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Wiwiet Yuniarto

DCS800
Firmware Structure Diagram
ABB DC drives
Slide 1

Drive control
Current and speed controller
AC - Line

Torqueselector
Current (actual)
Torquereference

Speed
reference

X
Ramp
generator

Speed
Controller

Flux

Armature current
controller

Mux
TG

EMF voltage
controller
Voltage reference
Rated motor voltage

ABB Group
March 17, 2014 | Slide 2

Field current
Controller

SPEED REFERENCE CHAIN


Speed reference selection

UMCW B4
UMCW B6

Panel

DW
DWL

SPEED CONTROL
Jog1 (10.17)
Jog2 (10.18)
UMCW B8, B9

Speed ramp

Speed controller

ACW1 B4

AI1AI6

2.30

23.02 FixedSpeed1
23.03 FixedSpeed2

0 = open

SpeedRefExt1

10.02

20.02
20.01

-1
Local

AI1Direct+
AI2Direct+
Enc2Direct+

11.12

SpeedRef4

2.02

M1SpeedMin

22.11

UMCW B5

20.02
20.01

0
Hold

UMCW B6

23.15

22.04 E StopRamp
22.05 ShapeTime

-1

2.03
SpeedErrNeg

23.06
23.11

SpeedErrFilt

23.07
23.08
23.09
23.12

WinIntegOn

2.19

Invert1102
Open
Close
DI1, , DI8
MCW Bit11Bit15
ACW Bit12Bit 15

p-part

24.03 KpS
24.04 KpSMin
24.05 KpSWeakp
24.06 KpSWeakpFiltTime

24.17

dv_dt

24.14

2.16

KpS (24.03)
KpSMin (24.04)
TorqRef2 (2.09)
KpSWeakp (24.05)

24.09 TiS
24.10 TiSInitValue

Acceleration
compensation

FixedSpeed1

JogDecTime

Torque selector = Add


TorqMaxAll

Jog

JogAccTime

Max

2.20 TorqMinAll

2.31

22.13

Min

TorqMinSPC

24.11 BalRef
ACW B8 BalSpeedCtrl
2.08 TorqRef1

WinCtrlMode

SpeedRefExt2

22.12

20.07

2.06
20.08

Ramp

Ref2Mux

TorqMaxSPC

TorqDerRef

ACW B6 HoldSpeedCtrl

WinWidthPos
WinWidthNeg

p-part, i-part
KpSValMinSpeed (24.19)

AccCompDerTime

KpS (24.03)
TiS (24.09)
TiSValMinSpeed (24.20)

24.12 DerivTime
24.13 DerivFiltTime

24.15 AccCompFiltTime
TorqAccCompRef

KpSTiSMaxSpeed (24.18)

KpSTiSMinSpeed

24.18 KpSTiSMaxSpeed
24.19 KpSValMinSpeed
24.20 TiSValMinSpeed

speed

2.07

KpSTiSMinSpeed (24.17)

Speed actual selection


EMF
1.17

internal scaling:
SpeedScaleAct (2.29) == 20000

EMF VoltActRel

99.04 M1BaseSpeed
99.02 M1NomVolt
Pulse encoder 1

SpeedActEMF

Filter

Speed measurement

1.02
1.03

WinderScale

50.17

MotSpeed

1.04

50.02

M1EncMeasMode

50.04

M1EncPulseNo

ProcSpeed

1.41
Filter

SpeedActEnc
External

50.06

SpeedFiltTime
MotSpeedFilt

SpeedActTach

Analog tacho
50.12
50.13

50.03 M1SpeedFbSel

1.01
1 second

1.05

M1TachAdjust

F522 SpeedFb

M1TachoVolt1000
SpeedActEnc2

Pulse encoder 2
50.18

Enc2MeasMode

50.19

Enc2PulseNo

1.42

1.14
30.14
30.15
30.17

ArmVoltAct
SpeedFbMonLev
EMF FbMonLev

F532 MotOverSpeed

Drive logic
M1ZeroSpeedLim
M1ZeroSpeedDly
M1BrakeStopDly
DynBrakeDly

2.19

Signal
Parameter

Parameter is usually written to by Adaptive Program,


application program or overriding control
Attention:
The firmware structure diagrams show thestandard firmware
24.13

DCS800_Fw_structure_diagram_rev_e.dsf

SpeedFbFltSel

30.16 M1OvrSpeed

20.03
42.04
42.13
50.11

Legend
24.13

2.09
TorqRef2

SpeedErrFilt2

0 = open

FixedSpeed2

23.10
SpeedStep

22.08 BalRampRef
ACWB2 RampBypass

23.03

Limiter

2.04
TorqPropRef

22.07 VarSlopeRate
ACWB3 BalRampOut

23.02

2.05

SpeedCorr

22.03 RampTimeScale

TorqIntegRef

PI

M1SpeedMin

Deceleration

DecTime2

M1SpeedMax

Acceleration

22.02
22.10

PID -controller
-

Filter

23.04

DirectSpeedRef

UMCW B4

2.18

M1SpeedMax

22.01
22.09

11.06 Ref2Sel
23.01 SpeedRef2301
23.13 AuxSpeedRef
23.02
23.03

SpeedRef3

2.32
0

24.02

Window control

ACW2 B10

Speed
RampOut

Ramp

2.01

AccTime2
DecTime1

Open
Close
DI1DI8
MCW Bit11Bit15
ACW Bit12Bit15

Limiter

Acc/Dec/Shape
SpeedRef2

Ramp2Select
AccTime1

Ref1Mux

AI1AI6
FixedSpeed1
FixedSpeed2
MotPot
AI2-AI3
AI2+AI3
AI2*AI3
MinAI2AI4
MaxAI2AI4
Encoder2

Limiter

2.17

MotPot
AuxRef-AI1
reserved
MinAI2AI4
MaxAI2AI4

11.02

Direction

SpeedRefUsed

DroopRate
0

11.03 Ref1Sel
23.01 SpeedRef2301
23.13 AuxSpeedRef

TORQUE CONTROL CHAIN


Torque reference and torque selection

2.09
TorqRef2

TorqRef2

TorqRefExt
2.24

TorqRefA Sel

25.01

Filter

TorqRefA2501

25.03

AI1AI6
25.02

TorqRefA FTC

Torque 2

TorqRef1

2
3

Min 3

1 0
456

20.09

TorqMaxTref

20.10

TorqMinTref

25.06

TorqRampDown

26.05

TorqMux

2.20

TorqMaxAll

Add 5

26.04

TorqMuxMode

26.01

TorqSel2601 (06)
Speed/Torq (1 or 2)
Speed/Min (1 or 3)
Speed/Max (1 or 4)
Speed/Limit (1 or 6)

TorqSel

20.18

TorqUsedMaxSel

20.05

TorqMax20.05
AI1, , AI6

TorqMinAll

M1CurLimBrdg1

Lim 6

NotUsed
DI1, , DI11
MCW Bit 11, , MCW Bit15
ACW Bit 12, , ACW Bit 15

TorqRefUsed
2.13

26.08

GearStartTorq

26.09

GearTorqTime

26.10

GearTorqRamp

Max 4

+
TorqRampUp

26.02
LoadComp

2.10

Local

2.19
25.05

TorqRef3

Torque limiter

LoadShare

Torque ramp

25.04

Gear backlash
compensation

2.11
Speed 1
2.08

Limiter

TorqRef4

Torque selector

2.09
25.10

TorqRefB

Torque limitation

Panel
DW
DWL

TorqUsedMax

20.22

TorqGenMax

2.22

2.19

TorqMaxAll

2.20

TorqMinAll

Min

TorqLimAct

26.15
FluxRefFldWeak

3.24

21.02
21.03
21.04
30.27
30.28
30.30
42.10
49.40
70.05
70.15

26.03

&

TorqSelMod

M1CurLimBrdg2

Max

20.13

20.19

TorqUsedMinSel

20.06

TorqMin20.06
AI1, , AI6
Negate
-1

TorqUsedMin
2.23

2.14

TorqCorrect

TorqCorr

NotUsed
AI1, , AI6

0%
Off1Mode
StopMode
E StopMode
LocalLossCtrl
ComLossCtrl
FaultStopMode
M1TorqProvTime
M2TorqProvTime
Ch0 ComLossCtrl
Ch2 ComLossCtrl

2.26

20.12

97.01
TypeCode=2-Q

2.23 =
2.22 * (-1)

ABB Drive profile control


7.02

7.03

7.01

MCW B10

Hand/Auto
CommandSel

10.07
10.01

Panel
DW

7.04

DWL
AuxCtrlWord (ACW1)

AuxCtrlWord2 (ACW2)

Bit0 RestartDataLog
Bit1 TrigDataLog
Bit2 RampBypass
Bit3 BalRampOut
Bit4 LimSpeedRef4
Bit5 reserved
Bit6 HoldSpeedCtrl
Bit7 WindowCtrl
Bit8 BalSpeedCtrl
Bit9 SyncCommand
Bit10 SyncDisable
Bit11 ResetSyncRdy
Bit12 aux. control
Bit13 aux. control
Bit14 aux. control
Bit15 aux. control

Bit0 reserved
Bit1 reserved
Bit2 reserved
Bit3 reserved
Bit4 DisableBridge1
Bit5 DisableBridge2
Bit6 reserved
Bit7 reserved
Bit8 DriveDirection
Bit9 reserved
Bit10 DirectSpeedRef
Bit11 reserved
Bit12 ForceBrake
Bit13 reserved
Bit14 reserved
Bit15 ResetPIDCtrl

6.03
UsedMCW (UMCW)

MainCtrlWord (MCW)

Bit0 On (Off1N)

Bit0 On (Off1N)
OnOff1

10.15

Local

Off2

10.08

Local

Bit1 Off2N (Coast Stop)


10.08

&

Off2

Bit2 Off3N (E -Stop)


E Stop

10.09

Local

10.09
E Stop

Bit3 Run
StartStop

&

Bit1 Off2N (Coast Stop)


Bit2 Off3N (E -Stop)
Bit3 Run

Local

10.16

Bit4 RampOutZero

Bit4 RampOutZero
1
Bit5 RampHold

Bit5 RampHold
1

Bit6 RampInZero

Bit6 RampInZero
1

Bit7 Reset
Reset

10.03

Local

Bit8 Inching1

Bit7 Reset
Bit8 Inching1

0
Bit9 Inching2

Bit9 Inching2
0

Bit10 RemoteCmd
Bit11Bit15 aux. control

Drive Logic

Bit10 RemoteCmd
1

Bit11Bit15 reserved

1.04
21.01
21.03
21.04
21.10
21.14
21.16
21.18

Faults
Alarms
MotSpeed
Off1Mode
StopMode
E StopMode
FlyStart
FanDly
MainContCtrlMode
FldHeatSel

CurCtrlStat1

Bit0 FansOn Cmd.


Bit1 reserved
Bit2 reserved
Bit3 motor heating
Bit4 field direction
Bit5 FieldOn Cmd.
Bit6 dynamic braking
Bit7 MainContactorOn Cmd
Bit8 DynamicBrakingOn Cmd
Bit9 drive generating
Bit10 reserved
Bit11 firing pulses
Bit12 continuous current
Bit13 zero current
Bit14 DC-breaker trip cmd
Bit15 DC-breaker trip cmd

8.01

8.02

MainStatWord (MSW)

Bit0 RdyOn
Bit1 RdyRun
Bit2 RdyRef
Bit3 Tripped
Bit4 Off2NStatus
Bit5 Off3NStatus
Bit6 OnInhibited
Bit7 Alarm
Bit8 AtSetpoint
Bit9 Remote
Bit10 AboveLimit
Bit11 reserved
Bit12 reserved
Bit13 reserved
Bit14 reserved
Bit15 reserved

AuxStatWord (ASW)

Bit0 DataLogReady
Bit1 OutOfWindow
Bit2 E-StopCoast
Bit3 User1
Bit4 User2
Bit5 SyncRdy
Bit6 Fex1Act
Bit7 Fex2Ack
Bit8 BrakeCmd
Bit9 Limiting
Bit10 TorqCtrl
Bit11 ZeroSpeed
Bit12 EMFSpeed
Bit13 FaultOrAlarm
Bit14 DriveDirectionNeg
Bit15 AutoReclosing
DCS800_Fw_structure_diagram_rev_e.dsf

ARMATURE CURRENT CONTROL


Armature current control

Armature current
measurement and
motor data

Filter
Filter

internal scaling:
M n == 10000
M max = 3.25 * M n

Panel
DW
DWL
Scale

43.02

CurCtrlStat2

3.11

CurRef311
CurRefExt
AI1AI6

3.30
3.27

FexCurRef

MainsComp
Time

6.04

43.04

3.12

Current limitation

Limiter

Current controller

CurRefSlope

Firing unit

3.13

20.12

M1CurLimBrdg1

20.13

M1CurLimBrdg2

12-pulse master

43.17

MaxCurLimSpeed

43.18

ArmCurLimSpeed1

43.19

ArmCurLimSpeed2

43.20

ArmCurLimSpeed3

43.21

ArmCurLimSpeed4

43.22

ArmCurLimSpeed5

1.04

43.01

OperModeSel

20.14

43.05

ControlModeSel

20.15

43.06

M1KpArmCur

43.12

Uk

43.07

M1TiArmCur

43.13

FiringLimMode

43.08

M1DiscontCurLim

43.24

PwrSupplyRefExt

MotCur

internal scaling:
I
== 10000
mot nom
I
= 3.25 * I
max
mot nom

1.15

43.14

ArmAlphaMin

6.05

99.01

Language

99.02

M1NomVolt
M1NomCur

99.04

M1BaseSpeed

RevDly

99.10

NomMainsVolt

SelBridge

99.11

M1NomFldCur

99.12

M1UsedFexType

ConvCurActRel
ArmVoltAct

1.17

EMF - calculation

OperModeSel = FieldConv

ConvNomCur

99.03
ArmAlphaMax

EMF VoltActRel

43.01

ConvCurAct

Armature
current
measurement

1.06

MotSpeed

ConvNomVolt
ConvCurActRel

1.16
4.05

Motor data

Local

FluxRefEMF

MainsVoltAct

4.04
1.15

Bridge

MainsVoltActRel

ArmAlpha

CurRefUsed
di/dt limitation

Converter
current
measurement.

CurCtrlStat2

6.04
43.01

CurSel

43.03

FluxRefFldWeak

3.24

97.09

1.11
1.12

Mains
voltage
measurement

1.11

MainsVoltActRel

43.09

M1ArmL

43.10

M1ArmR

97.25

EMF ActFiltTime

ArmVoltActRel

1.14

1.13

M
Motor 1

FIELD CURRENT CONTROL


(one field exciter)
EMF and flux control
RevVoltMargin

MainsVoltActRel

FluxRefSum

6.03 B9

44.21
-

44.23

EMF RefSel

Min

B 9=0

44.22

VoltRef1

3.25

B 9=1

1.11
99.02

Field current control

is set to zero if
FldCtrlMode (44.01) = Fix
CurCtrlStat1

EMF Internal
VoltRefExt
AI1, , AI6

V ref
modification

44.25

VoltCorr

44.26

VoltRefSlope

M1NomVolt

3.27

EMF controller

3.26

FluxRefEMF

VoltRef2

3.28
+

Flux linearization

+
44.27
FluxCorr

44.09
44.10
44.07

EMF CtrlPosLim

44.08

EMF CtrlNegLim

Opti
Torque
Field
reversal
(group 45)

ParChange

10.10

FldHeatSel
M1FldRefMode

21.18
45.05

M1FldHeatRef

44.04

M1FldRefExt

45.06

Motor 1 Field
current measurement and motor
data

FldCurRefM1

3.30

Motor 1 field
current controller

Bridge

internal scaling:
I
== 10000

fnom

Field
current
measurement

1.29

Mot1FldCurRel

1.30

Mot1FldCur

44.02

M1KpFex

44.03

M1TiFex

99.11

M1NomFldCur

45.02

M1PosLimCtrl

99.12

M1UsedFexType

M1 field data

KpEMF
TiEMF

is set to

maximum flux

44.12

FldCurFlux40

44.13

FldCurFlux70

44.14

FldCurFlux90

if

FldCtrlMode (44.01) = Fix


MotSpeed

1.04

Flux control

3.24
FluxRefFldWeak

If M1SpeedFbSel (50.03) = External,


then MotSpeed (1.04) can be written to.

99.04

M1BaseSpeed

44.15

FldWeakDyn

DCS800_Fw_structure_diagram_rev_e.dsf

ARMATURE CURRENT CONTROL


Armature current control

Armature current
measurement and
motor data

Filter
Filter

internal scaling:
M n == 10000
M max = 3.25 * M n

Panel
DW
DWL
Scale

3.11

CurRef311

43.03

CurRefExt
AI1AI6

3.30
3.27

FexCurRef

FluxRefFldWeak

3.24

CurCtrlStat2

MainsComp
Time

6.04

43.04

3.12

Current limitation

Limiter

Current controller

CurRefSlope

Firing unit

3.13

20.12

M1CurLimBrdg1

20.13

M1CurLimBrdg2

12-pulse master

43.17

MaxCurLimSpeed

43.18

ArmCurLimSpeed1

43.19

ArmCurLimSpeed2

43.20

ArmCurLimSpeed3

43.21

ArmCurLimSpeed4

43.22

ArmCurLimSpeed5

1.04

ConvCurAct
ConvNomCur

99.01

Language

99.02

M1NomVolt

Bridge

Motor data

Local

43.01

OperModeSel

20.14

43.05

ControlModeSel

20.15

43.06

M1KpArmCur

43.12

Uk

43.07

M1TiArmCur

43.13

FiringLimMode

43.08

M1DiscontCurLim

43.24

PwrSupplyRefExt

MotCur

internal scaling:
I
== 10000
mot nom
I
= 3.25 * I
max
mot nom

FluxRefEMF

ConvNomVolt
ConvCurActRel

1.16
4.05

MainsVoltAct

4.04

ArmAlpha

CurRefUsed
di/dt limitation

MainsVoltActRel

1.15

Converter
current
measurement.

CurCtrlStat2

6.04
43.01

CurSel

43.02

97.09

1.11
1.12

Mains
voltage
measurement

1.11

MainsVoltActRel

99.03

M1NomCur

99.04

M1BaseSpeed

RevDly

99.10

NomMainsVolt

SelBridge

99.11

M1NomFldCur

99.12

M1UsedFexType

ArmAlphaMax

43.14

ArmAlphaMin

6.05

Armature
current
measurement

1.06

MotSpeed

1.15

ConvCurActRel

EMF VoltActRel

ArmVoltAct

1.17
43.01
OperModeSel = FieldConv

M1ArmL

43.10

M1ArmR

97.25

EMF ActFiltTime

ArmVoltActRel

1.14

EMF - calculation

43.09

1.13

Motor 1

Motor 2

FIELD CURRENT CONTROL


(two field exciters)
EMF and flux control
RevVoltMargin

MainsVoltActRel

FluxRefSum

6.03 B9

44.21
-

44.23

EMF RefSel

Min

B 9=0

44.22

VoltRef1

3.25

B 9=1

1.11
99.02

Field current control

is set to zero if
FldCtrlMode (44.01) = Fix
CurCtrlStat1

EMF Internal
VoltRefExt
AI1, , AI6

V ref
modification

44.25

VoltCorr

44.26

VoltRefSlope

M1NomVolt

3.27

EMF controller

3.26

FluxRefEMF

VoltRef2

FluxCorr

EMF CtrlPosLim

44.08

EMF CtrlNegLim

FldCurRefM1

3.30
M1FldHeatRef

44.04

M1FldRefExt

45.06

maximum flux

if

44.12

FldCurFlux40

44.13

FldCurFlux70

44.14

FldCurFlux90

45.17

Bridge

internal scaling:
I
== 10000

fnom

Field
current
measurement

1.29

Mot1FldCurRel

1.30

Mot1FldCur

44.02

M1KpFex

44.03

M1TiFex

99.11

M1NomFldCur

45.02

M1PosLimCtrl

99.12

M1UsedFexType

M1 field data

-1

ParChange

10.10

FldHeatSel

21.18
45.13

M2FldRefMode

3.24
FluxRefFldWeak

Motor 1 field
current controller

FldCurTrim

MotSpeed

If M1SpeedFbSel (50.03) = External,


then MotSpeed (1.04) can be written to.

Opti
Torque
Field
reversal
(group 45)

Motor 1 Field
current measurement and motor
data

TiEMF

is set to

Flux control

21.18
45.05

KpEMF

FldCtrlMode (44.01) = Fix

1.04

Flux linearization

+
44.27

44.09
44.10
44.07

10.10

FldHeatSel
M1FldRefMode

3.28
+

ParChange

Motor 2 Field
current measurement and motor
data

3.31
M2FldHeatRef

49.06

M2FldRefExt

45.14

internal scaling:
I
== 10000

fnom

FldCurRefM2

49.10

Motor 2 field
current controller

Bridge

1.31

Field
current
measurement

1.32

M2KpFex

Mot2FldCurRel
Mot2FldCur

M2 field data

99.04

M1BaseSpeed

49.11

M2TiFex

49.05

M2NomFldCur

44.15

FldWeakDyn

45.16

M2PosLimCtrl

49.07

M2UsedFexType

DCS800_Fw_structure_diagram_rev_e.dsf