I am integrating an ACOPOSinverter P96 via POWERLINK in an Automation Studio project and I need to implement basic open-loop speed control in the simplest possible way — just command a speed reference and enable the drive, directly from ST code, without using mapp Motion or ACP10SDC.
For older inverter families (P74, P86, etc.) this is well documented: you add the device to the POWERLINK network, AS generates a set of mapped I/O variables (Control Word, Status Word, speed reference), and you drive them directly from the application. Straightforward.
With the P96 I cannot find any equivalent example or documentation — neither in the AS help, nor on this forum, nor in any available application note.
The use case is deliberately simple — no position control, no synchronization, just open-loop V/f speed command from ST. Any pointer to get started would be very welcome.
Hello Valerio, i saw the manual. But in Automation Studio there is no manual of P96 registers or an example like every previous inverter model. Also ABB documumentation about FEPL_02 show and explain about integration of every register.
yup it’s a new product, so far I just see the User’s Manual on our Website.
Let me check if I’ll find additional documentation or function block already developed to control the drive with just control and status words.
This library (not written by me) wasn’t originally developed for the P96, but it might work—or at least serve as a good starting point for your own development.
Follow the manual and configure the inverter directly, setting all required parameters on the device itself. I’m familiar with ABB drives, so I assume the firmware logic is similar. However, doing this means losing the integrated parameterization provided by Automation Studio.
Understand how the register structure is mapped in AS for each option, and then enter the correct values manually. For example, what exactly do the modes “motion configuration” or “direct control” represent in terms of register mapping?
In my case I only need two booleans and one integer, so using the physical I/O connection would probably work too, but it feels less elegant in a PLC project where everything is meant to stay integrated.
I’m sure that the P96 is fully integrated with AS, but normally I find that the default configuration is open-loop control (while in my case I need to regulate pressure and flow).
In similar situations, I usually expect to have a dedicated FUB to control the drive using its own instructions (as happens with the X64, P74, and P86), and this has been the case for many other brands I’ve integrated.
The more information is available, the faster the integration becomes — and for this application, which is quite simple, the coding usually takes just a few hours, if not less than one.
At the moment I’m following the information provided in the P86 help and comparing it with the register descriptions of the P96 to understand the meaning of each register.
After that, I will check whether the libraries I developed for the previous inverters can be reused or at least partially applied.
Hi Ennio,
I found one ticket in our system where another customer asked additional information regarding: “ACOPOSinverter P96 can be used in Direct Control mode. Therefore, the Control Word of the inverter is required for operation. It is not properly documented how to command the inverter with the Control Word.“
If you have the P96 let’s spin the motor in couple of minutes by forcing those PVs in monitor more.
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On the German release we have few notes for control word and DS402 compliant, but nothing for Simplified:
I saw it about ten minutes ago, when I changed the option and found both the control word and the status word. Now I’ll update the mapping in my FUB, and I think that should be enough for my project.
I can also point out an issue: with the terminal it’s not possible to complete the automatic configuration in a redundant CPU setup, because it’s necessary to manually insert the Powerlink node in parameter 51.03.
It’s logical that the node must be declared in a bus configuration, but this requirement is not mentioned anywhere in the help.
There is also a mismatch in the documentation regarding the installation slot: the manual specifies slot 2, but the firmware actually requires slot 1.
Hi Valerio, it looks like Ennio is located in Italy, so I would recommend for Ennio to contact the local support office and open a CASE with them to report this issue.
