ABB RECA-01, User Manual

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Communication profiles
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Communication profiles
What this chapter contains
This chapter describes the communication profiles used in the
communication between the EtherCAT® network, the RECA-01
module, and the drive.
Communication profiles
Communication profiles are ways of conveying control commands
(Control word, Status word, references and actual values)
between the master station and the drive.
With the RECA-01 module, the either master may employ either
the CANopen DSP 402 (Device Profile Drives and Motion Control)
profile or the ABB Drives profile. The Control Word, Status Word,
references and actual values of these profiles are described in the
following sections.
The CANopen device profile DSP 402
This section describes the basic functionality of the DSP 402
profile. The DSP 402 is a standardized device profile used for
digital controlled motion products (e.g. frequency converters) and
is part of the CANopen specification. Additional information can be
obtained from
www.can-cia.org .
Device Control state machine
The start and stop of the drive and several mode specific
commands are executed by the Device Control state machine.
This is described in figure
State machine, DSP 402
communication profile on page 38. The Control Word is the
principal means for controlling the drive from a fieldbus system. It
is sent by the fieldbus master to the drive through the adapter
module. The drive switches between its states according to the