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Chapter 6 – Communication

NCAN-02 Installation and Start-up Guide

6-11

The CANopen State

Machine

CW: xxxxxxxx1xxxxxxx

from any state

FAULT REACTION

ACTIVE

SW: xxxxxxxxx0xx1111

Fault reaction
completed

FAULT

SW: xxxxxxxxx0xx1000

START

Power-on,
self-initialisation

NOT READY

SW: xxxxxxxxx0xx0000

TO SWITCH ON

Initialised
successfully

SWITCH-ON

SW: xxxxxxxxx1xx0000

DISABLED

READY TO

SW: xxxxxxxxx01x0001

SWITCH ON

CW: xxxxxxxxxxxxx01x

CW: xxxxxxxxxxxxx110

SWITCHED ON

SW: xxxxxxxxx01x0011

CW: xxxxxxxxxxxxx110

CW: xxxxxxxxxxxxx111

CW: xxxxxxxxxxxxx01x

CW: xxxxxxxxxxxxxx0x

OPERATION

SW: xxxxxxxxx01x0111

CW: xxxxxxxxxxxx0111

CW: xxxxxxxxxxxx1111

ENABLED

CW: xxxxxxxxxxxxx110

QUICK STOP

SW: xxxxxxxxx0xx0111

ACTIVE

Quick stop
completed

CW: xxxxxxxxxxxxx01x

CW: xxxxxxxxxxxxxx0x

CW: Control Word
SW: Status Word

Summary of Contents for NCAN-02

Page 1: ...ABB Drives Installation and Start up Guide CANopen Adapter Module NCAN 02 ...

Page 2: ......

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Page 5: ...ons that can result in serious physical injury and or serious damage to equipment with the following symbols Notes Readers are notified of the need for special attention or additional information available on the subject with the following symbols Dangerous Voltage Warning warns of situations in which a high voltage can cause physical injury and or damage equipment The text next to this symbol des...

Page 6: ...ct discharged before beginning work The motor cable terminals of the drive are at a dangerously high voltage when mains power is applied regardless of motor operation There can be dangerous voltages inside the drive from external control circuits even when the drive mains power is shut off Exercise appropriate care when working with the unit Neglecting these instructions can cause physical injury ...

Page 7: ... 2 1 CANopen 2 1 The NCAN 02 CANopen Adapter Module 2 2 Compatibility 2 3 Delivery Check 2 3 Warranty and Liability Information 2 3 Chapter 3 Mechanical Installation Overview 3 1 Mounting Outside the Drive 3 1 Mounting Inside the Drive 3 2 Chapter 4 Electrical Installation Overview 4 1 General Cabling Instructions 4 1 Earthing the Module 4 1 DIP Switch Settings 4 2 NCAN 02 Connections 4 4 Drive Co...

Page 8: ...er specific Profile Area 6 18 Standardised Device Profile Area 6 21 Chapter 7 Diagnostics Overview 7 1 Status LEDs 7 1 Appendix A CANopen Error Codes ACS 400 8 2 ACS 600 Standard Application Prg v5 x ACS 800 Standard Application Prg ASXR7xxx 8 3 ACS 600 Standard Application Prg v2 8 3 0 8 5 ACS 600 Motion Control Application Prg 8 6 ACS 600 Crane Application Program 8 7 ACS 1000 8 8 DCS 400 8 8 DC...

Page 9: ...Table of Contents NCAN 02 Installation and Start up Guide iii Ambient Conditions Transportation 10 1 ...

Page 10: ...Table of Contents iv ...

Page 11: ...re featured in the first few pages of this Guide Safety Instructions describe the formats for various warnings and notations used within this Guide This chapter also states the safety instructions which apply to the installation and operation of the NCAN 02 Module Chapter 1 Introduction to This Guide contains a short description of the Guide Chapter 2 Overview contains a short description of the C...

Page 12: ...vated with a drive parameter see the drive documentation Data Sets and Data Words Data sets are clusters of data sent through the DDCS link between the NCAN 02 Adapter Module and the drive Each data set consists of three 16 bit words i e data words The Control Word sometimes called the Command Word and the Status Word References and Actual Values see Chapter 6 are types of data words the contents ...

Page 13: ...ialisation configuration and error handling on a CAN network Object Dictionary A local storage of all Communication Objects COB recognised by a device OSI Open Systems Interconnection Parameter A parameter is an operating instruction for the drive Parameters can be read and programmed with the drive control panel or through the NCAN 02 Module PDO Process Data Object a type of COB Used for transmit...

Page 14: ...Chapter 1 Introduction to This Guide 1 4 NCAN 02 Installation and Start up Guide ...

Page 15: ...aud rates thus reducing EMC problems and cable costs CANopen device profiles define both direct access to drive parameter and time critical process data communication The NCAN 02 fulfils CiA CAN in Automation standard DSP 402 Drives and Motion Control supporting the Manufacturer Specific operating mode only The physical medium of CANopen is a differentially driven two wire bus line with common ret...

Page 16: ...e communication objects and functions supported by the NCAN 02 are discussed in Chapter 6 The adapter module is mounted onto a standard mounting rail inside or outside the drive unit depending on drive type and configuration See the drive manuals for module placement options Figure 4 1 The construction of the CANopen network and the face of the NCAN 02 Module Screw terminal block X1 for external p...

Page 17: ...esponsibility for damage due to transport or unpacking In no event and under no circumstances shall the manufacturer be liable for damages and failures due to misuse abuse improper installation or abnormal conditions of temperature dust or corrosives or failures due to operation above rated capacities Nor shall the manufacturer ever be liable for consequential and incidental damages The period of ...

Page 18: ...Chapter 2 Overview 2 4 NCAN 02 Installation and Start up Guide ...

Page 19: ...drive documentation The ambient conditions should be taken into account see Appendix D The degree of protection of the module is IP 20 Module earth is connected to the mounting rail by means of an earthing clip see Figure 3 1 The mounting rail onto which the option module is to be mounted must be earthed to a noiseless earth If the rail is not mounted on a properly earthed base a separate earthing...

Page 20: ...e Mounting instructions 1 Stop the drive 2 Switch off the power supply of the drive and all dangerous voltages connected to the inputs and outputs 3 Wait for five minutes to ensure that the capacitors in the intermediate circuit have discharged 4 Remove the front cover of the drive 5 Ensure that the mains cable motor cable and capacitor bank UDC and UDC are not powered 6 Locate the position for th...

Page 21: ...ble Avoid parallel runs Use bushings at cable entries Handle the fibre optic cables with care When unplugging optic cables always grab the connector not the cable itself Do not touch the ends of the fibres with bare hands as the fibre is extremely sensitive to dirt The maximum long term tensile load for the fibre optic cables is 1 N The minimum short term bend radius is 25 mm Earthing the Module T...

Page 22: ...s case the corresponding selection parameters in the fieldbus parameter group see Chapter 5 only act as read only indicators If SW1 8 is set to OFF default the node number and the baud rate are selected through module parameters see Chapter 5 The figures below show how the DIP switches on the circuit board can be accessed 1 2 3 4 5 6 7 8 Press down the clips on top and bottom of the module Pull th...

Page 23: ...d SW2 enabled node no and baud rate selected with DIP switches SW1 and SW2 disabled node no and baud rate selected with parameters ON DIP 1 2 3 4 5 6 7 8 ON DIP 1 2 3 4 5 6 7 8 Baud Rate Binary SW2 Baud Rate Binary SW2 1 Mbit s 000 100 kbit s 100 500 kbit s 001 50 kbit s 101 250 kbit s 010 20 kbit s 110 125 kbit s 011 10 kbit s 111 ON DIP 1 2 3 4 ON DIP 1 2 3 4 ON DIP 1 2 3 4 ON DIP 1 2 3 4 ON DIP...

Page 24: ...ptic cable link Consult the drive documentation as to the corresponding terminals inside the drive Figure 4 1 Fibre optic link connecting the NCAN 02 to the drive Finally close the module by sliding the PCB back until the clips lock into their recesses 4 NCAN 02 CANopen ADAPTER MS 0V UC EXT SHLD CAN_L GND CAN_H RESET TXD RXD 5 6 7 8 1 2 3 4 NS DDCS ABB drive R T T DDCS X1 X2 ...

Page 25: ...through the CAN network this terminal should be left unconnected 2 UC 24 VDC 24 V 10 80 mA DC supply to the module The power can be taken from the drive s internal power supply see drive manuals a dedicated external power supply or through the CAN network The on board power supply is disabled if the voltage drops below 11 V 3 EXT DC GND These terminals should be connected together if the power to ...

Page 26: ...hort 1 5 6 9 Male DSUB Connector GND CAN_L 7 2 3 5 CAN_H SHLD 5 6 7 8 UC 0 V 1 2 3 4 Optional CAN Screen 6 9 Optional Ground Optional Supply Positive 24 V 0 V X1 X2 3 2 Male Miniature GND CAN_L 4 5 3 1 CAN_H SHLD 5 6 7 8 UC 0 V 1 2 3 4 24 V 0 V Optional CAN Screen 2 Optional Supply Positive Connector 4 5 1 X1 X2 GND CAN_L CAN_H SHLD 5 6 7 8 UC 0 V 1 2 3 4 4 3 2 1 5 24 V 0 V Optional CAN Ground Opt...

Page 27: ...eet configuration files for ABB drives are available through your local ABB representative Configuring the Drive The detailed procedure of activating the module for communication with the drive is dependent on drive type Normally a parameter must be adjusted to activate the communication See the drive documentation As communication between the drive and the NCAN 02 is established several configura...

Page 28: ... used for defining a station number for the drive it is connected to 1 127 Note If DIP switches are enabled SW1 8 is ON this parameter is read only See Chapter 4 Fieldbus Par No Parameter Name Alternative Settings Default Setting 1 MODULE TYPE 5 NCAN 02 Vx x 5 NCAN 02 Vx x 2 WD MODE 0 FAULT 1 AUTO RESET 1 AUTO RESET 3 NODE ID 1 127 1 4 BAUD RATE 0 1 Mbit s 1 500 kbit s 2 250 kbit s 3 125 kbit s 4 ...

Page 29: ...2 in order to match them to the communication profile of the drive The CANopen state machine is shown in Chapter 6 TRANSPARENT The Control Word and the Status Word are exchanged by the NCAN 02 between the PLC and the drive as is Refer to the drive documentation for the meaning of the bits in the Control Word and Status Word In this mode the support of the Control Word and Status Word according to ...

Page 30: ...ta sets Setting this parameter to the value of FBA D SET 10 makes data set 10 the first data set to be used for the communication between the NCAN 02 and the drive FBA D SET 1 FBA D SET 10 NO OF DATA SETS This parameter defines the number of data sets and activated PDOs sent in each direction 1 4 Value Description 0 SELF TEST Module initialising and performing self test 1 RX Q OVERRUN Software ove...

Page 31: ... communication module e g NCAN 02 ABB drives allow the user to separately determine the source for each type of control information Start Stop Direction Reference Fault Reset etc In order to give the fieldbus master station the most complete control over the drive the communication module must be selected as source for this information See the user documentation of the drive for information on the...

Page 32: ...Chapter 5 Programming 5 6 NCAN 02 Installation and Start up Guide ...

Page 33: ...jects and Network Management Objects START OF FRAME 1 BIT ARBITRATION FIELD COMM 11 OR 29 BITS REMOTE TRANS MISSION REQUEST 1 BIT CONTROL FIELD 6 BITS DATA FIELD 0 TO 8 BYTES CYCLICAL REDUNDANCY CHECK 16 BITS ACKNOWL EDGE FIELD 2 BITS END OF FRAME 7 BITS FUNCTION CODE NODE ID 10 9 8 7 6 5 4 3 2 1 0 Communication Object Function Code Binary COB ID Hex COB ID Dec NMT 0000 0 00 0 SYNC 0001 0 80 128 T...

Page 34: ... The boot up state diagram of the NCAN 02 is shown below Initialisation Reset Application 13 10 11 14 Power on 12 6 8 8 7 7 6 Reset Communication Init Pre Operational Prepared Operational 6 Start_Remote_Node indication 7 Stop_Remote_Node indication 8 Enter_Pre Operational_State indication 10 Reset_Node indication 11 Reset_Communication indication 12 After Initialisation is finished 13 14 After Res...

Page 35: ...Node ID equals 0 all NMT slaves are addressed The node state indications are as follows Command Name 001 Start_Remote_Node 002 Stop_Remote_Node 128 Enter_Pre Operational_State 129 Reset_Node 130 Reset_Communication Header Byte 1 2 0000000000000010 NMT Command Node ID Indication State 4 Prepared 5 Operational 127 Pre Operational ...

Page 36: ...ter to Slave 400h Node ID PDO4 Rx Master to Slave 500h Node ID PDO3 Tx Slave to Master 380h Node ID PDO4 Tx Slave to Master 480h Node ID Note The amount of activated PDOs depends on the value of fieldbus parameter 9 NO OF DATA SETS The PDO transmission types are The transmission type of a PDO is defined in the PDO communication parameter index See the NCAN Object Dictionary Communication Profile A...

Page 37: ... 1 and 2 are 16 bit words each containing a sign bit and a 15 bit integer In order to use these References the drive must have the NCAN 02 selected as the source In the drive references can also be scaled limited or corrected See the drive documentation for further information Master to Slave Header Byte 1 2 3 4 5 6 0100xxxxxxxryyyy Control Word 2001h 6040h Reference 1 2002h Reference 2 2003h 0100...

Page 38: ...ocumentation for further information Asynchronous transmission mode PDO1 Tx is automatically transmitted to the CAN bus master in the time interval defined in index 2000 Sub index 1 default 40ms Automatic transmission is stopped when communication with the master is lost PDO1 Tx is also transmitted every time PDO1 Rx is received Slave to Master Header Byte 1 2 3 4 5 6 0011xxxxxxxryyyy Status Word ...

Page 39: ...as Data set 3 or Data set 12 if NCAN 02 parameter DATA SET OFFSET is set to FB D SET 10 The contents of PDO2 Rx are as follows References 3 to 5 are 16 bit words each containing a sign bit and a 15 bit integer The way in which these values are used by the drive depends on its parameter settings See the drive documentation for more information Master to Slave Header Byte 1 2 3 4 5 6 0110xxxxxxxryyy...

Page 40: ...yclic transmission mode PDO2 Tx is transmitted to the CAN bus master every time a SYNC message is received Note The automatic transmission of Tx PDO2 is started only after the first receipt of Rx PDO2 PDO3 Rx The PDO3 Rx object is received by the drive as Data set 5 or Data set 14 if NCAN 02 parameter DATA SET OFFSET is set to FB D SET 10 The contents of PDO3 Rx is as follows References 6 to 8 are...

Page 41: ...clic transmission mode PDO3 Tx is transmitted to the CAN bus master every time a SYNC message is received Note The automatic transmission of Tx PDO3 is started only after the first receipt of Rx PDO3 PDO4 Rx The PDO4 Rx object is received by the drive as Data set 7 or Data set 16 if NCAN 02 parameter DATA SET OFFSET is set to FB D SET 10 The contents of PDO4 Rx is as follows References 9 to 11 are...

Page 42: ...s transmission mode PDO4 Tx is automatically transmitted to the CAN bus master in the time interval defined in index 2000 Sub index 4 default 100 ms Automatic transmission is stopped when the communication with the master is lost PDO4 Tx is also transmitted every time PDO4 Rx is received Cyclic transmission mode PDO4 Tx is transmitted to the CAN bus master every time a SYNC message is received Not...

Page 43: ...WITCH ON Initialised successfully SWITCH ON SW xxxxxxxxx1xx0000 DISABLED READY TO SW xxxxxxxxx01x0001 SWITCH ON CW xxxxxxxxxxxxx01x CW xxxxxxxxxxxxx110 SWITCHED ON SW xxxxxxxxx01x0011 CW xxxxxxxxxxxxx110 CW xxxxxxxxxxxxx111 CW xxxxxxxxxxxxx01x or CW xxxxxxxxxxxxxx0x OPERATION SW xxxxxxxxx01x0111 CW xxxxxxxxxxxx0111 CW xxxxxxxxxxxx1111 ENABLED CW xxxxxxxxxxxxx110 QUICK STOP SW xxxxxxxxx0xx0111 ACTI...

Page 44: ... CAN messages The COB IDs for SDO communication are Master to Slave 600h Node ID Slave to Master 580h Node ID Read Write Master to Slave Header Byte 1 2 3 4 5 6 7 8 1100xxxxxxx01000 Command Object Index Sub index Reserved xxxxxxx Node ID Master to Slave Expedited message with max 4 bytes of data Header Byte 1 2 3 4 5 6 7 8 1100xxxxxxx01000 Command Object Index Sub index Data Master to Slave Segmen...

Page 45: ...gned32 RO List of errors The most recent error is at Sub index 1 When a new error occurs previous errors move down the list Error numbers comprise a 16 bit error code listed in Appendix B and a 16 bit additional information field 0 with NCAN 02 The error code is contained in the lower 2 bytes LSB the additional information in the upper 2 bytes MSB A Pre defined Error Field Unsigned32 RO 1005 0 COB...

Page 46: ... command 2 Save communication parameters Unsigned32 RW Stores communication related parameters with index 1400h 1403h and 1800h 1803h Store command see Sub index 1 3 Save application parameters Unsigned32 RW Not supported 4 Save manufacturer defined parameter Unsigned32 RW Stores manufacturer defined parameter index 2000h Store command see Sub index 1 1011 0 Identity Object Unsigned8 RO Largest su...

Page 47: ...3 Inhibit Time Unsigned16 RW Not supported 4 CMS Priority Group Unsigned8 RW 3 1401 0 2nd Receive PDO Parameter Unsigned8 RO Number of entries 1 COB ID Used by PDO Unsigned32 RW Default 300h Node ID 2 Transmission Type Unsigned8 RW 254 asynchronous transmission 3 Inhibit Time Unsigned16 RW Not supported 4 CMS Priority Group Unsigned8 RW 3 1402 0 3rd Receive PDO Parameter Unsigned8 RO Number of ent...

Page 48: ...st Mapping Object Unsigned32 RO 2014h Reference 10 Data set 7 Word 2 3 3rd Mapping Object Unsigned32 RO 2015h Reference 11 Data set 7 Word 3 1800 0 1st Transmit PDO Parameter Unsigned8 RO Number of entries 1 COB ID Used by PDO Unsigned32 RW Default 180h Node ID 2 Transmission Type Unsigned8 RW 254 event controlled asynchronous transmission 3 Inhibit Time Unsigned16 RW Not supported 4 CMS Priority ...

Page 49: ... 1 2 2nd Mapping Object Unsigned32 RO 2011h Actual Value 7 Data set 6 Word 2 3 3rd Mapping Object Unsigned32 RO 2012h Actual Value 8 Data set 6 Word 3 1A03 0 4th Transmit PDO Mapping Unsigned32 RO Number of mapped application objects 1 1st Mapping Object Unsigned32 RO 2016h Actual Value 9 Data set 8 Word 1 2 2nd Mapping Object Unsigned32 RO 2017h Actual Value 10 Data set 8 Word 2 3 3rd Mapping Obj...

Page 50: ...0A 0 Actual Value 3 Integer16 RO Data set 4 Word 1 200B 0 Actual Value 4 Integer16 RO Data set 4 Word 2 200C 0 Actual Value 5 Integer16 RO Data set 4 Word 3 200D 0 Reference 6 Integer16 RW Data set 5 Word 1 200E 0 Reference 7 Integer16 RW Data set 5 Word 2 200F 0 Reference 8 Integer16 RW Data set 5 Word 3 2010 0 Actual Value 6 Integer16 RO Data set 6 Word 1 2011 0 Actual Value 7 Integer16 RO Data ...

Page 51: ...ample the Index for drive parameter 30 19 equals 3019 12288 15307 3BCBh Sub index is always 0 The application error codes are a small subset of the error classes of the PROFIBUS specification EN 50170 The codes are 4 byte values containing the Error Class Error Code and Additional Code always 0 with NCAN 02 fields Drive Parameter Signal No Index Hex Sub index Type Attri bute ACTUAL SIGNALS 1 01 30...

Page 52: ...tent The sub index does not exist 8 Other Error 0 User aborted transfer Additional Code Meaning 0 No precise details for the reason for the error 10h Service parameter with an invalid value 11h Sub index does not exist 12h Service parameter too long 13h Service parameter too short 20h Service cannot currently be executed 21h because of local control 22h because of present device state 30h Value ra...

Page 53: ... Area Index Hex Sub index Name Type Attri bute Information 6040 0 Control Word Unsigned16 RW Data set 1 Word 1 6041 0 Status Word Unsigned16 RO Data set 2 Word 1 6060 0 Modes of Operation Integer16 RW Operation mode 6061 0 Modes of Operation Display Integer16 RO Shows the current mode of operation ...

Page 54: ...Chapter 6 Communication 6 22 NCAN 02 Installation and Start up Guide ...

Page 55: ... The LED indications are as follows LED Mode Description DDCS Flashing Green DDCS initialisation in progress Green DDCS communication established Flashing Red DDCS communication errors NS Flashing Green Pre operational waiting for CANopen Start command Green Node started Red Network error see Parameter CUT OFF TIMEOUT in Chapter 5 MS Green Module OK Red CAN controller error CAN controller error bi...

Page 56: ...Chapter 7 Diagnostics 7 2 NCAN 02 Installation and Start up Guide ...

Page 57: ...ing as well as the corresponding drive error code and or message If the drive indicates a fault as part of a binary word Fault Word the name of the word and the corresponding bit number is given in the Additional Information column Please note that some fault messages shown on the panel are not available in the binary Fault Words and vice versa The cause and corrective action for each error are gi...

Page 58: ...easurement circuit HW error Bad analogue input invalid pulse count Fault Word 2 b11 b5 5300 Operating unit Panel loss Fault Word 1 b9 b5 5530 EEPROM HW error Bad or new FPROM Fault Word 2 b8 HW error New FPROM detected Fault Word 2 b9 HW error Unsuccessful FPROM download Fault Word 2 b10 b5 6320 Parameter error Parameters inconsistent Fault Word 1 b10 b5 7121 Motor blocked Motor stall Fault Word 1...

Page 59: ...ce ACS 600 TEMP Fault Word 1 b3 b3 4310 Excess temperature drive THERMISTOR Fault Word 1 b5 MOTOR TEMP Fault Word 1 b6 b5 5210 Measurement circuit PPCC LINK Fault Word 2 b11 b5 5300 Operating unit PANEL LOSS Fault Word 2 b13 b5 5530 EEPROM FLT F1_4 System Fault Word b2 FLT F1_5 System Fault Word b3 b5 6100 Internal software The error is specified by the System Fault Word Check the System Fault Wor...

Page 60: ... b5 b7 FF5A Device specific 10 FLT F2_14 System Fault Word b6 b7 FF5B Device specific 11 FLT F2_15 System Fault Word b7 b7 FF5C Device specific 12 FLT F2_16 System Fault Word b8 b7 FF5D Device specific 13 FLT F2_17 System Fault Word b9 b7 FF5E Device specific 14 FLT F2_18 System Fault Word b10 b7 FF5F Device specific 15 FLT F2_19 System Fault Word b11 b7 FF60 Device specific 16 FLT F2_3 System Fau...

Page 61: ...NEL LOSS b5 6200 User software USER MACRO b5 7000 Additional modules I O COMM b5 7121 Motor blocked MOTOR STALL b2 7123 Motor tilted OVERFREQ b5 7305 Incremental sensor 1 fault ENCODER ERR b5 7510 Serial interface 1 COMM MODULE b5 8110 Process data monitoring AI MIN FUNC b5 9000 External error EXTERNAL FLT b7 FF51 Device specific 1 LINE CONV b7 FF52 Device specific 2 NO MOT DATA b7 FF54 Device spe...

Page 62: ...ment circuit PPCC LINK Fault Word 2 b10 b5 6200 User software USER MACRO Fault Word 1 b6 b5 7000 Additional modules I O CONFIG Fault Word 1 b10 I O COMM Fault Word 1 b19 b5 7121 Motor blocked MOTOR STALL Fault Word 2 b20 b5 7123 Motor tilted OVERFREQ Fault Word 2 b23 b5 7305 Incremental sensor 1 fault ENC COMM ERR Fault Word 1 b13 b5 7320 Position POSITION ERR Fault Word 1 b20 b5 7510 Serial inter...

Page 63: ...d 2 bit 12 b5 5300 Operating unit PANEL LOSS Fault Word 1 bit 11 b5 6200 User software USER MACRO Fault Word 2 bit 6 b5 7000 Additional modules I O COMM Fault Word 1 bit 12 b5 7123 Motor tilted OVERFREQ Fault Word 2 bit 9 b5 7305 Incremental sensor 1 fault ENCODER ERR Fault Word 2 bit 14 b5 7310 Speed sensor MOT OVERSP Fault Word 1 bit 1 b5 7510 Serial interface 1 COMM MODULE Fault Word 1 bit 16 b...

Page 64: ...lt Word 1 b6 b3 4310 Excess temperature drive F 8 MOTOR OVERTEMP Fault Word 1 b7 b5 5220 Computing circuit F 2 HARDWARE FAULT Fault Word 1 b1 b5 6100 Internal software F 3 SOFTWARE FAULT Fault Word 1 b2 b5 7121 Motor blocked F 19 MOTOR STALLED Fault Word 2 b2 b5 7302 Tacho wrong polarity F 17 TACHO POLARITY FAULT Fault Word 2 b0 b5 7305 Incremental sensor 1 fault F 16 SPEED MEAS FAULT Fault Word 1...

Page 65: ...rd 1 b7 b5 7510 Serial interface 1 F 60 FIELDBUS TIMEOUT Fault Word 3 b13 b7 FF0A Device specific F 52 NO BRAKE ACK Fault Word 1 b10 b7 FF0D Device specific F 31 NOT IN SYNCHRONISM Fault Word 1 b13 b7 FF0E Device specific F 32 FIELD EX 1 OVERCURR Fault Word 1 b14 b7 FF0F Device specific F 33 FIELD EX 1 COMERROR Fault Word 1 b15 b7 FF10 Device specific F 34 ARM CURRENT RIPPLE Fault Word 2 b0 b7 FF1...

Page 66: ... b5 7305 Incremental sensor 1 fault F 14 SPEED MEAS FAULT Fault Word 2 b5 b5 7310 Speed sensor F 37 MOTOR OVERSPEED Fault Word 2 b15 b5 7500 Communication additional F 44 I O BOARD NOT FOUND Fault Word 1 b7 b5 7510 Serial interface 1 DDCS CH 0 COMM FAULT Fault Word 2 b11 b5 7520 Serial interface 2 M F LINK Fault Word 3 b11 b7 FF0D Device specific F 31 NOT IN SYNCHRONISM Fault Word 1 b13 b7 FF0E De...

Page 67: ...h plastic jacket Attenuation 0 31 dB m Maximum Length between Stations 10 m Specifications Topology Point to point Serial Communication Type Asynchronous half Duplex Transfer Rate 4 Mbit s Protocol Distributed Drives Communication System DDCS Connectors Blue receiver grey transmitter Parameter Minimum Maximum Unit Storage Temperature 55 85 C Installation Temperature 20 70 C Short Term Tensile Forc...

Page 68: ...Metal Film Topology Multi drop Serial Communication Type Asynchronous half Duplex Transfer Rate 1 Mbit s 500 kbit s 250 kbit s 125 kbit s 100 kbit s 50 kbit s 20 kbit s or 10 kbit s Protocol CANopen Standards CAN in Automation DS 301 Application Layer and Communication DSP 402 Device Profile Drives and Motion Control ISO 11898 Controller Area Network CAN for High Speed Communication ...

Page 69: ...mplies with EMC Standards EN 50081 2 and EN 50082 2 X1 Description 1 0 V DC GND Power supply ground 0 V If the power to the module is supplied through the CAN network this terminal should be left unconnected 2 UC 24 VDC 24 V 10 80 mA d c supply to the module The power can be taken from the drive s internal power supply see drive manuals a dedicated external power supply or through the CAN network ...

Page 70: ...Appendix B Technical Data B 4 NCAN 02 Installation and Start up Guide ...

Page 71: ... s2 9 to 200 Hz sinusoidal IEC 68 2 6 Shock Max 70 m s2 22 ms IEC 68 2 27 Ambient Conditions Storage Ambient storage conditions refer to the conditions the option module is subjected to during storage in the protective package Temperature 40 to 70 C Relative Humidity Less than 95 no condensation allowed Atmospheric Pressure 70 to 106 kPa Vibration Max 0 3 mm 2 to 9 Hz max 1 m s2 9 to 200 Hz sinuso...

Page 72: ...Appendix C Ambient Conditions C 2 NCAN 02 Installation and Start up Guide ...

Page 73: ......

Page 74: ...2 000 Fax 358 10 222 2681 Internet http www abb com automation 3BFE 64254154 REV B EN EFFECTIVE 10 10 2003 ABB Inc Automation Technologies Drives Motors 16250 West Glendale Drive New Berlin WI 53151 USA Telephone 262 785 3416 800 243 4384 Fax 262 785 8525 Internet www abb drives com ...

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