fb ref2 modesel define the scaling and possible use of the
fieldbus reference REF1 and REF2 as follows:
• If you select value Speed, the fieldbus reference can be used as a speed
reference and it is scaled as follows:
Fieldbus reference REF1 or REF2 Corresponding speed reference
[integer] in the drive [rpm]
20 000 value of parameter 19.01 Speed scaling
0 0
-20 000 -(value of parameter 19.01 Speed scaling)

• If you select value Torque, the fieldbus reference can be used as a torque
reference and it is scaled as follows:
Fieldbus reference REF1 or REF2 Corresponding torque reference
[integer] in the drive [%]
10 000 100% of motor nominal torque
0 0
-10 000 -(100% of motor nominal torque)

• If you select value Raw data, the fieldbus reference REF1 or REF2 is the drive
reference without scaling.
Fieldbus reference REF1 or REF2 Corresponding reference
[integer] in the drive [rpm or %] 1)
32 767 32 767
0 0
-32 768 -32 768

1)
Unit depends on the use of the reference in the drive. Rpm for speed reference and % for torque.
328 Control through the embedded fieldbus interface

Actual values for the ABB Drives profiles

Both the ABB Drives classic profile and ABB Drives enhanced profile support the use
of two fieldbus actual values, ACT1 and ACT2. The actual values are 16-bit words
each containing a sign bit and a 15-bit integer. A negative value is formed by
calculating the two’s complement from the corresponding positive value.
The drive signals are scaled before they are written into fieldbus actual values, ACT1
and ACT2. Parameters 50.04 Fb ref1 modesel and 50.05 Fb ref2 modesel both select
the drive actual signals and define the scaling as follows:
• If you select value Speed, drive actual signal 01.01 Motor speed rpm is scaled
and written to the fieldbus actual value. The table below shows the scaling:
Value of 01.01 Motor speed rpm [rpm] Corresponding fieldbus actual value
ACT1 or ACT2 [integer]
value of parameter 19.01 Speed scaling 20 000
0 0
-(value of parameter 19.01 Speed scaling) -20 000

• If you select value Torque, drive actual signal 01.06 Motor torque is scaled and
written to the fieldbus actual value. The table below shows the scaling:
Value of 01.06 Motor torque [%] Corresponding fieldbus actual value
ACT1 or ACT2 [integer]
100% of motor nominal torque 10 000
0 0
-(100% of motor nominal torque) -10 000

• If you select value Raw data, the fieldbus actual value ACT1 or ACT2 is the drive
actual value without scaling.
Drive value Corresponding fieldbus actual value
ACT1 or ACT2 [integer]
32 767 32 767
0 0
-32 768 -32 768
 Control through the embedded fieldbus interface 329

Modbus register addresses for the ABB Drives classic profile

The table below shows the Modbus register addresses for the drive data with the
ABB Drives classic profile. This profile provides a converted 16-bit access to the drive
data.
Note: Only the least significant 16-bits of the drive 32-bit Control and Status words
can be accessed.
Register Address Register Data (16-bit)
400001 Fieldbus Control Word (CW). See section Control Word for the ABB
Drives profiles on page 322.
400002 Fieldbus reference 1 (REF1)
400003 Fieldbus reference 2 (REF2
400004 Fieldbus Status Word (SW). See section Status Word for the ABB
Drives profiles on page 324.
400005 Fieldbus actual value 1 (ACT1)
400006 Fieldbus actual value 2 (ACT2)
400007 Fieldbus data in/out 1 (Drive parameter 58.35 Data I/O 1)
… …
400030 Fieldbus data in/out 24 (Drive Parameter 58.58 Data I/O 24)
400101…409999 Register address (16-bit drive parameter) = 400000 + 100 × group +
index
Example: Modbus register address to drive parameter 03.18 is
400000 + 100 × 3 + 18 = 400318
Drive parameter access (32-bit drive parameter) = 420000 + 200 ×
group + 2 × index
Example: Modbus register address to drive parameter 01.27
420000 + 200 × 1 + 2 × 27 = 420254
330 Control through the embedded fieldbus interface

Modbus register addresses for the ABB Drives enhanced profile

Register address Register data (16-bit words)
400001 Fieldbus Control Word (CW). See section Control Word for the ABB
Drives profiles on page 322.
400002 Fieldbus reference 1 (REF1).
400003 Fieldbus reference 2 (REF2
400004 Fieldbus data in/out 1 (Drive parameter 58.35 Data I/O 1)
… …
400015 Fieldbus data in/out 12 (Drive parameter 58.46 Data I/O 12)
400051 Fieldbus Status Word (SW). See section Status Word for the ABB Drives
profiles on page 324.
400052 Fieldbus actual value 1 (ACT1)
400053 Fieldbus actual value 2 (ACT2)
40054 Fieldbus data in/out 13 (Drive parameter 58.47 Data I/O 12)
… …
40065 Fieldbus data in/out 24 (Drive parameter 58.58 Data I/O 24)
400101…409999 Register address (16-bit drive parameter) = 400000 + 100 × group +
index
Example: Modbus register address to drive parameter 03.18 is
400000 + 100 × 3 + 18 = 400318
Drive parameter access (32-bit drive parameter) = 420000 + 200 × group
+ 2 × index
Example: Modbus register address to drive parameter 01.27
420000 + 200 × 1 + 2 × 27 = 420254
 Control through the embedded fieldbus interface 331

DCU 16-bit profile

Control and Status words for the DCU 16-bit profile
When the DCU 16-bit profile is in use, the embedded fieldbus interface writes the
fieldbus Control Word as is to the drive Control Word bits 0 to15 (parameter 02.36
EFB main cw). Bits 16 to 32 of the drive Control Word are not in use.

Status Word for the DCU 16-bit profile

When the DCU 16-bit profile is in use, the embedded fieldbus interface writes the
drive Status Word bits 0 to 15 (parameter 02.37 EFB main sw) to the fieldbus Status
Word as is. Bits 16 to 32 of the drive Status Word are not in use.

State transition diagram for the DCU 16-bit profile

See section State diagram on page 347 in chapter Control through a fieldbus adapter.

References for the DCU 16-bit profile

See section References for the ABB Drives profiles on page 327.

Actual signals for the DCU 16-bit profile

See section Actual values for the ABB Drives profiles on page 328.
332 Control through the embedded fieldbus interface

Modbus register addresses for the DCU 16-bit profile

The table below shows the Modbus register addresses and data with the DCU16-bit
communication profile.
Note: Only the least significant 16-bits of the drive 32-bit control and status words
can be accessed.
Register address Register data (16-bit)
400001 Control Word (LSW of 02.36 EFB main cw)
400002 Reference 1 (02.38 EFB main ref1)
400003 Reference 2 (02.39 EFB main ref2)
400004 Data in/out 1 (Drive parameter 58.35 Data I/O 1)
… …
400015 Data in/out 12 (Drive parameter 58.46 Data I/O 12)
400051 Status Word (LSW of 02.37 EFB main sw)
400052 Actual value 1 (selected by parameter 50.01 Fb ref1 modesel)
400053 Actual value 2 (selected by parameter 50.02 Fb ref2 modesel)
400054 Data in/out 13 (drive parameter 58.47 Data I/O 13)
… …
400065 Data in/out 24 (drive parameter 58.58 Data I/O 24)
400101…409999 Register address (16-bit drive parameter) = 400000 + 100 × group +
index
Example: Modbus register address to drive parameter 03.18 is
400000 + 100 × 3 + 18 = 400318
Drive parameter access (32-bit drive parameter) = 420000 + 200 × group
+ 2 × index
Example: Modbus register address to drive parameter 01.27
420000 + 200 × 1 + 2 × 27 = 420254
 Control through the embedded fieldbus interface 333

DCU 32-bit profile

Control and Status words for the DCU 32-bit profile
When the DCU 32-bit profile is in use, the embedded fieldbus interface writes the
fieldbus Control Word as is to the drive Control Word (parameter 02.36
EFB main cw).

Status word for the DCU 32-bit profile

When the DCU 32-bit profile is in use, the embedded fieldbus interface writes the
drive Status Word (parameter 02.37 EFB main sw) as is to the fieldbus Status Word.

State transition diagram for the DCU 32-bit profile

See section State diagram on page 347 in chapter Control through a fieldbus adapter.
334 Control through the embedded fieldbus interface

References for the DCU 32-bit profile

The DCU 32-bit profile supports the use of two fieldbus references, REF1 and REF2.
The references are 32-bit values consisting of two 16-bit words. The MSW (Most
significant word) is the integer part and the LSW (Least significant word) the fractional
part of the value. A negative reference is formed by calculating the two’s complement
from the corresponding positive value of the integer part (MSW).
The fieldbus references are written as is into the drive reference values (02.38 EFB
main ref1 or 02.39 EFB main ref2). Parameters 50.04 Fb ref1 modesel and 50.05 Fb
ref2 modesel define the reference types (speed or torque) as follows:
• If you select value Raw data, the fieldbus reference type or possible use is not
selected. The value is freely usable as a speed or torque reference in the drive.
• If you select value Speed, the fieldbus reference can be used as a speed
reference in the drive.
• If you select value Torque, the fieldbus reference can be used as a torque
reference in the drive.
The table below clarifies the relation between the fieldbus reference and drive
reference (no scaling).
Fieldbus reference REF1 or REF2 Corresponding reference
[integer and fractional part] in the drive [rpm or %] 1)
32767.65535 32767.65535
0 0
-32768.65535 -32768.65535

1)
If the reference value is used as the speed reference, it will be the motor speed in rpm. If the reference
value is used as the torque reference, it will be the motor torque in percent of the motor nominal torque.
 Control through the embedded fieldbus interface 335

Actual signals for the DCU 32-bit profile

The DCU 32-bit profile supports the use of two fieldbus actual values, ACT1 and
ACT2. The actual values are 32-bit values consisting of two 16-bit words. The MSW
(Most significant word) is the integer part and the LSW (Least significant word) the
fractional part of the 32-bit value. A negative reference is formed by calculating the
two’s complement from the corresponding positive value of the integer part (MSW).
Parameters 50.04 Fb ref1 modesel and 50.05 Fb ref2 modesel select the drive actual
signals for the fieldbus actual values ACT1 and ACT2 respectively as follows:
• If you select value Raw data, drive parameters 50.06 Fb act1 tr src and 50.07 Fb
act2 tr src select the drive parameters for the fieldbus actual value ACT1 and
ACT2 respectively.
• If you select value Speed, drive parameter 01.01 Motor speed rpm will be written
to fieldbus actual value.
• If you select value Torque, drive parameter 01.06 Motor torque will be written to
the fieldbus actual value.
The table below clarifies the relation between the value of drive parameter and
fieldbus actual value (no scaling).
Value of the selected drive signal Corresponding fieldbus actual value
ACT1 or ACT2 [integer and fractional
part]
32767.65535 32767.65535
0 0
-32768.65535 -32768.65535
336 Control through the embedded fieldbus interface

Modbus register addresses for the DCU 32-bit profile

The table below shows the Modbus register addresses and data with the DCU 32-bit
profile. This profile provides native 32-bit access to the drive data.
Register address Register data (16-bit)
400001 Control Word (02.36 EFB main cw) – Least significant 16-bits
400002 Control Word (02.36 EFB main cw) – Most significant 16-bits
400003 Reference 1 (02.38 EFB main ref1) – Least significant 16-bits
400004 Reference 1 (02.38 EFB main ref1) – Most significant 16-bits
400005 Reference 2 (02.39 EFB main ref2) – Least significant 16-bits
400006 Reference 2 (02.39 EFB main ref2) – Most significant 16-bits
400007 Data in/out 1 (Drive parameter 58.35 Data I/O 1)
... ...
400018 Data in/out 12 (Drive parameter 58.46 Data I/O 12)
400051 Status Word (LSW of 02.37 EFB main sw) – Least significant 16-bits
400052 Status Word (MSW of 02.37 EFB main sw) – Most significant 16-bits
400053 Actual value 1 (selected by parameter 50.01 Fb ref1 modesel) – Least
significant 16-bits
400054 Actual value 1 (selected by parameter 50.01 Fb ref1 modesel) – Most
significant 16-bits
400055 Actual value 2 (selected by parameter 50.02 Fb ref2 modesel) – Least
significant 16-bits
400056 Actual value 2 (selected by parameter 50.02 Fb ref2 modesel) – Most
significant 16-bits
400057 Data in/out 13 (Drive parameter 58.47 Data I/O 13)
… …
400068 Data in/out 24 (Drive parameter 58.58 Data I/O 24)
400101…409999 Register address (16-bit drive parameter) = 400000 + 100 × group +
index
Example: Modbus register address to drive parameter 03.18 is
400000 + 100 × 3 + 18 = 400318
Drive parameter access (32-bit drive parameter) = 420000 + 200 ×
group + 2 × index
Example: Modbus register address to drive parameter 01.27
420000 + 200 × 1 + 2 × 27 = 420254
 Control through the embedded fieldbus interface 337

Modbus function codes

Table below shows the Modbus function codes supported by the embedded fieldbus
interface.
Code Function name Description
0x03 Read Holding Registers Reads the contents of a contiguous block of holding
registers in a server device.
0x06 Write Single Register Writes a single holding register in a server device.
0x08 Diagnostics Provides a series of tests for checking the
communication between the master and the slave
devices, or for checking various internal error
conditions within the slave. The following subcodes
are supported:
• 00 Return Query Data:
The data passed in the request data field is to be
returned in the response. The entire response
message should be identical to the request.
• 01 Restart Communications Option:
The serial line port of the slave device must be
initialized and restarted, and all of its communication
event counters cleared. If the port is in the Listen Only
mode, no response is returned. If the port is not in the
Listen Only mode, a normal response is returned
before the restart.
• 04 Force Listen Only Mode:
Forces the addressed slave device to the Listen Only
mode. This isolates it from the other devices on the
network, allowing them to continue communicating
without interruption from the addressed remote
device. No response is returned. The only function
that will be processed after this mode is entered is the
Restart Communications Option function (subcode
01).
0x10 Write Multiple Registers Writes the contents of a contiguous block of holding
registers in a server device.
0x17 Read/Write Multiple Writes the contents of a contiguous block of holding
Registers registers in a server device, then reads the contents
of a contiguous block of holding registers (same or
different than those written) in a server device.
0x2B/0x0E Encapsulated Interface Allows reading of identification and other information
Transport / Read Device of the server.
Identification Parameter "Read Device ID code" supports one
access type:
01: Request to get the basic device identification.
Returns ABB,ACS850.
338 Control through the embedded fieldbus interface

Modbus exception codes

Table below shows the Modbus exception codes supported by the embedded
fieldbus interface.
Code Name Description
0x01 ILLEGAL FUNCTION The function code received in the query is not an
allowable action for the server.
0x02 ILLEGAL DATA The data address received in the query is not an
ADDRESS allowable address for the server.
0x03 ILLEGAL DATA VALUE A value contained in the query in not an allowable
value for the server.
0x04 SLAVE DEVICE An unrecoverable error occurred while the server was
FAILURE attempting to perform the requested action.
0x06 SLAVE DEVICE BUSY The server is engaged in processing a long-duration
program command.