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ABB DCS800
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© ABB DC drivesSlide 1
DCS800Firmware Structure Diagram
Wiwiet Yuniarto
© ABB GroupMarch 17, 2014 | Slide 2
Drive controlCurrent and speed controller
Torque-reference
Current (actual)
Torque-selector
Armature currentcontroller
Speedreference
TG
M
X
EMF voltagecontroller
Mux
Voltage referenceRated motor voltage
AC - Line
Rampgenerator
SpeedController Flux
Field currentController
11.12
11.06
ACW B6
Pulse encoder 1
Analog tacho
EMF
M1BaseSpeedM1NomVolt
Ref1Sel0
=op
en
SpeedRefExt1
2.17
Spee
dRef
Used
2.18
23.15
ACW1 B4
M1EncMeasMode
M1EncPulseNo
M1TachAdjust
M1TachoVolt1000
SpeedActEnc
DirectSpeedRef
SpeedRef3 SpeedRef4
DroopRate 24.02
TorqAccCompRef
Accelerationcompensation
AccCompDerTime
AccCompFiltTime
24.1424.15
SpeedCorr23.04
2.02
TorqRef1
TorqMinAll
HoldSpeedCtrl
SpeedStep
ACW B8
D23.10
TorqRef2
BalSpeedCtrl
BalRef
PI
24.11
PID -controller
TorqDerRef
TorqPropRef
Limiter
TorqMaxSPC
TorqMinSPC
TorqIntegRef
2.08
2.20
KpSValMinSpeedTiSValMinSpeed
DerivTime
DerivFiltTime
TorqRef2 (2.09)
24.17
24.1024.09
24.0624.0524.0424.03 KpS
KpSMinKpSWeakp
KpSValMinSpeed (24.19)
KpSTiSMinSpeed (24.17)
KpSWeakpFiltTime
TiSTiSInitValue
KpSTiSMinSpeed
24.1324.1224.2024.1924.18
p-part, i-part
TiSValMinSpeed (24.20)
speed
KpSTiSMaxSpeed (24.18)
KpSTiSMaxSpeed
p-partKpS (24.03)
KpSMin (24.04)
KpSWeakp
KpSValMinSpeedTiSValMinSpeed
DerivTime
DerivFiltTime
TorqRef2 (2.09)
KpS
KpSMinKpSWeakp
KpSWeakpFiltTime
TiSTiSInitValue
KpSTiSMinSpeedKpS (24.03)TiS (24.09)
p-part, i-part
speed
KpSTiSMaxSpeed
p-part
KpSWeakp (24.05)
+
-
20.0220.01
SpeedRef2301AuxSpeedRefAI1…AI6FixedSpeed1FixedSpeed2MotPotAuxRef-AI1reservedMinAI2AI4MaxAI2AI4
Ref1Mux
OpenCloseDI1…DI8MCW Bit11…Bit15ACW Bit12…Bit15
2.30
Ref2Sel
0 = openSpeedRefExt2
SpeedRef2301AuxSpeedRefAI1…AI6FixedSpeed1FixedSpeed2MotPotAI2-AI3AI2+AI3AI2*AI3MinAI2AI4MaxAI2AI4
Ref2Mux
Invert1102OpenCloseDI1, …, DI8MCW Bit11…Bit15ACW Bit12…Bit 15
2.16
00 00
2.01
Hold
Ramp
RampTimeScale
Jog
Ramp
JogDecTime
JogAccTime22.12
22.13
23.02
23.03
2.32
FixedSpeed1
FixedSpeed2
SpeedRef2
E StopRamp
ShapeTime
VarSlopeRate
BalRampOut
RampBypass
BalRampRef
dv_dt
Acc/Dec/ShapeSpeed
RampOut
SpeedActEMF
SpeedActTach
internal scaling:SpeedScaleAct (2.29) == 20000
MotSpeed
1 second
Filter
MotSpeedFilt
WinderScale
ProcSpeed
SpeedErrFilt
WinIntegOnWinWidthPosWinWidthNeg
WinCtrlMode
Window control
2.03SpeedErrNeg
23.06
-1
-
23.12
23.0723.0823.09
Speed measurement
External
M1SpeedFbSel
+
20.0120.02
50.06
Filter
SpeedFiltTime
Acceleration
Deceleration
TorqMaxAll2.19
-
Torque selector = Add-
Speed reference selectionSpeed reference selection Speed ramp
Speed actual selection
Speed controllerSpeed controller
SPEED REFERENCE CHAIN SPEED CONTROL
DCS800_Fw_structure_diagram_rev_e.dsf
2.31
Local
ACWB2
UMCW B4
UMCW B6
UMCW B5
22.0322.04
22.05
22.07
22.08
22.0122.09
ACWB3
23.0123.1323.0223.03
23.0123.1323.0223.03
Limiter
M1SpeedMax
M1SpeedMin
Limiter
M1SpeedMinM1SpeedMax
+
2.07
2.05
2.04
2.0620.07
20.08
2.09
50.04
50.02
99.0299.04
50.12
50.13
1.031.02
1.05
50.03
1.04
50.17
1.01
1.41
Filter
AI1Direct+AI2Direct+
+
11.03
11.02
10.02Direction
-1
Jog2 (10.18)Jog1 (10.17)
ACW2 B10
UMCW B8, B9
24.13
2.19
24.13
Signal
Parameter
Parameter is usually written to by Adaptive Program,application program or overriding control
Attention:The firmware structure diagrams show thestandard firmware
Legend
Pulse encoder 2
Enc2MeasMode
Enc2PulseNo50.19
50.18
SpeedActEnc21.42
Enc2Direct+
Encoder2
³Panel
³DWDWL
³
EMF VoltActRel1.17
UMCW B4UMCW B6 ³
0
Min
MaxAccTime1
AccTime2
22.0222.10
DecTime1
DecTime2
22.11Ramp2Select
SpeedFbMonLev30.14EMF FbMonLev30.15SpeedFbFltSel30.17
ArmVoltAct1.14
F522 SpeedFb
M1OvrSpeed30.16
F532 MotOverSpeed
M1ZeroSpeedLim20.03M1ZeroSpeedDly42.04M1BrakeStopDly42.13
Drive logic
DynBrakeDly50.11
SpeedErrFilt223.11
MCW B10 7.04
20.19
20.13M1CurLimBrdg2
Min
TorqUsedMaxSel
TorqMax20.05AI1, …, AI6
TorqUsedMax
TorqUsedMin
Lim 6
6
TorqLimAct
TorqRefA2501AI1…AI6
TorqRefA Sel
+
+
0
0123 4 5
Torque selector
Min 3
Max 4
TorqRefExt2.24
TorqGenMax
TorqRampUp
TorqRampDown
Torque ramp
Limiter
TorqMaxTref
TorqMinTref
LoadComp
Torque limiter
TorqMaxAll
TorqMinAll
Gear backlashcompensation
TorqMaxAll
TorqMinAll
26.01TorqSel
25.01
TorqRef4
25.02
Filter
TorqRefA FTC
25.03
LoadShare
TorqRefB
Add 5
Speed 1
Torque 2 TorqRef3 GearStartTorq
GearTorqTime
GearTorqRamp
TorqUsedMinSel
TorqMin20.06AI1, …, AI6Negate 2.23 =
2.22 * (-1)
M1CurLimBrdg1
FluxRefFldWeak
Max
TorqRef2
TorqRef1
NotUsedDI1, …, DI11MCW Bit 11, …, MCW Bit15ACW Bit 12, …, ACW Bit 15
TorqMuxTorqSel2601 (0…6)Speed/Torq (1 or 2)Speed/Min (1 or 3)Speed/Max (1 or 4)Speed/Limit (1 or 6)
TorqMuxMode
+
+
TorqCorr
TorqRefUsed
NotUsedAI1, …, AI6
TorqCorrect
+
Torque reference and torque selection Torque limitation
TORQUE CONTROL CHAIN
25.04
25.05
25.06
20.09
20.10
2.19
2.20
2.09
2.082.10
26.02
20.05
20.12
3.24
2.11
26.08
26.09
26.10
2.22
20.22
2.19
2.20
2.26
2.14
2.13
20.06
2.23
Panel
OnOff1
CommandSel 10.01Hand/Auto
Off2
E Stop
StartStop
&
UsedMCW (UMCW)
Bit0 On (Off1N)
Bit1 Off2N (Coast Stop)
Bit2 Off3N (E -Stop)
Bit3 Run
Bit4 RampOutZero
Bit5 RampHold
Bit6 RampInZero
Bit7 Reset
Bit8 Inching1
Bit9 Inching2
Bit10 RemoteCmd
Bit11…Bit15 reserved
MainCtrlWord (MCW)
Bit0 On (Off1N)
Bit1 Off2N (Coast Stop)
Bit2 Off3N (E -Stop)
Bit3 Run
Bit4 RampOutZero
Bit5 RampHold
Bit6 RampInZero
Bit7 Reset
Bit8 Inching1
Bit9 Inching2
Bit10 RemoteCmd
Bit11…Bit15 aux. control
ABB Drive profile control
10.15
10.08
10.09
10.16
Local
Local
Local
Local
10.08
10.09
Off2
E Stop
10.07
AuxCtrlWord2 (ACW2)AuxCtrlWord (ACW1)
Bit0 RestartDataLogBit1 TrigDataLogBit2 RampBypassBit3 BalRampOutBit4 LimSpeedRef4Bit5 reservedBit6 HoldSpeedCtrlBit7 WindowCtrlBit8 BalSpeedCtrlBit9 SyncCommandBit10 SyncDisableBit11 ResetSyncRdyBit12 aux. controlBit13 aux. controlBit14 aux. controlBit15 aux. control
Bit0 reservedBit1 reservedBit2 reservedBit3 reservedBit4 DisableBridge1Bit5 DisableBridge2Bit6 reservedBit7 reservedBit8 DriveDirectionBit9 reservedBit10 DirectSpeedRefBit11 reservedBit12 ForceBrakeBit13 reservedBit14 reservedBit15 ResetPIDCtrl
Drive Logic
FaultsAlarmsMotSpeedOff1ModeStopModeE StopModeFlyStartFanDlyMainContCtrlModeFldHeatSel
CurCtrlStat1
Bit0 FansOn Cmd.Bit1 reservedBit2 reservedBit3 motor heatingBit4 field directionBit5 FieldOn Cmd.Bit6 dynamic brakingBit7 MainContactorOn CmdBit8 DynamicBrakingOn CmdBit9 drive generatingBit10 reservedBit11 firing pulsesBit12 continuous currentBit13 zero currentBit14 DC-breaker trip cmdBit15 DC-breaker trip cmd
MainStatWord (MSW)
Bit0 RdyOnBit1 RdyRunBit2 RdyRefBit3 TrippedBit4 Off2NStatusBit5 Off3NStatusBit6 OnInhibitedBit7 AlarmBit8 AtSetpointBit9 RemoteBit10 AboveLimitBit11 reservedBit12 reservedBit13 reservedBit14 reservedBit15 reserved
AuxStatWord (ASW)
Bit0 DataLogReadyBit1 OutOfWindowBit2 E-StopCoastBit3 User1Bit4 User2Bit5 SyncRdyBit6 Fex1ActBit7 Fex2AckBit8 BrakeCmdBit9 LimitingBit10 TorqCtrlBit11 ZeroSpeedBit12 EMFSpeedBit13 FaultOrAlarmBit14 DriveDirectionNegBit15 AutoReclosing
1.0421.0121.0321.0421.1021.1421.1621.18
97.01TypeCode=2-Q
0%
25.10
26.05 26.04
TorqRef22.09
20.18
26.15
-1
7.02 7.03 7.01
&
Reset 10.03 Local³ ³
6.03 8.01 8.02
Local
DCS800_Fw_structure_diagram_rev_e.dsf
³³DW
DWL
Panel³DW
DWL
21.0221.0321.0430.2730.2830.3042.1049.40
³
Off1ModeStopMode
E StopModeLocalLossCtrlComLossCtrl
FaultStopModeM1TorqProvTimeM2TorqProvTime
26.03&
TorqSelMod
1
1
1
0
0
1
70.0570.15
Ch0 ComLossCtrlCh2 ComLossCtrl
ParChange
M1FldHeatRef
FldHeatSel
M1FldRefMode
Fieldcurrentmeasurement
Mot1FldCurRel
Mot1FldCur
1.29
1.30
Motor 1 fieldcurrent controller
M1KpFex
M1TiFex
M1FldRefExt
FldCurRefM1
internal scaling:Ifnom
== 10000
M1PosLimCtrl
Field current control Motor 1 Fieldcurrent measure-ment and motordata
44.0445.06
10.1021.1845.05
44.02
44.03
3.30
45.02
M1NomFldCur
M1 field data
99.12
99.11
M1UsedFexType
Fieldreversal(group 45)
OptiTorque
Bridge
44.0944.1044.0744.08
is set to maximum flux ifFldCtrlMode (44.01) = Fix
43.17
43.18
43.19
43.20
43.21
43.221.04
M1ArmL
M1ArmR
SelBridge M1NomFldCur
M1UsedFexType
M1BaseSpeed
If M1SpeedFbSel (50.03) = External,then MotSpeed (1.04) can be written to.
OperModeSel = FieldConv
CurRefSlope
di/dt limitation
20.12 M1CurLimBrdg1
20.13 M1CurLimBrdg2
1.15
EMF -calculation
ArmAlpha
Firing unit
RevDly
M1NomVolt
M1NomCur
Mainsvoltagemeasurement
Convertercurrentmeasurement.
NomMainsVolt
MainsVoltActRel
MainsVoltAct
ConvCurActRel
ConvCurAct
1.111.12
1.151.16
M
Motor 1
FldCurFlux40
FldCurFlux70
FldCurFlux90
Flux linearization
EMF VoltActRel
1.17
EMF controller
KpEMF
TiEMF
Flux control
M1BaseSpeed
MotSpeed
internal scaling:M n == 10000M max = 3.25 * M n
FluxRefFldWeak
3.24
FluxRefSumCurCtrlStat1
FluxRefEMF
VoltCorr
VoltRefSlope
V refmodification
VoltRef2
FldWeakDyn
is set to zero ifFldCtrlMode (44.01) = Fix
EMF InternalVoltRefExtAI1, …, AI6
EMF RefSel
EMF CtrlPosLim
EMF CtrlNegLim
97.09
FilterFilter
MainsCompTime
MaxCurLimSpeed
MotSpeed
ArmCurLimSpeed1
ArmCurLimSpeed2
ArmCurLimSpeed3
ArmCurLimSpeed4
ArmCurLimSpeed5
MainsVoltActRel
Language
Motor data
EMF ActFiltTime
44.25
44.26
Armaturecurrentmeasurement
ConvCurActRel
FluxCorr
+
+
++
ArmVoltAct ArmVoltActRel
Current limitation Bridge
FIELD CURRENT CONTROL(one field exciter)
MainsVoltActRel-
RevVoltMargin
Min
M1NomVolt
B9=1
B 9=0
VoltRef1
Armature current control
EMF and flux control
ARMATURE CURRENT CONTROL
Armature currentmeasurement andmotor data
ConvNomVolt4.04
ConvNomCur4.05
1.11
43.13
43.1220.15
20.14
3.13
99.02
99.03
99.1199.12
99.04
99.10
99.01
1.14 1.13
43.09
43.10
97.25
44.21
1.11
99.0244.22
3.25
1.04
99.0444.15
3.263.27 3.28
44.1244.1344.14
44.27
43.04
43.01
Limiter
ArmAlphaMin
ArmAlphaMax
Uk
FiringLimMode
44.236.03 B9
CurRef311CurRefExtAI1…AI6FexCurRefFluxRefEMF
CurSel
FluxRefFldWeak
Scale
n
3.2443.03
3.11
43.02
3.303.27
12-pulse master
Local
43.01
DCS800_Fw_structure_diagram_rev_e.dsf
Panel³DW
DWL
³
6.0543.14
CurCtrlStat2
6.04
OperModeSel
PwrSupplyRefExt
CurRefUsedCurrent controller
ControlModeSel
M1KpArmCur
M1TiArmCur
M1DiscontCurLim
MotCur
-
internal scaling:Imot nom == 10000
Imax= 3.25 * I mot nom
3.12
1.06
43.01
43.05
43.0643.0743.0843.24
0
CurCtrlStat2
6.04
ArmAlpha
3.13
CurCtrlStat2
6.04
43.17
43.18
43.19
43.20
43.21
43.221.04
OperModeSel
M1ArmL
M1ArmR
SelBridge M1NomFldCur
M1UsedFexType
M1BaseSpeed
OperModeSel = FieldConv
PwrSupplyRefExt
CurRefSlope
di/dt limitation
20.12 M1CurLimBrdg1
20.13 M1CurLimBrdg2
CurRefUsedCurrent controller
ControlModeSel
M1KpArmCur
M1TiArmCur
M1DiscontCurLim
MotCur
1.15
EMF -calculation
Firing unit
RevDly
M1NomVolt
M1NomCur
Mainsvoltagemeasurement
Convertercurrentmeasurement.
NomMainsVolt
MainsVoltActRel
MainsVoltAct
ConvCurActRel
ConvCurAct
1.111.12
1.151.16
EMF VoltActRel
1.17
internal scaling:M n == 10000M max = 3.25 * M n
97.09
FilterFilter
MainsCompTime
MaxCurLimSpeed
MotSpeed
ArmCurLimSpeed1
ArmCurLimSpeed2
ArmCurLimSpeed3
ArmCurLimSpeed4
ArmCurLimSpeed5
MainsVoltActRel
Language
Motor data
EMF ActFiltTime
Armaturecurrentmeasurement
ConvCurActRel
- +
+Current limitation Bridge
internal scaling:Imot nom == 10000
Imax= 3.25 * I mot nom
Armature current control
ARMATURE CURRENT CONTROL
Armature currentmeasurement andmotor data
ConvNomVolt4.04
ConvNomCur4.05
3.12
1.06
43.01
43.05
43.0643.0743.0843.24
1.11
43.13
43.1220.15
20.14
99.02
99.03
99.1199.12
99.04
99.10
99.01
43.09
43.10
97.25
43.04
43.01
Limiter
ArmAlphaMin
ArmAlphaMax
Uk
FiringLimMode
CurRef311CurRefExtAI1…AI6FexCurRefFluxRefEMF
CurSel
FluxRefFldWeak
Scale
n
3.2443.03
3.11
43.02
3.303.27
12-pulse master
Local
43.01
Panel³DW
DWL
0
CurCtrlStat2
6.04
6.0543.14
44.0944.1044.0744.08
is set to maximum flux ifFldCtrlMode (44.01) = Fix
ParChange
M1FldHeatRef
FldHeatSel
If M1SpeedFbSel (50.03) = External,then MotSpeed (1.04) can be written to.
M1FldRefMode
Fieldcurrentmeasurement
Mot1FldCurRel
Mot1FldCur
1.29
1.30
Motor 1 fieldcurrent controller
M1KpFex
M1TiFex
FldCurFlux40
FldCurFlux70
FldCurFlux90
Flux linearizationEMF controller
KpEMFTiEMF
Flux control
M1BaseSpeed
MotSpeed
FluxRefFldWeak
3.24
FluxRefSumCurCtrlStat1
FluxRefEMF
VoltCorr
VoltRefSlope
V refmodification
VoltRef2
FldWeakDyn
is set to zero ifFldCtrlMode (44.01) = Fix
EMF InternalVoltRefExtAI1, …, AI6
EMF RefSel
EMF CtrlPosLim
EMF CtrlNegLim
44.25
44.26
M1FldRefExt
FluxCorr
FldCurRefM1
++
internal scaling:Ifnom
== 10000
M1PosLimCtrl
MainsVoltActRel-
RevVoltMargin
Min
M1NomVolt
B9=1
B 9=0
VoltRef1
EMF and flux control Field current control Motor 1 Fieldcurrent measure-ment and motordata
44.21
1.11
99.0244.22
3.25
1.04
99.0444.15
3.263.27 3.28
44.1244.1344.14
44.0445.06
10.1021.1845.05
44.02
44.03
3.30
45.02
44.27
M1NomFldCur
M1 field data
99.12
99.11
M1UsedFexType
44.236.03 B9
Fieldreversal(group 45)
OptiTorque
Bridge
FIELD CURRENT CONTROL(two field exciters)
ParChange
M2FldHeatRef
FldHeatSel
M2FldRefMode Motor 2 fieldcurrent controller
M2KpFex
M2TiFex
M2FldRefExt
FldCurRefM2
M2PosLimCtrl
49.0645.14
10.1021.1845.13
49.10
49.11
3.31
45.16
-
-145.17
FldCurTrim
-Fieldcurrentmeasurement
Mot2FldCurRel
Mot2FldCur
1.31
1.32
internal scaling:Ifnom
== 10000
M2NomFldCur
M2 field data
49.07
49.05
M2UsedFexType
Bridge
Motor 2 Fieldcurrent measure-ment and motordata
DCS800_Fw_structure_diagram_rev_e.dsf
³
³
ArmVoltAct ArmVoltActRel
1.14 1.13
M
Motor 1
M
Motor 2