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Communication profiles

Figure 4. State machine, DSP 402 communication profile

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

CW: xxxxxxxx0xxxx01x

CW: xxxxxxxx0xxxx110

CW: xxxxxxxx0xxxx111

CW: xxxxxxxx0xxxx01x

CW: xxxxxxxx0xxxxx0x

CW: xxxxxxxx0xxx0111

CW: xxxxxxxx0xxx1111

CW: xxxxxxxx0xxxx110

Quick stop

completed

CW: xxxxxxxx0xxxx01x

CW: xxxxxxxx0xxxxx0x

CW: Control Word

SW: Status Word

SWITCH-ON

SW: xxxxxxxxx1xx0000

DISABLED

SWITCHED ON

SW: xxxxxxxxx01x0011

READY TO

SW: xxxxxxxxx01x0001

SWITCH ON

OPERATION

SW: xxxxxxxxx01x0111

ENABLED

QUICK STOP

SW: xxxxxxxxx0xx0111

ACTIVE

CW: xxxxxxxx0xxxxx0x

State transition

(0)

(1)

(15)

(2)

(7)

(3)

(6)

(10)

(12)

(9)

(8)

(5)

(4)

(11)

Summary of Contents for RECA-01

Page 1: ...ABB Drives User s Manual EtherCAT Adapter Module RECA 01 ...

Page 2: ...EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany ...

Page 4: ......

Page 5: ...The drive 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 5 minutes to discharge 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 ...

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

Page 7: ...this manual contains 11 Terms used in this manual 13 Communication module 13 Data sets and data words 13 RECA 01 CANopen Adapter module 13 Parameter 13 Further information 13 Product and service inquiries 14 Product training 14 Providing feedback on ABB Drives manuals 14 Overview 15 What this chapter contains 15 EtherCAT 15 RECA 01 EtherCAT Adapter module 15 Compatibility 17 Delivery check 17 Warr...

Page 8: ...ntains 27 General cabling instructions 27 EtherCAT connections 27 Drive configuration 29 What this chapter contains 29 RECA 01 configuration 29 1 MODULE TYPE 30 2 TRANSPARENT PROFILE MODE 30 Master configuration 31 What this chapter contains 31 Configuring the system 31 Device Description Files 31 Communication profiles 33 What this chapter contains 33 Communication profiles 33 The CANopen device ...

Page 9: ... Communication 47 What this chapter contains 47 EtherCAT frame structure 47 EtherCAT Services 48 Addressing modes and FMMUs 48 Position addressing 48 Node addressing 48 Logical addressing 49 Sync managers 49 Sync manager channel 0 49 Sync manager channel 1 49 Sync manager channel 2 49 Sync manager channel 3 50 Watchdogs 50 PDI watchdog 50 Sync manager watchdog 50 EtherCAT state machine 50 CANopen ...

Page 10: ...pecific profile objects 65 Drive data sets 66 Drive data sets 67 Drive actual signals and parameters 67 Drive signals and parameters 68 DSP 402 profile objects 69 DSP 402 profile objects 69 CoE Error codes 73 What this chapter contains 73 Error codes 73 CoE error codes 73 Definitions and abbreviations 81 Technical data 83 What this chapter contains 83 RECA 01 83 EtherCAT link 84 ...

Page 11: ... installation of the extension module In addition to conventional installation tools have the drive manuals available during the installation as they contain important information not included in this manual The drive manuals are referred to at various points of this manual What this manual contains This manual contains information on the wiring configuration and the use of the RECA 01 EtherCAT Ad...

Page 12: ...CAT master before the communication through the adapter module can be started Communication profiles describes the communication profiles used in the communication between the EtherCAT network the RECA 01 module and the drive Communication contains a description of how data is transmitted through the RECA 01 module Diagnostics explains how to trace faults with the status LEDs on the RECA 01 module...

Page 13: ... sometimes called the Command Word and the Status Word References and Actual Values see chapter Communication profiles on page 33 are types of data words the contents of some data words are user definable RECA 01 CANopen Adapter module The RECA 01 CANopen Adapter module is one of the optional fieldbus adapter modules available for ABB drives The RECA 01 is a device through which an ABB drive is co...

Page 14: ...ound by navigating to www abb com drives and selecting Drives World wide service contacts on the right pane Product training For information on ABB product training navigate to www abb com drives and select Drives Training courses on the right pane Providing feedback on ABB Drives manuals Your comments on our manuals are welcome Go to www abb com drives then select successively Drives Document Lib...

Page 15: ...ract or insert relevant data and transfer the frame to the next EtherCAT slave device The last slave device in the bus segment sends the fully processed frame back so that it is returned by the first slave to the master as a kind of response frame There are several protocols that can be used as the application layer One protocol technology applied to EtherCAT and RECA 01 is CANopen which defines S...

Page 16: ...to which commands are supported by the drive The adapter module is mounted into an option slot on the motor control board if the drive See the drive manuals for module placement options The module is classified as a full EtherCAT slave Device Description files for ABB Drives are available through your local ABB representative and the ABB Library www abb com Figure 1 The RECA 01 Adapter module Ethe...

Page 17: ...efer to local terms of liability as defined in the supply contract The manufacturer is not responsible for any costs resulting from a failure if the installation commissioning repair alternation or ambient conditions of the unit do not fulfil the requirements specified in the documentation delivered with the unit and other relevant documentation units subjected to misuse negligence or accident uni...

Page 18: ...r fitness for a particular purpose If you have any questions concerning your ABB drive please contact the local distributor or ABB office The technical data information and specifications are valid at the time of printing The manufacturer reserves the right to modifications without prior notice ...

Page 19: ...ructions given in this manual and the Hardware Manual of the drive Mechanical installation Insert the RECA 01 into its specified slot in the drive SLOT2 for ACS550 SLOT1 for ACS800 Fasten the two screws Electrical installation Connect the Ethernet cable RJ 45 connector to the RECA 01 module Standard CAT 5 UTP or STP cables can be used Avoid parallel runs with power e g motor cables ...

Page 20: ...ERCAT Select either ABB Drives or DSP 402 communication with parameter 51 02 In ACS800 also set parameter 98 07 COMM PROFILE to ABB DRIVES or GENERIC DSP 402 Initiate a Fieldbus adapter parameter refresh with parameter 51 27 FBA PAR REFRESH Configure the drive to accept Start Stop Direction Reference Run Enable and Fault Reset from the module Examples of appropriate values with ACS550 are shown in...

Page 21: ...ive The files can be obtained from your local ABB representative or from www abb com Add the drive to the network configuration either manually or by scanning subdevices boxes in the EtherCAT device see figure Scan Boxes in TwinCAT on page 22 51 01 MODULE TYPE ETHERCAT 51 02 TRANSPARENT PROFILE MODE 1 TRANSPARENT ABB DRIVES 98 02 COMM PROT SEL EXT FBA Drive parameter Example setting for ACS800 10 ...

Page 22: ...nfiguring process data in TwinCAT on page 23 Basic examples If you are using the DSP 402 communication profile assign the default TxPDO 6 to the input assignment 0x1C13 and the default RxPDO 6 to the output assignment 0x1C12 If you are using the ABB drives profile assign the default TxPDO 21 to the input assignment 0x1C13 and the default RxPDO 21 to the output assignment 0x1C12 ...

Page 23: ...ing process data in TwinCAT The configuration will be transferred to the module when its state is changed from Pre operational to Safe operational It might also be necessary to reload I O devices by pressing F4 in TwinCAT to apply the changes ...

Page 24: ...Quick start up guide 24 ...

Page 25: ... The screws also provide the earthing of the CAT 5 STP cable shield connected to the module and interconnect 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 ...

Page 26: ...Mechanical installation 26 ...

Page 27: ...ltages connected from external control circuits to the inputs and outputs of the drive General cabling instructions Arrange the bus cables as far away from the motor cables as possible Avoid parallel runs Use bushings at cable entries EtherCAT connections The network cables can be connected to the two RJ45 connectors X1 and X2 on the RECA 01 module Standard CAT 5 UTP CAT 5 FTP or CAT 5 STP cables ...

Page 28: ...Electrical installation 28 ...

Page 29: ...ction 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 The detailed procedure of activating the drive for communication with the module is dependent on the drive type Normally a parameter must be adjusted to activate the communication Please refer to the drive doc...

Page 30: ...e drive and the module has not been established 2 TRANSPARENT PROFILE MODE This parameter is used for choosing either the transparent ABB Drives or the DSP 402 communication profile This selection can also be changed with CoE object 0 2400 hex Par no Parameter name Alternative settings Default setting 1 MODULE TYPE Read only ETHERCAT 2 TRANSPARENT PROFILE MODE 0 Profile mode DSP 402 1 Transparent ...

Page 31: ...s in previous chapters and initialized by the drive the master system must be prepared for communication with the module Please refer to the master system documentation for more information Device Description Files Device Description Files are XML files that specify the properties of the slave device for the EtherCAT master The description files contain information on the supported communication o...

Page 32: ...Master configuration 32 ...

Page 33: ...e 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 ...

Page 34: ... described in table Status Word of DSP 402 on page 36 The Control Word can be found in CoE object 0x6040 hex and the Status Word in CoE object 0x6041 hex see chapter CoE object dictionary page 59 Control Word of DSP 402 Bit Name Value Description 0 Switch ON The functionality of bits 0 3 and 7 are described in table Operation of bits 0 3 and 7 of the DSP 402 Control Word on page 35 1 Enable voltag...

Page 35: ...The functionality of bits 0 3 and 7 are described in table Operation of bits 0 3 and 7 of the DSP 402 Control Word 8 Halt not used 9 10 Reserved 11 15 Drive specific not used Control Word bit Command Fault reset bit 7 Enable operation bit 3 Quick stop bit 2 Enable voltage bit 1 Switch on bit 0 State transitions Shut down 0 X 1 1 0 2 6 8 Switch on 0 0 1 1 1 3 Switch on 0 1 1 1 1 3 4 Disable voltage...

Page 36: ...oltage enabled 0 No high voltage applied to drive 1 High voltage applied to drive 5 Quick stop 0 Quick stop is active 1 Normal operation 6 Switch on disabled 0 Switch on enabled 1 Switch on disabled 7 Warning 0 No warning alarms 1 Warning Alarm is active 8 Drive specific 0 ACx550 No External Run Enable signal received 1 ACx550 External Run Enable signal received ACS800 User settable 9 Remote 0 Dri...

Page 37: ...e Standard control program the bits are configured with drive parameters 92 07 92 08 and 92 09 12 13 Reserved 14 Drive specific 0 ACx550 External control location EXT1 selected 1 ACx550 External control location EXT2 selected ACS800 User settable 15 Drive specific 0 ACx550 Not used ACS800 User settable Bit Name Value Description ...

Page 38: ... xxxxxxxx0xxxx110 CW xxxxxxxx0xxxx110 CW xxxxxxxx0xxxx111 CW xxxxxxxx0xxxx01x or CW xxxxxxxx0xxxxx0x CW xxxxxxxx0xxx0111 CW xxxxxxxx0xxx1111 CW xxxxxxxx0xxxx110 Quick stop completed CW xxxxxxxx0xxxx01x CW xxxxxxxx0xxxxx0x CW Control Word SW Status Word SWITCH ON SW xxxxxxxxx1xx0000 DISABLED SWITCHED ON SW xxxxxxxxx01x0011 READY TO SW xxxxxxxxx01x0001 SWITCH ON OPERATION SW xxxxxxxxx01x0111 ENABLED...

Page 39: ... effort CoE object 0x6044 hex It is a 16 bit word containing a sign bit and a 15 bit integer A negative reference indicating reversed direction of rotation is formed by calculating the two s complement from the corresponding positive reference The actual value is used by the master to monitor the actual speed of the drive The unit of the control effort is rpm This value can be scaled with the Vl d...

Page 40: ... of the ABB Drives communication profile The upper case boldface text refers to the states shown in figure State machine ABB Drives communication profile on page 44 Control Word of ABB Drives profile Bit Name Value STATE Description 0 OFF1_ CONTROL 1 Proceed to READY TO OPERATE 0 Stop along currently active deceleration ramp Proceed to OFF1 ACTIVE proceed to READY TO SWITCH ON unless other interlo...

Page 41: ...tage limits in force 5 RAMP_HOLD 1 Enable ramp function Proceed to RAMP FUNCTION GENERATOR ACCELERATOR ENABLED 0 Halt ramping Ramp Function Generator output held 6 RAMP_IN_ ZERO 1 Normal operation Proceed to OPERATING Note Effective only if the fieldbus interface is set as the source for this signal by drive parameters 0 Force Ramp Function Generator input to zero 7 RESET 0 1 Fault reset if an act...

Page 42: ...eleration acceleration ramp are locked 11 EXT_CTRL_ LOC 1 Select External Control Location EXT2 Effective if control location is parameterised to be selected from fieldbus 0 Select External Control Location EXT1 Effective if control location is parameterised to be selected from fieldbus 12 to 15 Reserved Status Word of the ABB Drives profile Bit Name Value STATE Description 0 RDY_ON 1 READY TO SWI...

Page 43: ... location REMOTE EXT1 or EXT2 0 Drive control location LOCAL 10 ABOVE_ LIMIT 1 Actual frequency or speed equals or exceeds supervision limit set by drive parameter Valid in both directions of rotation 0 Actual frequency or speed within supervision limit 11 EXT_CTRL_ LOC 1 External Control Location EXT2 selected 0 External Control Location EXT1 selected 12 EXT_RUN_E NABLE 1 External Run Enable sign...

Page 44: ...F2 CW Bit1 0 SW Bit4 0 B B C D CW Bit4 0 CW xxxx x1xx xxx1 1111 CW xxxx x1xx xx11 1111 D CW Bit6 0 A C CW xxxx x1xx x111 1111 SW Bit8 1 D from any state Fault SW Bit3 1 CW Bit7 1 CW xxxx x1xx xxxx x111 CW xxxx x1xx xxxx 1111 and SW Bit12 1 CW Control Word SW Status Word n Speed I Input Current RFG Ramp Function Generator f Frequency ABB Drives Communication Profile SWITCH ON INHIBITED NOT READY TO...

Page 45: ...x 3 Reference 2 ABB drives can receive control information from multiple sources including analogue and digital inputs the drive control panel and a communication module e g RECA 01 In order to have the drive controlled through the fieldbus the module must be defined as the source for control information e g reference Scaling References are scaled as shown below Note The values of REF1 MAX and REF...

Page 46: ...r The ABB Drives profile actual values can be found in CoE objects 0x2008 hex Transparent Actual Value and 0x4000 hex subindex 6 Actual Value 2 Scaling Actual values are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set by drive parameters See the drive manuals for further information 0 REFx MAX REFx MAX 0 ACT2 10000 ACT1 20000 ACT2 10000 ACT1 20000 Drive Fieldbus ...

Page 47: ...ssing individual devices and or memory areas The telegrams can be transported either directly in the data area of the Ethernet frame or within the data section of an UDP datagram transported via IP The EtherCAT frame structure is pictured in following figure EtherCAT frame structure Each EtherCAT telegram consists of an EtherCAT header the data area and a working counter which is incremented by al...

Page 48: ...D Broadcast write BWR Logical read LRD Logical write LWR Logical read write LRW Auto increment physical read multiple write ARMW Configured address read multiple write FRMW Addressing modes and FMMUs There are a number of different addressing modes which can be used by the master to communicate with EtherCAT slaves As a full slave RECA 01 supports the following addressing modes Position addressing...

Page 49: ...them for any purpose Sync managers Sync managers control the access to the application memory Each channel defines a consistent area of the application memory RECA 01 has four sync manager channels Their functions are described below The mailbox protocol and process data are described later in this chapter Sync manager channel 0 Sync manager 0 is used for mailbox write transfers mailbox from maste...

Page 50: ... sync manager watchdog monitors the output sync managers If the output I O data is not updated by the master within the configured time the watchdog will timeout and reduce the state of the module from OP to SAFEOP The resolution of this watchdog is 1 ms Note EtherCAT by design provides no way for a slave to monitor the connection to the master if the slave has no output data Note The drive reacti...

Page 51: ...nput I O data PDOs is sent from the module to the EtherCAT master but there is no output I O data from the master to the module In order to communicate Output I O data the master must switch the module to the OP state CANopen over EtherCAT CoE The application layer communication protocol in EtherCAT is based on the CANopen DS 301 communication profile and is called CANopen over EtherCAT or CoE The...

Page 52: ...d the slave Tx PDOs are used to transfer data from the slave to the master and Rx PDOs to transfer data from the master to the slave PDO mapping defines which application objects are transmitted inside a PDO These typically include the Control and Status Words References and Actual Values but most CoE dictionary objects and drive parameters can be mapped for cyclical communication RECA 01 has thre...

Page 53: ...ings with objects 0x1A00 0x1A05 and 0x1A14 hex The format of the PDO mapping is described in table Format of the PDO mapping example for drive parameter 12 02 on page 54 Rx and Tx Sync Manager PDO assignments are configured with CoE objects 0x1C12 and 0x1C13 hex respectively By default PDO1 is enabled and assigned to the sync managers Mapped object Rx PDO 1 Rx PDO 6 Rx PDO 21 1 0 6040 hex Control ...

Page 54: ...e read The services supported by RECA 01 are described in table Supported SDO and SDO Information services below Supported SDO and SDO Information services Type MSB LSB UNIT 32 31 16 15 8 7 0 Description Index e g 0 400C hex Drive parameter group 12 16 bits Sub index e g 2 Drive parameter group 12 8 bits Object length in bits e g 0 10 hex 16 bits 8 bits Service Function SDO Download Expedited Writ...

Page 55: ...bject is transmitted per fault EMCY objects are transmitted via the Mailbox interface There are a number of error codes specified for different events The error codes are listed in the chapter CoE Error codes on page 73 Abort SDO Transfer Server abort of service in case of an erroneous condition Get OD List Reads a list of available indices Get Object Description Reads details of an index Get Entr...

Page 56: ...Communication 56 ...

Page 57: ...e green EtherCAT RUN LED indicates the status of the EtherCAT network state machine LED 2 ETHERCAT RUN Off The device is in init state Green Blinking The device is in pre operational state Flashing rate about 2 5 Hz Green Single flash The device is in safe operational state Single flash is one short flash approx 200 ms followed by a long off phase approx 1000 ms Green On The device is in operation...

Page 58: ... flash A sync manager watchdog timeout has occurred Double flash is two short flashes approx 200 ms each separated by an off phase approx 200 ms and then a long off phase approx 1000 ms Five quick flashes A configuration error has occurred illegal configuration data set from drive is detected A re configuration followed by a new power cycle is needed to reset the CONFIG ERROR On A application watc...

Page 59: ...T slaves implementing the CoE communication protocol The objects are described in following table Communication profile objects Communication profile objects Index hex Sub index Name Type Attri bute Information 0 1000 0 Device type U32 RO Describes the type of the device Composed of two 16 bit fields one for device profile the other for additional information The object value of the RECA 01 is 0 0...

Page 60: ...as to the relevant subindex 1 Save all parameters U32 RW Stores all parameters to memory 2 Save communication objects 0 1000 0 1A16 parameters U32 RW Communication parameters are not stored in the module 3 Save drive profile objects 0 603F 0 60FE 0 2001 0 200B parameters U32 RW All profile parameters are saved 4 Save drive parameters U32 RW Store drive parameters Index hex Sub index Name Type Attr...

Page 61: ...ameters are not stored on the module 3 Restore drive profile objects 0 603F 0 60FE 0 2001 0 200B parameters U32 RW Restore all DSP 402 parameters 4 Restore drive parameters U32 RW Restore drive default parameters 0 1018 0 Identity object U8 RO Number of entries 1 Vendor ID U32 RO Value 0 B7 ABB Oy 2 Product code U32 RO Drive dependent e g 0 201 ACS550 3 Revision U32 RO Module software revision for...

Page 62: ...rget velocity n Mapped object n U32 RW Mapped objects 3 8 are empty by default 0 1614 0 Receive PDO21 Mapping U8 RW Number of mapped application objects 0 8 1 Mapped object 1 U32 RW Default 0 2005 Transparent Control Word 2 Mapped object 2 U32 RW Default 0 2006 Transparent reference n Mapped object n U32 RW Mapped objects 3 8 are empty by default 0 1A00 0 Transmit PDO1 Mapping U32 RW Number of map...

Page 63: ...apped object 1 U32 RW Default 0 2007 Transparent Status Word 2 Mapped object 2 U32 RW Default 0 2008 Transparent Actual Value n Mapped object n U32 RW Mapped objects 3 8 are empty by default 0 1C00 0 Sync manager communication type U8 RO Number of entries 1 Sync manager 0 communication type U8 RO Value Mailbox write 1 2 Sync manager 1 communication type U8 RO Value Mailbox read 2 3 Sync manager 2 ...

Page 64: ...guration are included The objects are described in table Manufacturer specific profile objects on page 65 0 1C12 0 Sync manager Rx PDO assign U8 RW Number of assigned PDOs 0 3 1 Assigned PDO 1 U16 RW 2 Assigned PDO 2 U16 RW 3 Assigned PDO 3 U16 RW 0 1C13 0 Sync manager Tx PDO assign U8 RW Number of assigned PDOs 0 3 1 Assigned PDO 1 U16 RW 2 Assigned PDO 2 U16 RW 3 Assigned PDO 3 U16 RW Index hex ...

Page 65: ...it 0 1 0 2002 0 Output power U16 RO Unit 0 1 kW 0 2003 0 Drive temperature U32 RO Unit 0 001 degrees Celsius 0 2004 0 Transparent Profile mode U8 RW An object for choosing the communication profile 0 Profile mode DSP 402 1 Transparent ABB Drives profile mode This object can only be modified in the state PRE OP 0 2005 0 Transparent Control Word U16 RW See chapter Communication profiles on page 33 0...

Page 66: ... 0 Vendor specific alarm codes U8 RO Number of entries See the drive manual for descriptions of the alarm codes 1 Alarm code 1 latest U16 RO 2 Alarm code 2 U16 RO 3 Alarm code 3 U16 RO 4 Alarm code 4 U16 RO 5 Alarm code 5 U16 RO 0 200B 0 Vendor specific fault codes U8 RO Number of entries See the drive manual for descriptions of the fault codes 1 Fault code 1 latest U16 RO 2 Fault code 2 U16 RO 3 ...

Page 67: ...ntries RW Number of supported data sets depends on the application software of the drive 1 Control Word U16 RW Data set 1 Word 1 2 Reference 1 INT16 RW Data set 1 Word 2 3 Reference 2 INT16 RW Data set 1 Word 3 4 Status Word U16 RO Data set 2 Word 1 5 Actual Value 1 INT16 RO Data set 2 Word 2 6 Actual Value 2 INT16 RO Data set 2 Word 3 7 Reference 3 INT16 RW Data set 3 Word 1 8 Reference 4 INT16 R...

Page 68: ...rive signals and parameters Note Drive parameter values written through the network are not automatically saved to the permanent memory of the drive A parameter save should be initiated in the drive to retain the changes after a power cycle Drive signals and parameters Index hex Subindex Name Type Attribute Information 4001 1 Drive signal 1 01 1 2 3 2 Drive signal 1 02 1 2 3 4002 1 Drive signal 2 ...

Page 69: ...3F 0 Error code U16 RO See chapter CoE Error codes on page 73 0 6040 0 Controlword U16 RW See chapter Communication profiles on page 33 0 6041 0 Statusword U16 RO 0 6042 0 VI target velocity INT16 RW 0 6043 0 VI velocity demand INT16 RO Instantaneous velocity provided by the ramp function Scaled to the value of the vl target velocity 0 6044 0 VI velocity actual value INT16 RO See chapter Communica...

Page 70: ...on ramp delta speed delta time 1 Delta speed U32 RW 2 Delta time U16 RW 0 604C 0 Vi dimensions factor INT8 RO Number of entries The dimension factor affects the scaling of other objects 0 6042 0 6043 0 6044 0 6046 0 6048 0 6049 0 604A The parameter can only be modified in the PRE OP state 1 VI dimensions factor numerator INT32 RW The numerator of the scaling factor Default 1 2 VI dimensions factor...

Page 71: ...t dictionary 71 0 6061 0 Modes of operation display INT8 RO A read only copy of object 0 6060 0 6078 0 Current actual value INT16 RO The actual output current Index hex Sub index Name Type Attri bute Information ...

Page 72: ...CoE object dictionary 72 ...

Page 73: ...de 0x0000 hex Error reset or no error The CoE error codes are described in following table CoE error codes Error codes between xx80 xxFF hex and between FF00 FFFF hex are manufacturer specific Descriptions for these error codes can be found in the appropriate drive firmware manual and or the drive fault code parameter CoE error codes Error code hex Meaning 0000 Error reset or no error 1000 Generic...

Page 74: ... 2230 Short circuit earth leakage 2240 Earth leakage 2250 Short circuit 2300 Current on device output side 2310 Continuous overcurrent 2311 Continuous overcurrent No 1 2312 Continuous overcurrent No 2 2320 Short circuit earth leakage 2330 Earth leakage 2331 Earth leakage phase U 2332 Earth leakage phase V 2333 Earth leakage phase W 2340 Short circuit 2341 Short circuit phases U V 2342 Short circui...

Page 75: ...ns frequency 3141 Mains frequency too great 3142 Mains frequency too small 3200 DC link voltage 3210 DC link overvoltage 3211 Overvoltage No 1 3212 Overvoltage No 2 3220 DC link undervoltage 3221 Undervoltage No 1 3222 Undervoltage No 2 3230 Load error 3300 Output voltage 3310 Output overvoltage 3311 Output overvoltage phase U 3312 Output overvoltage phase V 3313 Output overvoltage phase W 3320 Ar...

Page 76: ...0 Too low temperature drive 4400 Temperature supply 4410 Excess temperature supply 4420 Too low temperature supply 5000 Device hardware 5100 Supply 5110 Supply low voltage 5111 U1 supply 15 V 5112 U2 supply 24 V 5113 U3 supply 5 V 5114 U4 manufacturer specific 5115 U5 manufacturer specific 5116 U6 manufacturer specific 5117 U7 manufacturer specific 5118 U8 manufacturer specific 5119 U9 manufacture...

Page 77: ...tor 5 manufacturer specific 5450 Fuses 5451 S1 L1 5452 S2 L2 5453 S3 L3 5454 S4 manufacturer specific 5455 S5 manufacturer specific 5456 S6 manufacturer specific 5457 S7 manufacturer specific 5458 S8 manufacturer specific 5459 S9 manufacturer specific 5500 Data storage 5510 Working memory 5520 Program memory 5530 Non volatile data memory 6000 Device software 6010 Software reset Watchdog 6100 Inter...

Page 78: ... brake chopper 7120 Motor 7121 Motor blocked 7122 Motor error or communication malfunc 7123 Motor tilted 7200 Measurement circuit 7300 Sensor 7301 Tacho fault 7302 Tacho wrong polarity 7303 Resolver 1 fault 7304 Resolver 2 fault 7305 Incremental sensor 1 fault 7306 Incremental sensor 2 fault 7307 Incremental sensor 3 fault 7310 Speed 7320 Position 7400 Computation circuit 7500 Communication 7510 S...

Page 79: ...fault 8400 Rotational speed controller 8500 Position controller 8600 Positioning controller 8611 Following error 8612 Reference limit 8700 Sync controller 8800 Winding controller 9000 External error F000 Additional functions F001 Deceleration F002 Sub synchronous run F003 Stroke operation F004 Control FF00 Manufacturer specific FFFF Manufacturer specific Error code hex Meaning ...

Page 80: ...CoE Error codes 80 ...

Page 81: ...on of errors that have occurred in a device Object Dictionary A local storage of all communication objects recognized by the device OSI Open Systems Interconnection PDO Process Data Object Used for transmitting time critical data such as control commands references and actual values RO Denotes read only access RW Denotes read write access SDO Service Data Object Used for transmitting non time crit...

Page 82: ...Definitions and abbreviations 82 ...

Page 83: ...ECA 01 Mounting Into an option slot on the control board of the drive Degree of protection IP20 Ambient conditions The applicable ambient conditions specified for the drive hardware manual are in effect Settings Through drive parameters 95 mm 36 mm 22 mm 62 mm 1 2 ON RECA 01 ETHERCAT ADAPTER CHASSIS X1 X2 NETWORK LINK ACTIVITY 2 LINK ACTIVITY 1 ETHERCAT RUN ETHERCAT ERROR GND OUT NETWORK IN ...

Page 84: ...ifetime 100 000 h All materials are UL CSA approved Complies with EMC Standards EN 50081 2 and EN 50082 2 EtherCAT link Compatible devices All EtherCAT compliant devices Medium 100 base TX Termination Internal Wiring CAT 5 UTP CAT 5 FTP or CAT 5 STP Recommended Connector RJ 45 Maximum segment length 100 m Serial Communication Type Full duplex Transfer Rate 100 Mbit s Protocol EtherCAT ...

Page 85: ...uct training For information on ABB product training navigate to www abb com drives and select Training courses Providing feedback on ABB Drives manuals Your comments on our manuals are welcome Go to www abb com drives and select Document Library Manuals feedback form LV AC drives Document library on the Internet You can find manuals and other product documents in PDF format on the Internet Go to ...

Page 86: ...ogies Drives Motors 16250 West Glendale Drive New Berlin WI 53151 USA Telephone 262 785 3200 800 HELP 365 Fax 262 780 5135 ABB Beijing Drive Systems Co Ltd No 1 Block D A 10 Jiuxianqiao Beilu Chaoyang District Beijing P R China 100015 Telephone 86 10 5821 7788 Fax 86 10 5821 7618 Internet www abb com 3AUA0000043520 REV B EN EFFECTIVE 2010 04 23 ...

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