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Overview of the CANopen protocol and the FCAN-01 adapter module 23

Overview of the CANopen

protocol and the FCAN-01

adapter module

What this chapter contains

This chapter contains a short description of the CANopen protocol

and the FCAN-01 CANopen adapter module.

CANopen protocol

CANopen is a higher layer protocol based on the CAN (Control

Area Network) serial bus system and the CAL (CAN Application

Layer). CANopen assumes that the hardware of the connected

device has a CAN transceiver and a CAN controller as specified in

ISO 11898.
The CANopen Communication Profile, CiA 301, includes both

cyclic and event driven communication, which makes it possible to

reduce the bus load to minimum while still maintaining extremely

short reaction times. High communication performance can be

achieved at relatively low baud 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

adapter module fulfills CiA (CAN in Automation) specification CiA

402 (CANopen device profile for drives and motion control).

Содержание FCAN-01

Страница 1: ... OPTION FOR ABB DRIVES CONVERTERS AND INVERTERS FCAN 01 CANopen adapter module User s manual ...

Страница 2: ... PDF format on the Internet See section Document library on the Internet on the inside of the back cover For manuals not available in the Document library contact your local ABB representative The code below opens an online listing of the manuals applicable to the product Fieldbus connectivity webpage FCAN 01 manual ...

Страница 3: ... User s manual FCAN 01 CANopen adapter module 3AFE68615500 Rev F EN EFFECTIVE 2018 03 16 2018 ABB Oy All Rights Reserved 1 Safety instructions Table of contents 4 Mechanical installation 5 Electrical installation ...

Страница 4: ......

Страница 5: ...7 Contents 18 Cybersecurity disclaimer 19 Terms and abbreviations used in this manual 20 Terms 20 CANopen abbreviations 21 3 Overview of the CANopen protocol and the FCAN 01 adapter module What this chapter contains 23 CANopen protocol 23 Topology of the CANopen link 24 FCAN 01 CANopen adapter module 25 Layout of the adapter module 26 4 Mechanical installation What this chapter contains 27 Necessa...

Страница 6: ... B group 2 51 FCAN 01 configuration parameters group C group 3 54 Additional information on the virtual address area allocation 57 Control locations 58 Starting up ACS355 drives 58 Parameter setting examples ACS355 59 CiA 402 vl velocity mode with default PDO mapping 59 Speed and torque control using ABB Drives communication profile with parameter configured PDO mapping 61 Starting up ACSM1 drives...

Страница 7: ...tion mode 91 Position demand value 91 Position actual value 91 Interpolated position mode 91 Profile velocity mode 91 Target velocity 92 Velocity actual value 92 Profile torque mode 92 Target torque 92 Torque actual value 92 Velocity mode 93 Target velocity of CiA 402 Velocity mode 93 Control effort of CiA 402 Velocity mode 93 Control word and Status word of the CiA 402 profile 93 State machine 99...

Страница 8: ...wnload 124 SDO Upload 125 Read Service SDO Upload 126 Initiate SDO Upload Protocol 126 Write Service SDO Download 127 Initiate SDO Download Protocol 127 Abort SDO Transfer 128 Abort SDO Transfer Protocol 128 Abort code description 129 CANopen Object Dictionary 131 Object Dictionary Structure 131 Communication profile area 1000 1FFF 132 Manufacturer specific profile area 2000 5FFF 143 Manufacturer ...

Страница 9: ...open link 159 11 Appendix A Dictionary structure and entries What this chapter contains 161 Description of transmission type 162 Description of PDO COB ID entry 162 PDO mapping entry structure example 163 12 Appendix B CANopen error codes What this chapter contains 165 Error codes 165 Further information ...

Страница 10: ...10 Table of contents ...

Страница 11: ...s the warning symbols used in this manual and the safety instructions which you must obey when you install or connect an optional module to a drive converter or inverter If you ignore the safety instructions injury death or damage can occur Read this chapter before you start the installation ...

Страница 12: ...hey also tell you how to prevent the danger The manual uses these warning symbols Electricity warning tells you about hazards from electricity which can cause injury or death or damage to the equipment General warning tells you about conditions other than those caused by electricity which can cause injury or death or damage to the equipment ...

Страница 13: ...e work Disconnect the drive converter or inverter from all possible power sources After you have disconnected the drive converter or inverter always wait for 5 minutes to let the intermediate circuit capacitors discharge before you continue Disconnect all dangerous voltages connected to other control signal connectors in reach For example it is possible that 230 V AC is connected from outside to a...

Страница 14: ...14 Safety instructions ...

Страница 15: ... This chapter introduces this manual Purpose of the manual The manual provides information on installing commissioning and using the FCAN 01 CANopen adapter module Applicability This manual applies to the FCAN 01 CANopen adapter module K457 SW version 1 046 or later ...

Страница 16: ...ual and the applicable drive manual that contains the hardware and safety instructions for the product in question You are expected to know the fundamentals of electricity wiring electrical components and electrical schematic symbols The manual is written for readers worldwide Both SI and imperial units are shown Before you start It is assumed that the drive is installed and ready to operate befor...

Страница 17: ...106930A3150 ACS580 01 manuals 9AKK105713A8085 ACS580 04 manuals 9AKK106930A9060 ACS580 07 75 to 250 kW manuals 9AKK106930A5239 ACS580 07 250 to 500 kW 9AKK106713A0278 ACS850 04 manuals 00592009 ACS880 01 manuals 9AKK105408A7004 ACS880 04 manuals 9AKK105713A4819 ACS880 07 manuals 45 to 710 kW 9AKK105408A8149 ACS880 07 560 to 2800 kW 9AKK105713A6663 ACS880 17 132 to 355 kW 9AKK106930A3466 ACS880 17 ...

Страница 18: ...instructions Start up presents the steps to take during the start up of the drive with the adapter module and gives examples of configuring the master system Communication profiles describes the communication profiles used in communication between the CANopen network the adapter module and the drive Communication protocol describes the communication on a CANopen network Diagnostics explains how to...

Страница 19: ...ls application of authentication measures encryption of data installation of anti virus programs etc to protect the product the network its system and the interface against any kind of security breaches unauthorized access interference intrusion leakage and or theft of data or information ABB and its affiliates are not liable for damages and or losses related to such security breaches any unauthor...

Страница 20: ...ord FCAN 01 CANopen adapter module One of the optional fieldbus adapter modules available for ABB drives FCAN 01 is a device through which an ABB drive is connected to a CANopen network Object dictionary Local storage of all Communication Objects COB recognized by a device Parameter Operating instruction for the drive Parameters can be read and programmed with the drive control panel drive PC tool...

Страница 21: ...required when configuring the CAN network The EDS file contains general information on the node and its dictionary objects parameters EDS files for ABB Drives are available at the Document library www abb com drives LMT Layer Management one of the service elements of the CAN Application Layer in the CAN Reference Model It serves to configure parameters for each layer in the CAN Reference Model LSB...

Страница 22: ...2 About the manual RO Denotes read only access RW Denotes read write access SDO Service Data Object a type of COB Used for transmitting non time critical data such as parameters Abbreviation Explanation ...

Страница 23: ...connected device has a CAN transceiver and a CAN controller as specified in ISO 11898 The CANopen Communication Profile CiA 301 includes both cyclic and event driven communication which makes it possible to reduce the bus load to minimum while still maintaining extremely short reaction times High communication performance can be achieved at relatively low baud rates thus reducing EMC problems and ...

Страница 24: ...oretical number of nodes is 127 However in practice the maximum number depends on the capabilities of the used CAN transceivers Further information is available from the CAN in Automation International Users and Manufacturers Group www can cia org Topology of the CANopen link The figure below shows an example topology of the CANopen link CANopen master ABB drive Other slave device T Termination T ...

Страница 25: ...le feed a motor speed torque or position 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 change drive parameter values reset a drive fault The CANopen commands and services supported by the adapter module are discussed in chapter Communication protocol on page 109 Refer to the driv...

Страница 26: ...yout of the adapter module The following figure describes the layout of the adapter module No Description See chapter 1 Lock Mechanical installation 2 Mounting screw Mechanical installation 3 Bus connector X1 Electrical installation 4 Diagnostic LEDs Diagnostics 1 2 3 4 ...

Страница 27: ...Necessary tools and instructions You will need a Torx TX10 screwdriver to secure the FCAN 01 adapter module to the drive See also the applicable drive hardware manual Unpacking and examining the delivery 1 Open the option package 2 Make sure that the package contains Ethernet POWERLINK adapter module type FCAN 01 this manual 3 Make sure that there are no signs of damage ...

Страница 28: ...has a specific position in the drive Plastic pins a lock and one screw hold the adapter module in place The screw also makes an electrical connection between the module and drive frame for cable shield termination When the adapter module is installed it makes the signal and power connection to the drive through a 20 pin connector When you install or remove the adapter module from the control unit ...

Страница 29: ...w to torque 0 8 N m using a Torx TX10 screwdriver Note A too high torque may break the screws It is necessary to tighten the screw properly to fulfill the EMC requirements and to ensure the proper operation of the module See the applicable drive manual for further instructions on how to install the adapter module to the drive 3 4 ...

Страница 30: ...30 Mechanical installation ...

Страница 31: ...ions instructions on connecting the adapter module to the CANopen network WARNING Obey the safety instructions See chapter Safety instructions on page 11 If you ignore the safety instructions injury or death can occur If you are not a qualified electrician do not do electrical work Necessary tools and instructions See the applicable drive hardware manual ...

Страница 32: ...the bus cable to connector X1 on the adapter module The connector pin allocation described below follows the CANopen specification CiA 301 X1 Description 1 Not in use 2 CAN_L CAN_L bus line dominant low 3 CAN_GND CAN ground 4 Not in use 5 CAN_SHLD Optional CAN shield 6 GND Optional ground 7 CAN_H CAN_H bus line dominant high 8 Not in use 9 CAN_V Optional CAN external power supply Not supported by ...

Страница 33: ...n be connected between the CAN_H and CAN_L wires or a D SUB connector with a built on termination can be used In the following diagram the built on terminations of the D SUB connectors at the first and last nodes are switched on In the following diagram the bus line is terminated with 121 ohm 1 E96 resistors connected between the CAN_L and CAN_H wires at each end Note Further information on CANope...

Страница 34: ... drop calculation The transmission resistance of one connector should be 2 5 10 mohm The following table lists the maximum bus cable length for different node numbers n when minimum dominant value Vdiff out min 1 5 V minimum differential input resistance Rdiff min 20 kohm requested differential input voltage Vth max 1 0 V minimum termination resistance RT min 118 ohm Bus length m Bus cable1 Termin...

Страница 35: ...5 Wire cross section mm2 Maximum length m 1 Maximum length m 2 n 32 n 64 n 100 n 32 n 64 n 100 0 25 200 170 150 230 200 170 0 5 360 310 270 420 360 320 0 75 550 470 410 640 550 480 1 Safety margin of 0 2 2 Safety margin of 0 1 ...

Страница 36: ...36 Electrical installation ...

Страница 37: ...ng the drive for operation with the adapter module drive specific instructions on starting up the drive with the adapter module examples of configuring the master station for communication with the adapter module WARNING Obey the safety instructions given in this manual and the drive documentation ...

Страница 38: ...eral configuration parameters are copied to the drive These parameters are shown in the tables below and must be checked first and adjusted where necessary Note Not all drives display descriptive names for the configuration parameters To help you identify the parameters in different drives the names displayed by each drive are given in grey boxes in the tables An example on how to configure PDOs v...

Страница 39: ... is installed as fieldbus adapter B No Name Value Description Default setting 01 FBA TYPE Read only Shows the fieldbus adapter type as detected by the drive Value cannot be adjusted by the user If the value is 0 None the communication between the drive and the module has not been established 1 CAN open 02 Node ID Selects the node address of the module Each device on the CANopen network must have a...

Страница 40: ...tialization phase when the configuration is taken from the FCAN 01 configuration parameter groups 0 0 Network PDO configuration via CAN bus CANopen objects 1400h 1600h 1405h 1605h 1414h 1614h 1800h 1A00h 1805h 1A05h 1814h and 1A14h only 1 Parameters PDO configuration with drive parameters adapter module configuration parameter group A group 1 group B group 2 and group C group 3 initial values 05 P...

Страница 41: ...d reference from the PLC is multiplied by the value of this parameter plus one For example if the parameter has a value of 99 and a reference of 1000 given by the master the reference will be multiplied by 99 1 100 and forwarded to the drive as 100000 According to the DCU profile this value is interpreted as a reference of 100 rpm in the drive With ACSM1 ACS850 and ACS880 setting this parameter to...

Страница 42: ...ID 200h Node ID 385 1407 dec 181h 57Fh Rx PDO1 is valid and configured to use a custom COB ID defined with this parameter COB ID must be within the allowed PDO COB ID range 181h 57Fh 08 RPDO1 TR type Defines the Rx PDO1 transmission type See chapter Appendix A Dictionary structure and entries on page 161 255 0 255 dec Rx PDO1 transmission type See section Description of transmission type on page 1...

Страница 43: ...ervision is activated upon a successful reception of an Rx PDO1 0 Disable 0 Disable Time out supervision is disabled 1 65535 ms Event time in ms 10 TPDO1 COB ID Defines the COB ID for Tx PDO1 Note It is recommended to use the default COB ID 1 Default 0 Disable Tx PDO1 is not valid disabled COB ID is 80000180h Node ID 1 Default Tx PDO1 is valid and configured to use the default COB ID 180h Node ID ...

Страница 44: ...PDO1 is valid and configured to use a custom COB ID defined with this parameter COB ID must be within the allowed PDO COB ID range 181h 57Fh 14 RPDO6 TR type Defines the Rx PDO6 transmission type See chapter Appendix A Dictionary structure and entries on page 161 255 0 255 dec Rx PDO6 transmission type See section Description of transmission type on page 162 15 RPDO6 EV time Defines the event time...

Страница 45: ... time for the Tx PDO6 asynchronous transmission mode Event timer elapses as a multiple of 1 ms of the entry of this parameter 0 Disable 0 Disable Event timer is disabled 1 65535 ms Event time in ms 19 RPDO21 COB ID Defines the COB ID for Rx PDO21 Note It is recommended to use the default COB ID 0 Disable 0 Disable Rx PDO21 is not valid disabled COB ID is 80000400h Node ID 1 Default Rx PDO21 is val...

Страница 46: ... fails the adapter module sets the communication between the module and the drive to the off line mode Event timer time out timer elapses as a multiple of 1 ms of the entry of this parameter Note The time out supervision is activated upon a successful reception of an Rx PDO21 0 Disable 0 Disable Time out supervision is disabled 1 65535 ms Event time in ms No Name Value Description Default setting ...

Страница 47: ...COB ID 380h Node ID 385 1407 dec 181h 57Fh Tx PDO21 is valid and configured to use a custom COB ID defined with this parameter COB ID must be within the allowed PDO COB ID range 181h 57Fh 23 TPDO21 TR type Defines the Tx PDO21 transmission type See chapter Appendix A Dictionary structure and entries on page 161 255 0 255 dec Tx PDO21 transmission type See section Description of transmission type o...

Страница 48: ...d requires that the bit be always 0 in vl mode 26 Reserved Not used by the adapter module N A 27 FBA par refresh Validates any changed adapter module configuration parameter settings After refreshing the value reverts automatically to 0 Done Note This parameter cannot be changed while the drive is running 0 Done 0 Done Refreshing done 1 Refresh Configure Refreshing 28 Par table ver Read only Displ...

Страница 49: ...file stored in the memory of the drive N A Drive type code of the fieldbus adapter module mapping file 30 Mapping file ver Read only Displays the fieldbus adapter module mapping file revision stored in the memory of the drive in decimal format N A Mapping file revision No Name Value Description Default setting ...

Страница 50: ...s failed more than three times 4 Off line Adapter is off line 5 On line Adapter is on line 6 Reset Adapter is performing a hardware reset 32 FBA comm SW rev Read only Displays the common program revision of the adapter module in format axyz where a major revision number xy minor revision numbers z correction number or letter Example 190A revision 1 90A N A Common program version of the adapter mod...

Страница 51: ...T 1 ACSM1 FBA DATA OUT1 ACS850 ACS880 FBA data out1 Content is defined by a decimal number in the range of 0 to 9999 as follows See also Additional information on the virtual address area allocation on page 57 Note The FCAN 01 configuration parameters are 16 bit parameters If the mapped parameter is a 32 bit parameter it automatically reserves two consecutive parameters For example mapping of a 32...

Страница 52: ...e parameters 02 For ACS355 Rx PDO1 word 3 For other drives Rx PDO1 word 2 See parameter 01 above 0 03 For ACS355 Rx PDO1 word 4 For other drives Rx PDO1 word 3 See parameter 01 above 0 04 For ACS355 Rx PDO6 word 2 For other drives Rx PDO1 word 4 See parameter 01 above 0 05 For ACS355 Rx PDO6 word 3 For other drives Rx PDO6 word 1 See parameter 01 above 0 06 For ACS355 Rx PDO6 word 4 For other driv...

Страница 53: ...Rx PDO21 word 3 See parameter 01 above Note ACS355 has only ten FBA DATA OUT parameters indexes 1 to 10 0 12 For ACS355 N A For other drives Rx PDO21 word 4 See parameter 01 above Note ACS355 has only ten FBA DATA OUT parameters indexes 1 to 10 0 1 The number of parameters in this group may vary by drive type and drive firmware 2 For more information see chapter Communication protocol No 1 Name2 V...

Страница 54: ...CSM1 FBA DATA IN1 ACS850 ACS880 FBA data in1 Content is defined by a decimal number in the range of 0 to 9999 as follows See also Additional information on the virtual address area allocation on page 57 Note The FCAN 01 configuration parameters are 16 bit parameters If the mapped parameter is a 32 bit parameter it automatically reserves two consecutive parameters For example mapping of a 32 bit pa...

Страница 55: ... drive parameters 02 For ACS355 Tx PDO1 word 3 For other drives Tx PDO1 word 2 See parameter 01 above 0 03 For ACS355 Tx PDO1 word 4 For other drives Tx PDO1 word 3 See parameter 01 above 0 04 For ACS355 Tx PDO6 word 2 For other drives Tx PDO1 word 4 See parameter 01 above 0 05 For ACS355 Tx PDO6 word 3 For other drives Tx PDO6 word 1 See parameter 01 above 0 06 For ACS355 Tx PDO6 word 4 For other...

Страница 56: ... Tx PDO21 word 3 See parameter 01 above Note ACS355 has only ten FBA DATA IN parameters indexes 1 to 10 0 12 For ACS355 N A For other drives Tx PDO21 word 4 See parameter 01 above Note ACS355 has only ten FBA DATA IN parameters indexes 1 to 10 0 1 The number of parameters in this group may vary by drive type and drive firmware 2 For more information see chapter Communication protocol No 1 Name2 Va...

Страница 57: ...tus word 16 bit 6041h 6041h 6041h 6041h 6041h 6041h 6041h 5 Actual value 1 16 bit 6077h 6044h 6044h 6044h 6 Actual value 2 16 bit 2000h06 2000h06 7 10 Reserved N A 11 Control word 32 bit 2001h 12 Refer ence 1 32 bit 607Ah 60FFh 2002h 13 Refer ence 2 32 bit 2003h 14 Status word 32 bit 2004h 15 Actual value 1 32 bit 6064h 606Ch 2005h 16 Actual value 2 32 bit 2006h hm homing mode pp profile position ...

Страница 58: ...eter list see the drive documentation Starting up ACS355 drives 1 Power up the drive 2 Enable the communication between the adapter module and the drive with parameter 9802 COMM PROT SEL 3 Set the FCAN configuration parameters in drive parameter group 51 At the minimum set the required node address in parameter 5102 NODE ID the required bit rate in 5103 BIT RATE select the source of the PDO config...

Страница 59: ...appropriate values are shown in the tables below Parameter setting examples ACS355 CiA 402 vl velocity mode with default PDO mapping The following example shows how to configure a basic speed control application that uses the CiA 402 profile The start stop commands are according to the CiA 402 profile velocity control mode Rx PDO1 and Tx PDO1 are enabled by default In ACS355 drives the first mappi...

Страница 60: ... as the source for the PDO settings 5105 FBA PAR 5 PROFILE 0 CiA 402 CiA 402 mode communication profile 3018 COMM FAULT FUNC 1 FAULT Sets the fieldbus communication loss functionality 3019 COMM FAULT TIME 3 0 s Fieldbus communication loss supervision time out 5127 FBA PAR REFRESH 1 REFRESH Fieldbus configuration parameter settings activation 1001 EXT1 COMMANDS 10 COMM Communication module as the s...

Страница 61: ...t stop commands and references are according to the ABB Drives profile For more information see section ABB Drives communication profile on page 100 When reference 1 REF1 is used reference value 20000 decimal corresponds to the reference set with parameter 1105 REF1 MAX in the forward and reverse directions When reference 2 REF2 is used a reference value of 10000 decimal corresponds to the referen...

Страница 62: ...cription 9802 COMM PROT SEL 4 EXT FBA Activates the communication fieldbus module 5101 FBA TYPE 32 CANopen 1 Communication module type 5102 FBA PAR 2 NODE ID 32 Adapter module node ID 5103 FBA PAR 3 BIT RATE 2 250 kbit s 2 Bit rate used on the CANopen network 5104 FBA PAR 4 CONF LOC 1 Parameters PDO configuration is done with FCAN 01 configuration parameters that is ACS355 parameter groups 51 55 a...

Страница 63: ...3 in Tx PDO1 5403 FBA DATA IN 3 106 Signal 106 POWER as mapping entry 4 in Tx PDO1 5501 FBA DATA OUT 1 2 Ref1 16bit Reference 1 as mapping entry 2 in Rx PDO1 5502 FBA DATA OUT 2 3 Ref2 16bit Reference 2 as mapping entry 3 in Rx PDO1 5503 FBA DATA OUT 3 135 Signal 135 COMM VALUE 1 as mapping entry 4 in Rx PDO1 5127 FBA PAR REFRESH 1 REFRESH Activates the fieldbus configuration parameter settings 99...

Страница 64: ...ENABLE 3 With parameter 50 02 COMM LOSS FUNC select how the drive reacts to a fieldbus communication break 1102 EXT1 EXT2 SEL 8 COMM Communication module as the source for the control location selection 1103 REF1 SELECT 8 COMM Communication module as the source for reference 1 1106 REF2 SELECT 8 COMM Communication module as the source for reference 2 1601 RUN ENABLE 7 COMM Communication module as ...

Страница 65: ...tion in 51 04 CONF LOC and the communication profile in 51 05 PROFILE 7 If group 51 is selected as the source for the PDO configuration select the application specific configuration for the PDOs with parameters 51 07 51 24 8 If group 51 is selected as the source for the PDO configuration define the process data transferred to and from the drive in the FCAN 01 configuration parameter groups 52 and ...

Страница 66: ...ote Rx PDO1 and Tx PDO1 are enabled by default The target position and actual value are defined as 32 bit integer values both are scaled as defined by drive parameter settings The target position reference and the position actual value are scaled as follows PDO Word 1 Word 2 3 Length Rx PDO1 6040h Control word 607Ah Target position 48 bits Tx PDO1 6041h Status word 6064h Position actual value 48 b...

Страница 67: ...BA TYPE 32 CANopen 1 Communication module type 51 02 FBA PAR2 NODE ID 32 Adapter module node ID 51 03 FBA PAR3 BIT RATE 3 125 kbit s 2 Bit rate used on the CANopen network 51 04 FBA PAR4 CONF LOC 1 Parameters PDO configuration is done with FCAN 01 configuration parameter group A group 1 B group 2 and C group 3 that is ACSM1 parameter groups 51 52 and 53 51 05 FBA PAR5 PROFILE 0 CiA 402 CiA 402 com...

Страница 68: ...meters automatically reserves also the following cell that is the mapping of 12 to parameter 53 02 reserves also the parameter 53 03 51 27 FBA PAR REFRESH REFRESH Activates the fieldbus configuration parameter settings 10 01 EXT1 START FUNC FBA Communication module as the source for the start stop and direction commands 34 03 EXT1 CTRL MODE 1 Position Selects the position control mode for external...

Страница 69: ...nication break Note This function monitors both communication between the fieldbus master and adapter module and communication between the adapter module and drive 4 With parameter 50 03 Comm loss t out define the time between communication break detection and the selected action 5 Select application specific values for parameters 50 04 50 11 Examples of appropriate values are shown in the tables ...

Страница 70: ...A par refresh to Refresh 10 Set the relevant drive control parameters to control the drive according to the application See the parameter setting examples below Parameter setting examples ACS850 CiA 402 Velocity mode with default PDO mapping This example shows how to configure a basic speed control application that uses the CiA 402 profile The start stop commands are according to the CiA 402 profi...

Страница 71: ... module type 51 02 FBA par2 NODE ID 32 Adapter module node ID 51 03 FBA par3 BIT RATE 3 125 kbit s 2 Bit rate used on the CANopen network 51 04 FBA par4 CONF LOC 0 Network CANopen objects 14xxh 16xxh 18xxh and 1Axxh as the source for the PDO settings 51 05 FBA par5 PROFILE 0 CiA 402 CiA 402 Velocity mode communication profile that is communication profile used by the module 52 01 FBA data in1 4 SW...

Страница 72: ...munication profile on page 100 Reference 1 REF1 value 20000 decimal corresponds to the reference set with parameter 19 01 Speed scaling in the forward and reverse directions The minimum and maximum 16 bit integer values that can be given through the fieldbus are 32768 and 32767 respectively 12 03 Ext1 ctrl mode Speed Selects the speed control mode for external control location EXT1 21 01 Speed ref...

Страница 73: ...s Defines the fieldbus communication break supervision time 50 04 FBA ref1 modesel Speed Defines the fieldbus reference scaling 51 01 FBA type CANopen1 Communication module type 51 02 FBA par2 NODE ID 32 Adapter module node ID 51 03 FBA par3 BIT RATE 3 125 kbit s 2 Bit rate used on the CANopen network 51 04 FBA par4 CONF LOC 1 Parameters PDO1 configuration is done with FCAN 01 configuration parame...

Страница 74: ...Tx PDO1 53 01 FBA data out1 1 CW 16bit 16 bit Control word 1 as mapping entry 1 in Rx PDO1 53 02 FBA data out2 2 Ref1 16bit 16 bit reference as mapping entry 2 in Rx PDO1 51 27 FBA par refresh Refresh Activates the fieldbus configuration parameter settings 10 01 Ext1 start func FBA Communication module as the source for the start stop and direction commands 12 03 Ext1 ctrl mode Speed Selects the s...

Страница 75: ... 50 04 50 11 Examples of appropriate values are shown in the tables below 6 Set the FCAN 01 configuration parameters in drive parameter group 51 At minimum set the required node address in parameter 51 02 Node ID the required bit rate in 51 03 Bit rate select source of the PDO configuration in 51 04 Conf location and the communication profile in 51 05 Profile 7 If the group 51 is selected as the s...

Страница 76: ... below Parameter setting examples ACS880 CiA 402 Velocity mode with default PDO mapping This example shows how to configure a basic speed control application that uses CiA 402 profile The start stop commands are according to the CiA 402 profile velocity control mode Rx PDO1 and Tx PDO1 are enabled by default Note The Tx PDO1 default transmission type is 255 asynchronous and event time is 0 The eve...

Страница 77: ...51 01 FBA type CANopen1 Communication module type 51 02 Node ID 32 Adapter module node ID 51 03 Bit rate 3 125 kbit s2 Bit rate used on the CANopen network 51 04 Conf location 0 Network CANopen objects 14xxh 16xxh 18xxh and 1Axxh as the source for the PDO settings 51 05 Profile 0 CiA 402 CiA 402 Velocity mode communication profile that is communication profile used by the module 52 01 FBA data in1...

Страница 78: ...tion The examples can be applied to all drive types compatible with the adapter module EDS files The Electronic Data Sheet EDS files specify the device properties for the CANopen master client The EDS files for the FCAN 01 CANopen adapter module contain information on the supported communication objects The EDS files for ABB Drives are available at the Document library www abb com drives 20 01 Ext...

Страница 79: ...rol Builder Plus PS501 software version 2 1 0 and later Before you start make sure that you have downloaded the FCAN 01 EDS description file from the Document library 1 Start the ABB Control Builder software 2 On the Tools menu select Device Repository 3 In the opening window click Install and browse for the EDS file downloaded from the Document library ...

Страница 80: ...oject that is used to control the drive 5 Add the CM578 CN CANopen master device to the PLC project if necessary 6 Add the adapter module drive to the CANopen network 7 Configure the master properties such as baud rate node ID and heartbeat ...

Страница 81: ...Start up 81 ...

Страница 82: ...82 Start up 8 Configure the FCAN 01 properties Select the node boot up sequence ...

Страница 83: ...Start up 83 On the CANopen Remote Device tab select the node ID for the device select Enable Expert Settings to configure the process data mapping node guarding and emergency settings for the drive ...

Страница 84: ...84 Start up On the PDO Mapping tab select the PDOs transferred between the PLC and the drive On the Receive PDO Mapping tab select the variables transferred from PLC to drive ...

Страница 85: ...up 85 On the Send PDO Mapping tab select the variables transferred from drive to PLC On the Service Data Object tab define the parameter values that are sent to the drive when the communication is initialized ...

Страница 86: ...or the variables that refer to the signals of the drive in the PLC program Open the PLC program compile the project and download it to the PLC Make sure that the variable names defined for the signals of the drive are used in the PLC program otherwise the communication will not work ...

Страница 87: ...Device profile for drives and motion control or the ABB Drives profile Both are converted to the native profile for example DCU or FBA detailed in the drive manuals by the adapter module In addition two Transparent profiles for 16 bit and 32 bit words respectively are available With the Transparent modes no data conversion takes place Note The CiA 402 operation mode support is drive specific See C...

Страница 88: ...Drive Optional reference actual value scaling 1 1 CANopen objects 2001h 2006h CANopen objects 6040h 6042h 6041h 6044h 2000h03 2000h06 607Ah3 6064h3 6071h3 6077h3 60FF3 606C3 Control word reference Status word and actual values according to CANopen profile CiA 402 ABB Drives profile or drive specific 16 bit words Data conversion Select 2 Control word reference Status word and actual values accordin...

Страница 89: ...apter module The drive switches between its states according to the bit coded instructions in the Control word and returns status information to the master in the Status word The contents of the Control word and the Status word are detailed section Control word and Status word of the CiA 402 profile on page 93 Homing mode Profile Position mode Inter polated Position mode2 Profile Velocity mode Pro...

Страница 90: ...the mode of operation is automatically selected according to the control mode configured with parameter 34 03 EXT1 CTRL MODE 34 04 EXT1 CTRL MODE2 or 34 05 EXT2 CTRL MODE1 depending on the current control location The correct reference scaling must be selected with parameter 50 04 FBA REF1 MODESEL If the value of parameter 50 04 FBA REF1 MODESEL and 50 05 FBA REF2 MODESEL of ACSM1 is 5 AUTO it is ...

Страница 91: ...ctual position of the application Position actual value is scaled as position demand value see above Interpolated position mode Not supported with the FCAN 01 CANopen adapter module Profile velocity mode The profile velocity mode is used to control the velocity of the drive with no special regard of the position Drive parameter ACSM1 Example setting 60 05 POS UNIT Position unit m 60 08 POS2INT SCA...

Страница 92: ...the drive torque to be controlled directly Target torque Target torque is the required torque of the application The value is given per thousand of the rated torque 10 1 Torque actual value Torque actual value corresponds to the instantaneous torque in the drive motor The value is given per thousand of the rated torque that is 10 1 Drive parameter ACSM1 Example setting 60 05 POS UNIT Position unit...

Страница 93: ...get velocity is interpreted as rpm 1 1 rpm Control effort of CiA 402 Velocity mode Control effort is the actual velocity of the application The unit of the control effort is interpreted as rpm 1 1 rpm Control word and Status word of the CiA 402 profile Control word of CiA 402 Bit Description 0 Switch on 1 Enable voltage 2 Quick stop 3 Enable operation 4 6 Operation mode specific 7 Fault reset 8 Ha...

Страница 94: ...oming mode1 Interpo lated position mode3 4 rfg enable New setpoint Reserved Reserved Homing operation start Enable ipmode 5 rfg unlock Change set immedi ately Reserved Reserved Reserved Reserved 6 rfg use ref abs rel Reserved Reserved Reserved Reserved 1 Supported with ACSM1 only 2 Supported with ACSM1 ACS850 and ACS880 only 3 Not supported ...

Страница 95: ...ctive 12 13 Operation mode specific 14 15 Drive specific bit Operation mode specific bits Bit Velocity mode Profile position mode1 Profile velocity mode1 Profile torque mode2 Homing mode1 Interpo lated position mode3 12 Reserved Set point acknowl edge Speed Reserved Homing attained IP mode active 13 Reserved Following error Max slippage error Reserved Homing error Reserved 1 Supported with ACSM1 o...

Страница 96: ...t down 0 x 1 1 0 2 6 8 Switch on 0 0 1 1 1 31 Switch on 0 1 1 1 1 31 Disable voltage 0 x x 0 x 7 9 10 12 Quick stop 0 x 0 1 x 7 10 11 Disable operation 0 0 1 1 1 5 Enable operation 0 1 1 1 1 4 Fault reset x x x x 15 Bits marked with x are irrelevant 1 When Control word bit 3 Enable operation is 1 the drive does not perform any tasks in the SWITCHED ON state When bit 3 is 0 state SWITCHED ON tasks ...

Страница 97: ...bit 10 target reached is set when the drive is stopped Note The drive may not necessarily stop completely as it is still the in running OPERATION ENABLED state The following table summarizes the drive features used to perform the ramp stop during the halt function as well as the different halt option codes supported by each CiA 402 operating mode The halt option code is selected by CANopen object ...

Страница 98: ... Position Dynamic limiter ramp 1 Profile Velocity Dynamic limiter ramp 1 Profile Torque Sets the torque reference to 0 Ramp depends on drive parameters 1 Homing Dynamic limiter ramp 1 Velocity Halt mode 1 Ramp input is set to 0 Halt mode 2 3 4 Ramp output is set to 0 1 2 3 4 Other modes Halt bit has no effect N A ...

Страница 99: ...xxx01x CW xxxxxxxxxxxxx110 CW xxxxxxxxxxxxx110 CW xxxxxxxxxxxxx111 CW xxxxxxxxxxxxx01x or CW xxxxxxxxxxxxxx0x CW xxxxxxxxxxxx0111 CW xxxxxxxxxxxx1111 CW xxxxxxxxxxxxx110 Quick stop completed CW xxxxxxxxxxxxx01x CW xxxxxxxxxxxxxx0x CW Control word SW Status word SWITCH ON SW xxxxxxxxx1xx0000 DISABLED SWITCHED ON SW xxxxxxxxx01x0011 READY TO SW xxxxxxxxx01x0001 SWITCH ON OPERATION SW xxxxxxxxx01x011...

Страница 100: ...e states are presented in the ABB Drives profile state transition diagram on page 105 Control word contents The following table presents the Control word of the ABB Drives communication profile The upper case boldface text refers to the states shown in the ABB Drives profile state machine figure on page 105 Control word of ABB Drives profile Bit Name Value STATE Description 0 OFF1_ CONTROL 1 Proce...

Страница 101: ... bit activates the signal 0 Inhibit operation proceed to OPERATION INHIBITED 4 RAMP_OUT_ ZERO 1 Normal operation proceed to RFG OUTPUT ENABLED 0 Force the Ramp Function Generator output to zero The drive ramps to stop current and DC voltage limits in force 5 RAMP_HOLD 1 Enable the ramp function proceed to RFG ACCELERATOR ENABLED 0 Halt ramping the Ramp Function Generator output held 6 RAMP_IN_ ZER...

Страница 102: ...ntation 10 REMOTE_ CMD 1 Fieldbus control enabled 0 Control word and reference not getting through to the drive except for CW bits OFF1 OFF2 and OFF3 11 EXT_CTRL_ LOC 1 Select external control location EXT2 Effective if the control location is parameterized to be selected from the fieldbus 0 Select external control location EXT1 Effective if the control location is parameterized to be selected fro...

Страница 103: ...O OPERATE 0 OFF1 ACTIVE 2 RDY_REF 1 OPERATION ENABLED 0 OPERATION INHIBITED 3 TRIPPED 1 FAULT 0 No fault 4 OFF_2_STA 1 OFF2 inactive 0 OFF2 ACTIVE 5 OFF_3_STA 1 OFF3 inactive 0 OFF3 ACTIVE 6 SWC_ON_ INHIB 1 SWITCH ON INHIBITED 0 7 ALARM 1 Warning Alarm 0 No warning alarm 8 AT_ SETPOINT 1 OPERATION Actual value equals reference is within tolerance limits that is in speed control speed error is 10 m...

Страница 104: ...t as the target for this signal by drive parameters User bit 0 selection 06 33 0 External Control Location EXT1 selected 12 EXT_RUN_E NABLE 1 External Run Enable signal received Note concerning ACS880 This bit is effective only if the fieldbus interface is set as the target for this signal by drive parameters User bit 1 selection 06 34 0 No External Run Enable signal received 13 14 Reserved 15 FBA...

Страница 105: ...f 0 I 0 Emergency OFF OFF2 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 ABB Drives Communication Profile SWITCH ON INHIBITED NOT READY TO SWITCH ON READY TO SWITCH ON READY TO OPERATE OPERATION INHIBITED OFF1...

Страница 106: ...control information for example reference Scaling References are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set with drive parameters See the drive manuals for further information In ACSM1 ACS850 and ACS880 the speed reference REFx in decimal 0 20000 corresponds to 0 100 of the speed scaling value as defined with drive parameter eg ACS850 parameter 19 01 Speed scaling ACS88...

Страница 107: ...eference indicates a reverse direction of rotation The functions to be monitored are selected with a drive parameter Scaling The actual values are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set with drive parameters See the drive manuals for further information Fieldbus Drive ACT2 10000 ACT1 20000 0 ACT2 10000 ACT1 20000 REFx MAX 0 REFx MAX ...

Страница 108: ...108 Communication profiles ...

Страница 109: ...this chapter contains This chapter describes the communication on a CANopen network CAN data frame CAN employs data frames for transferring data between the host controller and the nodes on the bus The following figure presents the structure of the data frame ...

Страница 110: ... LEDGE 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 00 0 SYNC 0001 80 128 TIME STAMP 0010 100 256 EMERGENCY 0001 81 FF 129 255 PDO1 Tx 0011 181 1FF 385 511 PDO1 Rx 0100 201 27F 513 639 PDO6 Tx 0101 281 2FF 641 767 PDO6 Rx 0110 301 37F 769 895 PDO21 Tx 0111 381 3FF 897 1023 PDO21 Rx 1000 401 47...

Страница 111: ...nd specifier and the second byte contains the Node ID of the device which must perform the command The NMT message transmitted by the NMT master forces the nodes to transit to another NMT state The CANopen state machine specifies the following states Initialization Pre Operational Operational and Stopped After power on each CANopen device Initialization Reset application 13 10 11 14 Power on 12 6 ...

Страница 112: ... node are Note If Node ID is 0 all NMT slaves are addressed The node state indications are as follows Command dec Name 1 Start_Remote_Node 2 Stop_Remote_Node 128 Enter_Pre Operational_State 129 Reset_Node 130 Reset_Communication Header bin Payload data byte 1 2 0000 0000000 0 0 0 0010 NMT Command Node ID Indication dec State 0 Boot up 4 Stopped 5 Operational 127 Pre operational ...

Страница 113: ...tion objects parameters are transmitted within a PDO PDO mappings of the adapter module can be changed in the Pre operational state variable objects Transmission of the enabled valid PDOs is possible only in the Operational state Each PDO can contain up to 8 bytes of process data In ACS355 the first mapping entries of Tx Rx PDO1 and Tx Rx PDO6 are fixed and cannot be changed The length of the PDOs...

Страница 114: ...the fieldbus configuration group A group 1 Mapped obj 1 Mapped obj 2 Mapped obj 3 Mapped obj 4 Byte 1 2 3 4 5 6 7 8 CANopen object for mapping 1600h01 1600h02 1600h03 1600h04 Mapping parameter2 ACS355 Fixed1 FBADATA OUT 1 FBADATA OUT 2 FBADATA OUT 3 ACSM1 ACS850 ACS880 FBA DATA OUT 1 FBADATA OUT 2 FBADATA OUT 3 FBADATA OUT 4 1 In ACS355 drives the first mapping entry is fixed and always mapped to ...

Страница 115: ...2 of the fieldbus configuration group A group 1 Mapped obj 1 Mapped obj 2 Mapped obj 3 Mapped obj 4 Byte 1 2 3 4 5 6 7 8 CANopen object for mapping 1A00h01 1A00h02 1A00h03 1A00h04 Mapping parameter2 ACS355 Fixed1 FBA DATA IN 1 FBA DATA IN 2 FBA DATA IN 3 ACSM1 ACS850 ACS880 FBA DATA IN 1 FBA DATA IN 2 FBA DATA IN 3 FBA DATA IN 4 1 In ACS355 drives the first mapping entry is fixed and always mapped...

Страница 116: ...3 14 and 15 of the fieldbus configuration group A group 1 Mapped obj 1 Mapped obj 2 Mapped obj 3 Mapped obj 4 Byte 1 2 3 4 5 6 7 8 CANopen object for mapping 1605h01 1605h02 1605h03 1605h04 Mapping parameter2 ACS355 Fixed1 FBADATA OUT 4 FBADATA OUT 5 FBADATA OUT 6 ACSM1 ACS850 ACS880 FBA DATA OUT 5 FBADATA OUT 6 FBADATA OUT 7 FBADATA OUT 8 1 In ACS355 drives the first mapping entry is fixed and al...

Страница 117: ...6 17 and 18 of the fieldbus configuration group A group 1 Mapped obj 1 Mapped obj 2 Mapped obj 3 Mapped obj 4 Byte 1 2 3 4 5 6 7 8 CANopen object for mapping 1A05h01 1A05h02 1A05h03 1A05h04 Mapping parameter2 ACS355 Fixed1 FBADATA IN 4 FBADATA IN 5 FBA DATA IN 6 ACSM1 ACS850 ACS880 FBADATA IN 5 FBADATA IN 6 FBADATA IN 7 FBA DATA IN 8 1 In ACS355 drives the first mapping entry is fixed and it is al...

Страница 118: ...ent time is 0 These values can be changed with CANopen object 1414h or from the drive with parameters 19 20 and 21 of the fieldbus configuration group A group 1 Mapped obj Mapped obj 2 Mapped obj 3 Mapped obj 4 Byte 1 2 3 4 5 6 7 8 CANopen object for mapping 1614h01 1614h02 1614h03 1614h04 Mapping parameter1 ACS355 FBADATA OUT 7 FBADATA OUT 8 FBA DATA OUT 9 FBADATA OUT 10 ACSM1 ACS850 ACS880 FBADA...

Страница 119: ...event time is 0 These values can be changed with CANopen object 1614h or from the drive with parameters 22 23 and 24 of the fieldbus configuration group A group 1 Mapped obj 1 Mapped obj 2 Mapped obj 3 Mapped obj 4 Byte 1 2 3 4 5 6 7 8 CANopen object for mapping 1A14h01 1A14h02 1A14h03 1A14h04 Mapping parameter1 ACS355 FBADATA IN 7 FBA DATA IN 8 FBA DATA IN 9 FBADATA IN 10 ACSM1 ACS850 ACS880 FBAD...

Страница 120: ...ntrol and to the drive parameter area can be mapped that is objects 6040h 6042h 6041h 6044h 6064h 60FFh 606Ch 607Ah 6077h 6071h 2001h 2002h 2003h 2004h 2005h 2006h 2000h03 2000h06 and objects 4000h 4063h The mapping values are in decimal format and only virtual addresses of the drive control 1 6 and 11 16 or drive parameter numbers 101 9999 can be set The adapter module converts the values to CANo...

Страница 121: ...0 Tx PDO1 sent to the master at 100 ms intervals Set the drive parameters as listed in the table below Drive parameter1 Setting Description 51 02 NODE ID 3 In this example module node ID 3 51 03 BIT RATE 0 5 Bit rate used on the CANopen network See Drive configuration 51 04 CONF LOC 0 PDO configuration via CAN bus 51 05 PROFILE 0 CiA 402 1 The actual parameter group number depends on the drive typ...

Страница 122: ...apped object 1 60400010 6040h Control word subindex 0 length 16 bits 1600 02 Rx PDO1 Mapping Mapped object 2 60420010 6042h vl target velocity subindex 0 length 16 bits 1600 00 Rx PDO1 Mapping Number of entries 2 2 objects mapped2 1400 01 Rx PDO1 Parameter COB ID 203 Enable Rx PDO1 use COB ID 203h 1800 01 Tx PDO1 Parameter COB ID 80000183 Disable Tx PDO11 1800 02 Tx PDO1 Parameter Transmission typ...

Страница 123: ...ter COB ID 183 Enable Tx PDO1 use COB ID 183h 1 Before modifying PDO parameters or mapping the PDO must be disabled by setting bit 31 of its COB ID to 1 Remember to enable the PDO again after the mapping has been set 2 Before changing the contents of a PDO mapping object the number of entries field must be set to zero After the mapping is done the number of the entries must be set according to the...

Страница 124: ...rt SDO Transfer With expedited transfer all data is transferred during the initialization phase Initiate SDO Upload Download With segmented transfer only part of the data is transferred during the initialization phase and the rest of the data is transferred during the Upload Download SDO Segment phase The COB IDs for the SDO communication are Client to Server Master to Slave 600h Node ID Server to...

Страница 125: ...indicated to the server The service is confirmed The remote result parameter will indicate the success of the request In case of a failure an Abort SDO Transfer request has to be executed In case of success the size of the data to be uploaded is confirmed In case of successful expedited upload this service concludes the upload of the data set identified by the multiplexor and confirms the correspo...

Страница 126: ...et size indication s 1 Data set size indication m Multiplexor represents the index subindex of the data to be transferred by the SDO d Data e 0 s 0 Reserved for further use e 0 s 1 Contains the number of bytes to be uploaded Byte 4 contains the LSB and byte 7 contains the MSB e 1 s 1 Contains the data of length 4 n to be uploaded Encoding depends on the type of the data referenced by index and sub...

Страница 127: ... set size indication s 1 Data set size indication m Multiplexor represents the index subindex of the data to be transferred by the SDO d Data e 0 s 0 Reserved for further use e 0 s 1 Contains the number of bytes to be downloaded Byte 4 contains the LSB and byte 7 contains the MSB e 1 s 1 Contains the data of length 4 n to be downloaded Encoding depends on the type of the data referenced by index a...

Страница 128: ... Transfer Service cs Command specifier cs 4 Aborts the transfer request x Not used Value is always 0 m Multiplexor represents the index and subindex of the SDO d Contains a 4 byte abort code which includes the reason for the abort Client Server Abort SDO Transfer Request Server Client Indication 4 0 x 7 5 cs 4 0 1 4 8 d m ...

Страница 129: ...ead a write only object 0002h Attempt to write a read only object 02 0000h Object does not exist in the Object Dictionary 04 0041h Object cannot be mapped to the PDO 0042h Number and length of the objects to be mapped would exceed the PDO length 0043h General parameter incompatibility 0047h General internal incompatibility in the device 06 0000h Access failed because of hardware error 07 0010h Dat...

Страница 130: ...lue 08 00 0000h General error 0020h Data cannot be transferred or stored to the application 0021h Data cannot be transferred or stored to the application because of local control 0022h Data cannot be transferred or stored to the application because of the active device state 0023h Object Dictionary dynamic generation fails or no Object Dictionary is present for example the object dictionary is gen...

Страница 131: ... Index hex Object 0000 Not used 0001 001F Static Data Types 0020 003F Complex Data Types 0040 005F Manufacturer Specific Complex Data Types 0060 007F Device Profile Specific Static Data Types 0080 009F Device Profile Specific Complex Data Types 00A0 0FFF Reserved for further use 1000 1FFF Communication Profile Area 2000 5FFF Manufacturer Specific Profile Area See Manufacturer specific profile area...

Страница 132: ...Type Attri bute Information 1000 0 Device Type U32 RO Describes the type of the device 1001 0 Error Register U8 RO Bit value 1 error occurred Bit Description 0 Generic error 1 Current 2 Voltage 3 Temperature 4 Communication error 5 Device profile specific 6 Reserved 7 Manufacturer specific ...

Страница 133: ...iate drive firmware manual and Appendix B CANopen error codes and a 16 bit additional information field 0 with FCAN 01 The error code is contained in the lower 2 bytes LSB the additional information in the upper 2 bytes MSB 5 Pre defined Error Field U32 RO 1005 0 COB ID Sync Message U32 RW Identifier of the SYNC message The SYNC message controls the actions of PDOs that have the Synchronous transm...

Страница 134: ...r Hard ware Version Visible string RO Adapter module hardware version eg V 1 00 100A 0 Manufac turer Software Version Visible string RO Adapter module firmware version eg V 1 02B 100C 0 Guard Time U16 RW Guard Time ms Life Time Factor Life time for the Node Guarding Protocol 100D 0 Life Time Factor U8 RW Index hex Sub index Name Type Attri bute Information ...

Страница 135: ...h 3 U32 RW Saves application parameters 6000h 9FFFh Note Some of the application parameters are associated with drive parameters After application parameters have been saved FCAN 01 overwrites these drive parameters when it is powerd up or fieldbus parameter are refreshed This can be reversed by setting the application parameters to default values with object 0x1011 4 U32 RW Requests the drive to ...

Страница 136: ...rs 6000h 9FFFh 4 U32 RW Requests the drive to perform the parameter save function Refer to the drive manual for more information 1 1014 0 COB ID Emer gency Message U32 RW Defines the COB ID of the Emergency Object EMCY Default 80h Node ID 1016 0 Con sumer heart beat time U8 RO Number of entries 1 U32 RW Bits 0 15 UNSIGNED 16 Heartbeat receive time out ms Bits 16 23 UNSIGNED 8 Node ID Bits 24 31 Re...

Страница 137: ...eive PDO1 Parame ter U8 RO Number of entries 1 COB ID U32 RW Default 200h Node ID 2 Trans mission Type U8 RW Default 255 FFh asynchronous transmission 2 3 Inhibit time U16 RW Not used for Rx PDO 5 Event timer U16 RW 0 65535 ms 0 not used Default 0 1600 0 Receive PDO1 Mapping U8 RW Number of mapped objects 0 43 1 Mapped Obj 1 U32 RW Default 60400010h 6040h Control word3 See Mapping format 2 Mapped ...

Страница 138: ... 255 asynchronous2 3 Inhibit time U16 RW Not used for Rx PDO 5 Event timer U16 RW 0 65535 ms 0 not used Default 0 1605 0 Receive PDO6 Mapping U8 RW Number of mapped objects 0 43 1 Mapped Obj 1 U32 RW Default 60400010h 6040h Control word3 See Mapping format 2 Mapped Obj 2 U32 RW 3 Mapped Obj 3 U32 RW 4 Mapped Obj 4 U32 RW Index hex Sub index Name Type Attri bute Information ...

Страница 139: ...mission Type U8 RW Default 2552 3 Inhibit time U16 RW Not used for Rx PDO 5 Event timer U16 RW 0 65535 ms 0 not used Default 0 1614 0 Receive PDO21 Mapping U8 RW Number of mapped objects 0 4 1 Mapped Obj 1 U32 RW See Mapping format 2 Mapped Obj 2 U32 RW 3 Mapped Obj 3 U32 RW 4 Mapped Obj 4 U32 RW Index hex Sub index Name Type Attri bute Information ...

Страница 140: ...ibit Time U16 RW Minimum interval for PDO transmission value x 100 microseconds 5 Event Timer U16 RW 0 65535 ms 0 Not used Default 0 1A00 0 Transmit PDO1 Mapping U8 RW Number of mapped objects 0 43 1 Mapped Obj 1 U32 RW Default 60410010h 6041h Status word3 See Mapping format 2 Mapped Obj 2 U32 RW 3 Mapped Obj 3 U32 RW 4 Mapped Obj 4 U32 RW Index hex Sub index Name Type Attri bute Information ...

Страница 141: ...on 2 3 Inhibit Time U16 RW Minimum interval for PDO transmission value x 100 microseconds 5 Event Timer U16 RW 0 65535 ms 0 Not used Default 0 1A05 0 Transmit PDO6 Mapping U8 RW Number of mapped objects 0 43 1 Mapped Obj 1 U32 RW Default 60410010h 6041h Status word3 See Mapping format 2 Mapped Obj 2 U32 RW 3 Mapped Obj 3 U32 RW 4 Mapped Obj 4 U32 RW Index hex Sub index Name Type Attri bute Informa...

Страница 142: ...14 0 Transmit PDO21 Mapping U8 RW Number of mapped objects 0 4 1 Mapped Obj 1 U32 RW See Mapping format 2 Mapped Obj 2 U32 RW 3 Mapped Obj 3 U32 RW 4 Mapped Obj 4 U32 RW 1 WARNING Drive default values are set immediately after the restore command without discrete reset command or power cycle The adapter module may lose the connection to the drive 2 See Appendix A Dictionary structure and entries 3...

Страница 143: ...16 RO Actual value 2 2001 0 Transparent 32 Control word U32 RW 32 bit Transparent Control word 2002 0 Transparent 32 Refer ence 1 INT32 RW 32 bit Transparent reference value 1 2003 0 Transparent 32 Refer ence 2 INT32 RW 32 bit Transparent reference value 2 2004 0 Transparent 32 Status word U32 RO 32 bit Transparent Status word 2005 0 Transparent 32 Actual 1 INT32 RO 32 bit Transparent actual value...

Страница 144: ...drive Both the Read and Write services use the same parameter mapping system CANopen object index equals the drive parameter group in hexadecimal format 4000h and subindex is the parameter index For example the index for drive parameter 30 19 equals 1Eh 4000h 401Eh and subindex 19 dec 13h See the following table 2100 0 Number of entries U8 RO 1 Alarm code 1 latest U16 RO 2 Alarm code 2 U16 RO 3 Al...

Страница 145: ...2 1 2 3 4002 1 Drive signal 2 01 1 2 3 4003 1 Drive signal 3 01 1 2 3 400A 1 Drive par 10 01 1 2 3 2 Drive par 10 02 1 2 3 400B 1 Drive par 11 01 1 2 3 4063 1 Drive par 99 01 1 2 3 Subindex 0 number of mapped objects 1 U16 INT16 U32 or INT32 2 Depends on the parameter type of the drive 3 See the appropriate drive firmware manual ...

Страница 146: ...t velocity vl 6044 RO INT16 Vl control effort Actual velocity vl 6046 Vl velocity min max amount Vl velocity min max amount vl 0 RO U8 Number of entries vl 1 RW U32 Vl velocity min amount Mapped internally to vl velocity min pos and vl velocity max neg values vl 2 RW U32 Vl velocity max amount Mapped internally to vl velocity max pos and vl velocity max neg values vl 6048 Vl velocity accelera tion...

Страница 147: ...05D RW INT16 Halt option code Sets the action to be performed when the halt function is executed Default 1 all Index hex Sub Access Type Name Information Sup port Value Operation 0 Reserved 1 Slows down on a slow down ramp and stays in OPERATION ENABLED 2 Slows down on a quick stop ramp and stays in OPERATION ENABLED vl mode only 3 Slows down on a current limit and stays in OPERATION ENABLED vl mo...

Страница 148: ...ndex 6060h all 6064 RO INT32 Position actual value See chapter Communication profiles on page 87 pp 6069 RO INT32 Velocity sensor actual value Value read from a velocity encoder pv 606B RO INT32 Velocity demand value Demand value from the velocity con troller pv 606C RO INT32 Velocity actual value See chapter Communication profiles on page 87 pv 6071 RW INT16 Target torque tq 6072 RW UINT16 Max to...

Страница 149: ...ration during a profiled move pp tq 6084 RW U32 Profile decelera tion Deceleration during a profiled move pp tq 6098 RW INT8 Homing method 0 No homing method selected 1 35 Methods 1 35 See the firmware manual of the drive for description of the available homing methods hm 6099 Homing speeds hm 0 RO U8 Number of entries hm 1 RO U32 Speed during search for switch hm 2 RO U32 Speed during search for ...

Страница 150: ...ronous motor 0005 Switched reluctance motor 0006 Wound rotor induction motor 0007 Squirrel cage induction motor 0008 Stepper motor 0009 Micro step stepper motor 000A Sinusoidal PM BL motor 000B Trapezoidal PM BL motor 000C Reserved 7FFF Reserved 8000 Manufacturer specific FFFF Manufacturer specific Bit Mode 0 Profile position mode 1 Velocity mode 2 Profile velocity mode 3 Profile torque mode 4 Res...

Страница 151: ...Communication protocol 151 6504 RO Visible string Drive manufac turer ABB Drives 6505 RO Visible string http drive catalog address www abb com drives Index hex Sub Access Type Name Information Sup port ...

Страница 152: ...152 Communication protocol ...

Страница 153: ...Diagnostics 153 9 Diagnostics What this chapter contains This chapter explains how to trace faults with the status LEDs on the adapter module ...

Страница 154: ...r If the error persists contact your local ABB representative MODULE CANopen ERROR Off Module status OK Red single flash CANopen controller error counters have reached the warning limit that is too many error frames Red double flash Guard event or a receive heartbeat time out has occurred Red triple flash Expected PDO has not been received before the event timer elapsed Red CANopen controller is i...

Страница 155: ...Diagnostics 155 NETWORK CANopen RUN Green single flash Module is in the stopped state Blinking green Module is in the pre operational state Green Module is in the operational state Name Color Function ...

Страница 156: ...156 Diagnostics ...

Страница 157: ...Technical data 157 10 Technical data What this chapter contains This chapter contains the technical specifications of the adapter module and the CANopen link ...

Страница 158: ...s Applicable ambient conditions specified for the drive in its manuals are in effect Indicators Three bicolor LEDs HOST MODULE NETWORK Connectors 20 pin connector to drive X2 9 pin male D SUB connector to bus X1 Power supply 3 3 V 5 max 300 mA supplied by the drive General Complies with EMC standard EN 61800 3 2004 Bus interface functionally isolated from the drive Printed circuit board conformal ...

Страница 159: ...ination 120 ohms or active termination circuitry at each end of the trunk cable termination not built in the adapter module Transfer rate 1 Mbit s max 1 Mbit s 500 kbit s 250 kbit s 125 kbit s 100 kbit s 50 kbit s Serial communication type Asynchronous half duplex CAN Protocol CANopen Maximum bus length 1 Mbit s 25 m 500 kbit s 100 m 250 kbit s 250 m 125 kbit s 500 m 50 kbit s 1000 m ...

Страница 160: ...160 Technical data ...

Страница 161: ...Appendix A Dictionary structure and entries 161 11 Appendix A Dictionary structure and entries What this chapter contains This chapter contains information about PDO transmission and mapping ...

Страница 162: ... transmission of the PDO is initiated by a manufacturer specific event on the device 2 The transmission of the PDO is initiated by a device profile specified event on the device Bit Value Description 31 0 PDO valid 1 PDO not valid 30 0 RTR allowed on this PDO 1 No RTR allowed on this PDO 29 0 11 bit ID is used CAN 2 0A 1 1 29 bit ID is used CAN 2 0B 2 28 11 0 If 11 bit ID is used bits 28 11 0 x 29...

Страница 163: ...A Dictionary structure and entries 163 PDO mapping entry structure example Type MSB LSB UINT32 31 16 15 8 7 0 Description Index eg 6048h 16 bits Subindex eg 01 8 bits Object length in bits eg 20h 32 bits 8 bits ...

Страница 164: ...164 Appendix A Dictionary structure and entries ...

Страница 165: ...3h and 603Fh Error codes between xx80h xxFFh and between FF00h FFFFh are manufacturer specific Description for these error codes can be found from the appropriate drive firmware manual Error code hex Meaning 0000 No error 1000 Generic error 2000 Current 2100 Current on device input side 2110 Short circuit Earth leakage 2120 Earth leakage 2121 Earth leakage phase L1 2122 Earth leakage phase L2 ...

Страница 166: ... sequence 2220 Continuous overcurrent 2221 Continuous overcurrent No 1 2222 Continuous overcurrent No 2 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 leakag...

Страница 167: ...3121 Mains undervoltage phase L1 3122 Mains undervoltage phase L2 3123 Mains undervoltage phase L3 3130 Phase failure 3131 Phase failure L1 3132 Phase failure L2 3133 Phase failure L3 3134 Phase sequence 3140 Mains 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 undervolta...

Страница 168: ...nterrupted 4000 Temperature 4100 Ambient temperature 4110 Excess ambient temperature 4120 Too low ambient temperature 4130 Temperature supply air 4140 Temperature air outlet 4200 Temperature device 4210 Excess temperature device 4220 Too low temperature device 4300 Temperature drive 4310 Excess temperature drive 4320 Too low temperature drive 4400 Temperature supply 4410 Excess temperature supply ...

Страница 169: ...nufacturer specific 5119 U9 manufacturer specific 5120 Supply intermediate circuit 5200 Control 5210 Measurement circuit 5220 Computing circuit 5300 Operating unit 5400 Power section 5410 Output stages 5420 Chopper 5430 Input stages 5440 Contactors 5441 Contactor 1 manufacturer specific 5442 Contactor 2 manufacturer specific 5443 Control 5444 Measurement circuit 5445 Computing circuit 5450 Operati...

Страница 170: ...easurement circuit 5500 Computing circuit 5510 Operating unit 5520 Power section 5530 Output stages 6000 Chopper 6010 Input stages 6100 Contactors 6200 User software 6300 Data record 6301 Data record No 1 630E Data record No 14 630F Data record No 15 6310 Loss of parameters 6320 Parameter error 7000 Additional modules 7100 Power 7110 Brake chopper 7111 Failure brake chopper Error code hex Meaning ...

Страница 171: ...ho 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 Serial interface No 1 7520 Serial interface No 2 7600 Data storage 8000 Monitoring 8100 Communication 8110 CAN overrun objects lost 8120 CAN in Error Passive Mode 8130 ...

Страница 172: ...ndstill torque 8321 Insufficient torque 8331 Torque fault 8400 Velocity speed controller 8500 Position controller 8600 Positioning controller 8611 Following error 8612 Reference limit 8700 Sync controller 8800 Winding controller 8900 Process data monitoring 8A00 Control 9000 External error F000 Additional functions F001 Deceleration F002 Sub synchronous run F003 Stroke operation F004 Control FF00 ...

Страница 173: ...Appendix B CANopen error codes 173 FFFF Manufacturer specific Error code hex Meaning ...

Страница 174: ...174 Appendix B CANopen error codes ...

Страница 175: ...rvice contacts can be found by navigating to abb com searchchannels Product training For information on ABB product training navigate to new abb com service training Providing feedback on ABB manuals Your comments on our manuals are welcome Navigate to new abb com drives manuals feedback form Document library on the Internet You can find manuals and other product documents in PDF format on the Int...

Страница 176: ...E68615500 Rev F EN 2018 03 16 abb com drives abb com solar abb com windconverters abb com drivespartners Copyright 2018 ABB All rights reserved Specifications subject to change without notice 3AFE68615500F ...

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