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Programming

23

Programming

Overview

This chapter gives information on configuring the RCNA-01
ControlNet Adapter module.

Configuring the system

After the RCNA-01 ControlNet Adapter module has been
mechanically and electrically installed according to the instructions
in chapters

Mechanical installation

and

Electrical installation

, the

drive must be prepared for communication with the module and
Scanner.

Please refer to the Scanner documentation for information on
configuring the system for communication with the RCNA-01.
Configuration (EDS) files for the RCNA-01 are available at

www.abb.com

.

ControlNet connection configuration

The detailed procedure of activating the module for
communication with the drive is dependent on the drive type.
(Normally, a parameter must be adjusted to activate the
communication. See the drive documentation.)

As communication between the drive and the RCNA-01 is
established, several configuration parameters are copied to the
drive. These parameters (shown in

Table 1. The RCNA-01

configuration parameters

) must be checked first and adjusted if

necessary. The alternative selections for these parameters are
discussed in more detail below the table.

Note:

The new settings take effect only when the module is

powered up or when the module receives a ‘Fieldbus Adapter
parameter refresh’ command from the drive.

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Summary of Contents for RCNA-01

Page 1: ...ABB Drives User s Manual ControlNet Adapter Module RCNA 01 ...

Page 2: ......

Page 3: ...ControlNet Adapter Module RCNA 01 User s Manual 3AFE64506005 Rev B EN EFFECTIVE 21 10 2008 2008 ABB Oy All Rights Reserved ...

Page 4: ......

Page 5: ...and adjoining equipment must be properly earthed Do not attempt any work on a powered drive After switching off the mains always allow the intermediate circuit capacitors to discharge for 5 minutes before working on the frequency converter the motor or the motor cable It is good practice to check with a voltage indicating instrument that the drive is in fact discharged before beginning work The mo...

Page 6: ...Safety instructions 6 ...

Page 7: ...nual contains 11 Conventions used in this guide 12 Product and service inquiries 13 Product training 13 Providing feedback on ABB Drives manuals 13 Overview 15 Overview 15 Network overview 15 The RCNA 01 ControlNet Adapter module 16 Compatibility 17 Delivery check 18 Warranty and liability information 18 Mechanical installation 19 Mounting 19 Electrical installation 21 Overview 21 ...

Page 8: ... ControlNet 33 Object modelling and functional profiles 33 Assembly object 34 Class objects 41 Identity Object Class 0x01 41 Assembly Object Class 0x04 44 ControlNet Object Class 0xF0 45 Motor Data Object Class 0x28 48 Control Supervisor Object Class 0x29 49 AC DC Drive Object Class 0x2A 53 Vendor Specific Object Class 0x90 55 Vendor Specific ControlNet Configuration Class 0x91 57 Fault tracing 61...

Page 9: ...Table of contents 9 Technical data 65 RCNA 01 65 Fieldbus link 66 ...

Page 10: ...Table of contents 10 ...

Page 11: ...lNet Adapter module are introduced in this manual It is assumed that the drive is installed and ready to operate before starting the installation of the adapter module For more information on the installation and start up procedures of the drive please refer to its user documentation Safety instructions are featured in the first few pages of this guide Introduction contains a short description of ...

Page 12: ... Module Communication Module is a name for a device e g a fieldbus adapter through which the drive is connected to an external serial communication network e g a fieldbus The communication with the communication module is activated by a drive parameter Data Words The Control Word sometimes called the Command Word and the Status Word References and Actual Values see chapter Communication are types ...

Page 13: ...h the drive control panel or through the RCNA 01 module Product and service inquiries Address any inquiries about the product to your local ABB representative quoting the type code and serial number of the unit in question A listing of ABB sales support and service contacts can be found by navigating to www abb com drives and selecting Sales Support and Service network Product training For informa...

Page 14: ...Introduction 14 ...

Page 15: ...The RCNA 01 Adapter module supports only RG 6 quad shielded cable coax for the bus connection ControlNet is flexible in topology options bus tree star to meet various application needs The fieldbus speed is 5 Mbits s ControlNet technical features summary Transmission technique Support for bus star or tree topologies RG 6 quad shield cable Optional media redundancy Support for fibre optic cabling N...

Page 16: ...e reference to the drive give a process actual value or a process reference to the PID controller of the drive read status information and actual values from the drive read and write drive parameter values reset a drive fault A connection to the RCNA 01 ControlNet Adapter can be opened from a ControlNet scanner The size of the connection can be up to 450 bytes in each direction MacID Node address ...

Page 17: ...5 ms The adapter module is mounted into an option slot inside the drive See the Hardware Manual of the drive for module placement options Figure 1 The construction of the ControlNet link and the layout of the RCNA 01 Adapter module Compatibility The RCNA 01 is compatible with all scanners working according to the ControlNet International ControlNet specifications Scanner Slave stations Network acc...

Page 18: ...is not responsible for any costs resulting from a failure if the installation commissioning repair alternation or ambient conditions of the drive do not fulfil the requirements specified in the documentation delivered with the unit and other relevant documentation units subjected to misuse negligence or accident units comprised of materials provided or designs stipulated by the purchaser In no eve...

Page 19: ...rconnect the GND signals of the module and the control board of the drive On installation of the module the signal and power connection to the drive is automatically made through a 34 pin connector Mounting procedure Insert the module carefully into its position inside the drive until the retaining clips lock the module into position Fasten the two screws included to the stand offs Set the bus ter...

Page 20: ...Mechanical installation 20 ...

Page 21: ...tputs of the drive General cabling instructions Bus cables are specified in chapter Technical data Arrange the bus cables as far away from the motor cables as possible Avoid parallel runs Use bushings at cable entries MacID selection The MacID Node address is set with the two rotary decimal switches in the front of the module The range is 1 to 99 The value is read from the switches right after com...

Page 22: ...tor A or B is used ControlNet bus termination The ControlNet bus line must be terminated with 75 ohm resistor See fieldbus details in chapter Technical data Network access port connection The module is also equipped with a NAP Network access port for temporary connection of configuration tools e g a PC card The minimum Network update time NUT of the module is 5 ms 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6...

Page 23: ...are available at www abb com ControlNet connection configuration The detailed procedure of activating the module for communication with the drive is dependent on the drive type Normally a parameter must be adjusted to activate the communication See the drive documentation As communication between the drive and the RCNA 01 is established several configuration parameters are copied to the drive Thes...

Page 24: ...der to give the fieldbus Scanner 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 selection parameters Table 1 The RCNA 01 configuration parameters Fieldbus par no Parameter name Alternative settings Default setting 1 MODULE TYPE ControlNet ControlNet 2 Module MacID 0 99 ...

Page 25: ...d by a unique node number This node number is between 0 and 99 and it is called MAC ID 12 Input I O Par 1 0 32767 0 13 Input I O Par 2 0 32767 0 14 Input I O Par 3 0 32767 0 15 Input I O Par 4 0 32767 0 16 Output I O Par 5 0 32767 0 17 Output I O Par 6 0 32767 0 18 Output I O Par 7 0 32767 0 19 Output I O Par 8 0 32767 0 20 Output I O Par 9 0 32767 0 21 Input I O Par 5 0 32767 0 22 Input I O Par 6...

Page 26: ...5 Stop Function Defines the method for stopping the motor 0 Ramp stop the motor decelerates along the active deceleration ramp 1 Coast stop the motor comes to a stop by coasting 06 Output Instance 07 Input Instance These parameters define the preferred output and input assemblies respectively The instances 20 70 21 and 71 are so called Drive Profile instances as defined in the ControlNet specifica...

Page 27: ...nded speed control plus drive parameters Dynamic Input instances Instance Assembly Static Dynamic 70 Basic speed control input Static 71 Extended speed control input Static 101 User transparent assembly Static 103 Vendor specific assembly Dynamic 171 Extended speed control plus drive parameters Dynamic Possible instance combinations Output instance Input instance Communication profile to be used 2...

Page 28: ...fines the data word or drive parameter that can be set with Assembly object instances 102 and 121 see chapter Communication subsection VENDOR SPECIFIC assembly 100 101 ABB Drives profile 103 ABB Drives profile 102 101 ABB Drives profile 103 ABB Drives profile 121 70 Generic Drive profile 71 Generic Drive profile 103 Generic Drive profile 171 Generic Drive profile Output instance Default input inst...

Page 29: ...parameter 08 Output I O Par 1 12 Input I O Par 1 Defines the data word or drive parameter that can be read with Assembly object instances 103 and 171 see chapter Communication subsection VENDOR SPECIFIC assembly 0 not used 1 99 data set area of the drive 101 9999 parameter area of the drive 10000 32767 not supported by the drive The data set area is allocated as follows 1 data set 1 word 1 2 data ...

Page 30: ...O Par 4 See parameter 12 Input I O Par 1 16 to 20 Output I O Par 5 to Output I O Par 9 See parameter 08 Output I O Par 1 21 to 25 Input I O Par 5 to Input I O Par 9 See parameter 12 Input I O Par 1 0 not used 1 99 data set area of the drive 101 9999 parameter area of the drive 10000 32767 not supported by the drive The data set area is allocated as follows 1 data set 1 word 1 2 data set 1 word 2 3...

Page 31: ...121 and 171 The value of this parameter directly specifies the size in words of instances 102 and 103 whereas the size of instances 121 and 171 will be the value of this parameter plus two words 1 32 Note The Vendor Specific ControlNet Configuration object Class 0x91 is activated when the VSA I O size is set to 10 or larger ...

Page 32: ...Programming 32 ...

Page 33: ...bjects The RCNA 01 has the following objects included Object modelling and functional profiles One of the main features of ControlNet is object modelling A group of objects can be described with a Functional Profile The RCNA 01 realises the ControlNet International AC DC Drive Functional Profile with additional features Object Name Class Identity Object 0x01 Assembly Object 0x04 Connection Manager...

Page 34: ...cific Assembly These are predefined and cannot be changed The following tables describe the predefined assembly instances supported by the RCNA 01 Note Add 4 extra bytes 2 words to all the input assemblies for example the total size of Input Assembly Instance 70 is 4 bytes 4 extra bytes 8 bytes For output assemblies the extra bytes must not be added The configuration parameter 26 VSA I O SIZE must...

Page 35: ... Profile The format of the output assembly is Instance 70 Input assembly Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Running 1 Faulted 1 2 Speed Actual Value Low Byte 3 Speed Actual Value High Byte Scaling of Speed Actual Value is configured by Speed Scale attribute in AC DC Drive Object class 0x2A instance 0x01 attribute 0x16 and it defaults to 1 rpm Instance 21 Output assembly Byte Bi...

Page 36: ... 1 Drive State 2 Speed Actual Value Low Byte 3 Speed Actual Value High Byte See BASIC SPEED CONTROL assembly for information on speed actual value scaling Instance 100 Output assembly Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Control Word Low Byte 1 Control Word High Byte 2 Speed Reference Low Byte 3 Speed Reference High Byte Refer to Drive User s Manual for scaling Instance 101 Input...

Page 37: ...x number of output I O s supported by the drive depends on the drive type and application Instance 102 Output assembly Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Output I O 1 Low Byte 1 Output I O 1 High Byte 2 Output I O 2 Low Byte 3 Output I O 2 High Byte 4 Output I O 3 Low Byte 5 Output I O 3 High Byte 6 Output I O 4 Low Byte 7 Output I O 4 High Byte 8 Output I O 5 Low Byte 9 Output...

Page 38: ... be ensured that the fieldbus is selected as the drive control source and fieldbus specific Generic Drive profile Control Status Word format is selected instead of ABB Drives profile Instance 103 Input assembly Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Input I O 1 Low Byte 1 Input I O 1 High Byte 2 Input I O 2 Low Byte 3 Input I O 2 High Byte 4 Input I O 3 Low Byte 5 Input I O 3 High ...

Page 39: ...it 2 Bit 1 Bit 0 0 NetRef NetCtrl Fault Reset Run Reverse Run Forward 1 2 Speed Reference Low Byte 3 Speed Reference High Byte 4 Output I O 1 Low Byte 5 Output I O 1 High Byte 6 Output I O 2 Low Byte 7 Output I O 2 High Byte 8 Output I O 3 Low Byte 9 Output I O 3 High Byte 10 Output I O 4 Low Byte 11 Output I O 4 High Byte 12 Output I O 5 Low Byte 13 Output I O 5 High Byte 14 Output I O 6 Low Byte...

Page 40: ...ing Forward Warn ing Faulted 1 Drive state 2 Speed Actual Value Low Byte 3 Speed Actual Value High Byte 4 Input I O 1 Low Byte 5 Input I O 1 High Byte 6 Input I O 2 Low Byte 7 Input I O 2 High Byte 8 Input I O 3 Low Byte 9 Input I O 3 High Byte 10 Input I O 4 Low Byte 11 Input I O 4 High Byte 12 Input I O 5 Low Byte 13 Input I O 5 High Byte 14 Input I O 6 Low Byte 15 Input I O 6 High Byte 16 Input...

Page 41: ...x91 Note The maximum number of output I O s supported by the drive depends on the drive type and application Class objects Identity Object Class 0x01 This object provides identification of and general information about the device Services Supported Legend Data type UINT8 Unsigned Integer 8 bit UINT16 Unsigned Integer 16 bit SINT16 Signed Integer 16 bit UINT32 Unsigned Integer 32 bit BOOL Boolean v...

Page 42: ... Services Description Default Min Max Data type 0x01 Vendor ID Get Identification of the device vendor 46 UINT16 0x02 Device Type Get Identification of the general product type 2 UINT16 0x03 Product Code Get Assigned vendor code to describe the device Drive dependent e g 101 UINT16 0x04 Revision Get Revision of the item the Identity Object represents Array UINT8 UINT8 0x05 Status Get Summary Statu...

Page 43: ...d 1 Reserved set to 0 2 Configured TRUE indicates the application of the device has been configured to do something that differs from the out of box default This does not include configuration of the communications 3 Reserved set to 0 4 5 6 7 Vendor specific 8 Minor Recoverable Fault TRUE indicates the device detected a recoverable problem The problem does not cause the device to go into a faulted...

Page 44: ... Assembly objects can be used to bind input data or output data The terms input and output are defined from the network s point of view An input will produce data on the network and an output will consume data from the network Services Supported Only the instances selected by configuration parameters 06 Output Instance and 07 Input Instance can be accessed through this class Write requests Set ser...

Page 45: ...ve 0x64 100 3 Get Set Accesses assembly instance 100 as a byte array 0x65 101 3 Get Set Accesses assembly instance 101 as a byte array Set has no effect since instance 101 contains actual data from the drive 0x66 102 3 Get Set Accesses assembly instance 102 as a byte array 0x67 103 3 Get Set Accesses assembly instance 103 as a byte array Set has no effect since instance 103 contains actual data fr...

Page 46: ...uffer errors Buffer event counter UINT Error log Bad Mac frame log Byte 8 Event counters Diagnostic counters Struct of 32 bytes Good frames transmitted Good Mac frames transmitted LSB first Byte 3 Good frame received Good Mac frames received LSB first Byte 3 Selected channel frame errors Framing errors detected on active receive channel USINT Channel A frame errors Framing errors detected on chann...

Page 47: ...Lonely counter Number of times nothing heard on network for 8 or more NUT s USINT Duplicate Node Mac frame received from node with local nodes MacID USINT Noise hits Noise detected that locked modem rx PLL USINT Collisions Rx data heard just when transmit started USINT Mod MAC ID MAC ID of the current moderator node USINT Non lowman mods Moderator frames heard from non lowman nodes USINT Rouge cou...

Page 48: ...c ID Get_Attribute_ Single Mac ID switch and current settings Struct of 4 bytes Mac ID current Current Mac ID USINT Mac ID switches Mac ID switch setting USINT Mac ID changed Mac ID switch setting changed since reset BOOL Reserved Reserved USINT 0x86 Error log Get_Attribute_ Single Driver firmware buffer error counts and troublesome node list Struct of 10 bytes Buffer errors Buffer event counter U...

Page 49: ...hronous Motor 4 FC Synchronous Motor 5 Switched Reluctance Motor 6 Wound Rotor Induction Motor 7 Squirrel Cage Induction Motor 8 Stepper Motor 9 Sinusoidal PM BL Motor 10 Trapezoidal PM BL Motor AC DC 7 1 10 UINT 0x06 Rated Current Get Set Rated Stator Current from motor nameplate AC DC UINT 0x07 Rated Voltage Get Set Rated Base Voltage from motor nameplate AC DC UINT 0x08 Rated Power Get Set Rate...

Page 50: ...5 Stopping 6 FaultStop 7 Faulted UINT8 0x07 Running 1 3 Get 0 Stopped 1 Running BOOL 0x08 Running 2 4 Get 0 Stopped 1 Running BOOL 0x09 Ready Get 1 Ready Enabled or Stopping 0 Other state BOOL 0x0A Faulted Get 0 Not faulted 1 Fault occurred BOOL 0x0B Warning Get 0 No Warnings present 1 Warning BOOL 0x0C FaultRst Get Set 0 1 Fault Reset BOOL 0x0D Fault Code Get The fault that caused the last transi...

Page 51: ...ile 0 Stop 1 Freeze keep running 2 Fault UINT8 1 Supported only with assembly instances 20 21 and 121 2 Supported only with assembly instances 21 and 121 3 Supported only with assembly instances 70 71 and 171 4 Supported only with assembly instances 71 and 171 ID Attribute name Services Description Data type ...

Page 52: ...op N A 0 1 0 Run RunFwd 0 0 1 Run RunRev 0 1 0 1 No Action N A 1 1 No Action N A 0 1 1 Run RunRev 1 1 0 Run RunFwd Non Existent Startup Not Ready Ready Enabled Faulted Stopping Fault Stop Power on Power on Power on AND RDY FWD OR REV Power off ALM 1 FaultRst ALM 1 Power on AND not RDY DEC 0 FWD OR REV ALM 1 DEC 1 ALM 1 DEC 0 ...

Page 53: ...unication 53 AC DC Drive Object Class 0x2A This object models the functions specific to an AC or DC Drive Services Supported Service Code No Service Name 0x0E Get Attribute Single 0x10 Set Attribute Single ...

Page 54: ...ontrol UINT8 0x07 Speed Actual Get Units RPM 2SpeedScale SINT16 0x08 SpeedRef Get Set Units RPM 2SpeedScale SINT16 0x12 AccelTime Get Set Units msec 2TimeScale UINT16 0x13 DecelTime Get Set Units msec 2TimeScale UINT16 0x16 Speed Scale Get Set Speed scaling factor UINT8 0x17 Current Scale Get Set Current scaling factor UINT8 0x18 Torque Scale Get Set Torque scaling factor UINT8 0x1A Power Scale Ge...

Page 55: ...1 99 Attribute parameter Group 1 99 For example Parameter 99 01 is accessed as follows Class 144 0x90 Instance 99 0x63 Attribute 1 0x01 To access data sets Instance is always 100 Attribute corresponds to a specific data word For example data set 2 word 1 is accessed as follows Class 144 0x90 Instance 100 0x64 Attribute 4 0x04 Service Code No Service Name 0x0E Get Attribute Single 0x10 Set Attribut...

Page 56: ...p 1 Index 2 0x63 Parameter Index Get Set Group 1 Index 99 ID Attribute name Services Description 0x01 Parameter Index Get Set Group 2 Index 1 0x02 Parameter Index Get Set Group 2 Index 2 0x63 Parameter Index Get Set Group 2 Index 99 ID Attribute name Services Description 0x01 Parameter Index Get Set Group 99 Index 1 0x02 Parameter Index Get Set Group 99 Index 2 0x63 Parameter Index Get Set Group 9...

Page 57: ... parameters in Table 1 Please note this class is only used when configuration parameter VSA I O size is set to 10 or larger Note All input and output parameters must be set via Class 0x91 ID Attribute name Services Description 0x01 Data word index Get Set Data Set 1 Word 1 0x02 Data word index Get Set Data Set 1 Word 2 0x03 Data word index Get Set Data Set 1 Word 3 0x04 Data word index Get Set Dat...

Page 58: ... will clear all attributes in one instance to zero I e a reset of Class 91 Instance 1 will set all output parameters to zero 0x0E Get Attribute Single 0x10 Set Attribute Single ID Attribute name Default Min Max Data type 0x01 Output I O parameter 1 0 0 32767 UINT16 0x02 Output I O parameter 2 0 0 32767 UINT16 0x03 Output I O parameter 3 0 0 32767 UINT16 0x04 Output I O parameter 4 0 0 32767 UINT16...

Page 59: ...te name Default Min Max Data type 0x01 Input I O parameter 1 0 0 32767 UINT16 0x02 Input I O parameter 2 0 0 32767 UINT16 0x03 Input I O parameter 3 0 0 32767 UINT16 0x04 Input I O parameter 4 0 0 32767 UINT16 0x20 Input I O parameter 32 0 0 32767 UINT16 ...

Page 60: ...Communication 60 ...

Page 61: ...E OUT The ControlNet Module has stopped communicating with the drive CONFIG ERROR The ControlNet Module has not accepted the configuration file downloaded from the drive Check compatibility of module and drive file version number OFF LINE The module has completed its power up sequence and is waiting for a ControlNet Scanner or the Manager software to establish a connection ON LINE The ControlNet m...

Page 62: ... is disabled depending on network configuration A or B GREEN Steady Normal operation of channel A or B GREEN Flashing Temporary errors node will self correct or node is not configured to go on line A or B RED Flashing Media fault or no other nodes on the network A or B RED GREEN Alternating Incorrect network configuration Host Indication GREEN Flashing Module is waiting for initialisation GREEN St...

Page 63: ...roup is not shown on the panel Enable the RCNA 01 by setting the appropriate drive parameter The RCNA 01 is using default values Verify that the fieldbus parameter group is set up correctly If so turn off and on the power to the drive or issue a Fieldbus Adapter parameter refresh command This will make the module re read its setup parameters Module status GREEN Steady Link functional GREEN Flashin...

Page 64: ...heck that the control location parameters of the drive are set to use the RCNA 01 as the source of the required command Check that the drive is in REMOTE control PLC programming The PLC program is beyond ABB Drives support Contact the manufacturer for assistance Scanner fault indications Refer to scanner documentation ...

Page 65: ...ough drive parameters and or rotary switches Ambient conditions The applicable ambient conditions specified for the drive in its Hardware Manual are in effect Connectors 34 pin parallel bus connector Two BNC contacts for ControlNet connection NAP Network Access Port for temporary connection of configuration tools 95 mm 34 mm 20 mm 62 mm ...

Page 66: ...als are UL CSA approved Complies with EMC Standards EN 50081 2 and EN 50082 2 Fieldbus link Compatible devices Any ControlNet scanner Medium RG 6 quad shielded cable coax Termination 75 Ω 1 Metal Film 1 4 W Maximum Bus Length 250 m 48 nodes 1000 m 2 nodes or 5000 m with repeaters Topology Bus star or tree Transfer rate 5 MBit s Protocol ControlNet ...

Page 67: ......

Page 68: ...ephone 358 10 22 11 Telefax 358 10 22 22681 Internet www abb com ABB Inc Automation Technologies Drives Motors 16250 West Glendale Drive New Berlin WI 53151 USA Telephone 262 785 3200 800 HELP 365 Telefax 262 780 5135 3AFE64506005 Rev B EN EFFECTIVE 21 10 2008 ...

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