Options for ABB drives, inverters and converters
User’s manual
FCAN-01 CANopen adapter module
User’s manual
FCAN-01 CANopen adapter module
Table of contents
1. Safety
4. Mechanical installation
5. Electrical installation
6. Start-up
3AFE68615500 Rev D
EN
EFFECTIVE: 2012-01-25
© 2012 ABB Oy
All Rights Reserved.
Table of contents
5
Table of contents
1. Safety
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Safety in installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2. About the manual
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Purpose of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Terms and abbreviations used in this manual . . . . . . . . . . . . . . 19
Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
CANopen abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
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
Delivery check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Mounting the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5. Electrical installation
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6 Table of contents
General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Connecting the module to the CANopen network . . . . . . . . . . . 30
AC and DC parameters for the CANopen network . . . . . . . . . . . 32
Bus cable and termination resistors . . . . . . . . . . . . . . . . . . . 32
6. Start-up
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Data transfer rates supported. . . . . . . . . . . . . . . . . . . . . 36
FCAN-01 configuration parameters – group A (group 1) 37
FCAN-01 configuration parameters – group 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Parameter setting examples – ACSM1 . . . . . . . . . . . . . . . . 66
Using position control with the CiA 402 Profile Position
mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Starting up ACS850 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Parameter setting examples – ACS850 . . . . . . . . . . . . . . . . 70
CiA 402 Velocity mode with default PDO mapping . . . . 70
ABB Drives communication profile with parameter-
configured PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . 72
Starting up ACS880 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Parameter setting examples – ACS880 . . . . . . . . . . . . . . . . 76
CiA 402 Velocity mode with default PDO mapping . . . . 76
Configuring the master station . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Table of contents
7
Configuring an ABB AC500 PLC . . . . . . . . . . . . . . . . . . . . . 79
7. Communication profiles
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Profile position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Position demand 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
ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . 100
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . 100
Control word contents . . . . . . . . . . . . . . . . . . . . . . . . . 100
Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . 103
State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
8 Table of contents
8. Communication protocol
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
FCAN-01 boot-up sequence and
Network Management (NMT) . . . . . . . . . . . . . . . . . . . . . . . 111
Tx PDO21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
PDO configuration via the CAN bus . . . . . . . . . . . . . . . . . . . . . 121
Service Data Objects (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . 124
SDO Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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) . . . . . . . . 142
Manufacturer-specific profile objects . . . . . . . . . . . . . . 142
Drive actual signals and parameters . . . . . . . . . . . . . . 143
Standardized device profile area (6000...9FFF) . . . . . . . . 145
9. Diagnostics
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Table of contents
9
10. Technical data
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
FCAN-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
CANopen link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
11. Appendix A – Dictionary structure and entries
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Description of transmission type . . . . . . . . . . . . . . . . . . . . . . . 158
Description of PDO COB-ID entry . . . . . . . . . . . . . . . . . . . . . . 158
PDO mapping entry structure – example . . . . . . . . . . . . . . . . . 159
12. Appendix B – CANopen error codes
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Further information
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . 171
Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . 171
10 Table of contents
Safety 11
1
Safety
What this chapter contains
The chapter presents the warning symbols used in this manual and
the safety instructions which you must follow when installing an
optional module into a drive, converter or inverter. If ignored,
physical injury or death may follow, or damage may occur to the
equipment. Read this chapter before you start the installation.
12 Safety
Use of warnings
Warnings caution you about conditions which can result in serious
injury or death and/or damage to the equipment and advise on how
to avoid the danger. The following warning symbols are used in
this manual:
Electricity warning warns of hazards from electricity
which can cause physical injury and/or damage to the
equipment.
General warning warns about conditions, other than
those caused by electricity, which can result in physical
injury and/or damage to the equipment.
Safety 13
Safety in installation
These warnings are intended for all who install an optional module
into a drive, converter or inverter.
WARNING! Ignoring the following instructions can cause
physical injury or death, or damage to the equipment.
•
•
Only qualified electricians are allowed to install and maintain
the drive, converter or inverter!
Disconnect the drive, converter or inverter into which the
optional module will be installed from all possible power
sources. After disconnecting, always wait for 5 minutes to let
the intermediate circuit capacitors discharge before you
proceed.
•
•
Always ensure by measuring with a multimeter (impedance at
least 1 Mohm) that:
•
there is no voltage between the input power terminals of
the drive, converter or inverter and the ground
•
there is no voltage between the output power terminals of
the drive, converter or inverter and the ground.
Do not work on the control cables when power is applied to the
external control circuits of the drive, converter or inverter.
Externally supplied control circuits may carry dangerous
voltage.
14 Safety
About the manual 15
2
About the manual
What this chapter contains
This chapter introduces this manual.
Applicability
This manual applies to the FCAN-01 CANopen adapter module
(+K457), SW version 1.046 or later.
Compatibility
The FCAN-01 CANopen adapter module is compatible with the
following drives:
•
•
•
•
ACS355
ACSM1
ACS850
ACS880.
Target audience
The reader is expected to have basic knowledge of fieldbus
interface, electrical fundamentals, electrical wiring practices and
how to operate the drive.
16 About the manual
Purpose of the manual
The manual provides information on installing, commissioning and
using an FCAN-01 CANopen adapter module.
Related manuals
The related manuals are listed below.
Code (English)
Drive user’s manuals
ACS355 drives (0.37…22 kW,
0.5…30 hp) user’s manual
Drive hardware manuals and
guides
(5.3 to 61 kW) hardware manual
45 kW) hardware manual
ACSM1-04 drive modules (55 to
110 kW) hardware manual
ACSM1-04Lx liquid-cooled drive
modules (55 to 160 kW) hardware
manual
ACS850-04 (0.37…45 kW)
hardware manual
hp) hardware manual
ACS850-04 (200…500 kW,
250…600 hp) hardware manual
to 350 hp) hardware manual
About the manual 17
Code (English)
Drive firmware manuals and
guides
ACSM1 motion control program
firmware manual
program firmware manual
ACSM1 regen supply control
program firmware manual
firmware manual
ACS880 primary control program
firmware manual
Option manuals and guides
FCAN-01 CANopen adapter
module user’s manual
You can find manuals and other product documents in 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.
Before you start
It is assumed that the drive is installed and ready to operate before
you start the installation of the adapter 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.
18 About the manual
Contents
The manual consists of the following chapters:
•
Safety presents the safety instructions which you must follow
when installing a fieldbus adapter module.
•
•
About the manual introduces this manual.
Overview of the CANopen protocol and the FCAN-01 adapter
module contains a short description of the CANopen protocol
and the adapter module.
•
•
•
Mechanical installation contains a delivery checklist and
instructions on mounting the adapter module.
Electrical installation contains wiring and bus termination
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 trace faults with the status LEDs
on the adapter module.
Technical data contains the technical data of the adapter
module and the CANopen link.
Appendix A – Dictionary structure and entries contains
information about PDO transmission and mapping.
Appendix B – CANopen error codes contains reference tables
for decoding CANopen error messages.
About the manual 19
Terms and abbreviations used in this manual
„ Terms
Term
Explanation
Communication module Communication module is a name for a device
(eg, a fieldbus adapter) through which the drive
is connected to an external communication
network (eg, a fieldbus). The communication
with the module is activated with a drive
parameter.
Command word
Control word
See Control word.
16-bit or 32-bit word from master to slave with
bit-coded control signals (sometimes called the
Command word)
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
Parameter
Local storage of all Communication Objects
(COB) recognized by a device
Operating instruction for the drive. Parameters
can be read and programmed with the drive
control panel, drive PC tools or through the
adapter module.
Profile
Adaptation of the protocol for certain application
field, for example, drives. In this manual, drive-
internal profiles (eg, DCU or FBA) are called
native profiles.
Status word
16-bit or 32-bit word from slave to master with
bit-coded status messages
20 About the manual
„ CANopen abbreviations
Abbreviation
CAN
Explanation
Controller Area Network
CiA
CAN in Automation, International User’s and
Manufacturer’s Group
CMS
CAN Message Specification; one of the service
elements of the CAN Application Layer in the
CAN Reference Model
COB
DBT
Grouping of pre-defined data objects accessible
via the network.
Distributor; one of the service elements of the
CAN Application Layer in the CAN Reference
Model. It is the responsibility of the Distributor to
distribute COB IDs to the COBs that are used
by a CMS.
EDS
LMT
Electronic Data Sheet; a node-specific ASCII-
format file required when configuring the CAN
network. The EDS file contains general
objects (parameters). EDS files for ABB Drives
are available at the Document library
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
MSB
NMT
Least significant bit/byte
Most significant bit/byte
Network Management; one of the service
elements of the CAN Application Layer in the
CAN Reference Model. It performs initialization,
configuration and error handling on a CAN
network.
OSI
Open Systems Interconnection
PDO
Process Data Object; a type of COB. Used for
transmitting time critical data, such as control
commands, references and actual values.
About the manual 21
Abbreviation
Explanation
RO
Denotes read-only access.
Denotes read/write access.
RW
SDO
Service Data Object; a type of COB. Used for
transmitting non-time-critical data, such as
parameters.
22 About the manual
Overview of the CANopen protocol and the FCAN-01 adapter module 23
3
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).
24 Overview of the CANopen protocol and the FCAN-01 adapter module
The physical medium of CANopen is a differentially driven two wire
bus line with common return according to ISO 11898. The
maximum length of the bus is limited by the communication speed.
The maximum theoretical 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
Topology of the CANopen link
The following figure describes the topology of the CANopen link.
ABB drive
Other slave
device
ABB drive
CANopen
master
T
Other slave
device
ABB drive
Other slave
device
ABB drive
T
T = Termination
Overview of the CANopen protocol and the FCAN-01 adapter module 25
FCAN-01 CANopen adapter module
The FCAN-01 CANopen adapter module is an optional device for
ABB drives. It enables the connection of the drive to a CANopen
network. The drive is considered as a slave (server) on the
CANopen network.
Through the adapter module you can:
•
give control commands to the drive
(for example, Start, Stop, Run enable)
•
•
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. Refer to
the drive manuals as to which commands are supported by the
drive.
The adapter module is mounted into an option slot on the motor
control board of the drive. See the drive manuals for module
placement options.
Mechanical installation 27
4
Mechanical installation
What this chapter contains
This chapter contains a delivery checklist and instructions on
mounting the adapter module.
WARNING! Follow the safety instructions given in this
manual and the drive documentation.
Delivery check
The option package for the adapter module contains:
•
•
CANopen adapter module, type FCAN-01
this manual.
28 Mechanical installation
Mounting the adapter module
The adapter module is inserted into its specific position in the drive.
The module is held in place with plastic pins and one screw. The
screw also provides the electrical connection between the module
and drive frame for cable shield termination.
When the module is installed, the signal and power connection to
the drive is made through a 20-pin connector. (All drives do not use
all the available signals so the connector on the drive may have
fewer pins.)
Mounting procedure:
1. Insert the module carefully into its position on the drive.
2. Fasten the screw.
Note: It is essential to install the screw properly to fulfill the EMC
requirements and to ensure the proper operation of the module.
For more information on mounting the adapter module, see the
drive manuals.
Electrical installation 29
5
Electrical installation
What this chapter contains
This chapter contains:
•
•
•
general cabling instructions
bus termination instructions
instructions on connecting the adapter module to the CANopen
network.
WARNING! Before installation, switch off the drive power
supply. Wait five minutes to ensure that the capacitor bank
of the drive is discharged. Switch off all dangerous
voltages 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.
30 Electrical installation
Connecting the module to the CANopen network
Connect the bus cable to connector X1 on the adapter module.
The connector pin allocation described below follows the CANopen
specification CiA 301.
1
5
SUB-D9
(male)
X1
X1
6
9
Description
1
2
3
4
5
6
7
8
9
-
Not in use
CAN_L
CAN_L bus line (dominant low)
CAN ground
CAN_GND
-
Not in use
CAN_SHLD Optional CAN shield
GND
Optional ground
CAN_H
-
CAN_H bus line (dominant high)
Not in use
CAN_V+
Optional CAN external power supply. Not supported
by FCAN-01.
Electrical installation 31
Bus termination
Bus termination is required to prevent signal reflections from the
bus cable ends. The adapter module is not equipped with internal
bus termination. Therefore the first and last nodes of the bus must
be included with bus termination. Termination is done by
connecting one resistor between the CAN_H and CAN_L signals.
The nominal value for the terminating resistor is 120 ohms. The
resistors can 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.
CANopen
node
CANopen
node
CANopen
node
CANopen
node
Term.
ON
Term.
OFF
Term.
OFF
Term.
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.
CANopen
node
CANopen
node
CANopen
node
…
CAN_H
121 ohm
1%
Metal Film
1/4 W
121 ohm
1%
Metal Film
1/4 W
CAN_L
www.can-cia.org.
32 Electrical installation
AC and DC parameters for the CANopen network
„ Bus cable and termination resistors
The cables, connectors, and termination resistors used in
CANopen networks must meet the requirements specified in ISO
11898.
The table below lists the standard values for DC parameters for
CANopen networks with less than 64 nodes:
1)
Bus length
[m]
Bus cable
Termination
resistance
[ohm]
Baud rate
[kbit/s]
Length-
related
resistance
[mohm/m]
Cross-
section
[mm ]
2
0…40
70
0.25…0.34 124
1000 at 40 m
> 500 at 100 m
> 100 at 500 m
> 50 at 1 km
40…300
300…600
< 60
< 40
0.34…0.6
0.5…0.6
0.75…0.8
150…300
150…300
150…300
600…1000 < 26
1)
Recommended cable for AC parameters: 120 ohm impedance and 5
ns/m line delay
With drop cables the recommended cable cross-section is
0.25…0.34 mm2.
In addition to the cable resistance, the real resistance of the
connectors should be taken into account in voltage 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.
Electrical installation 33
1)
2)
Wire
Maximum length [m]
Maximum length [m]
cross-
section
[mm ]
n = 32
n = 64
n = 100 n = 32
n = 64
n = 100
2
0.25
200
360
550
170
150
230
420
640
200
360
550
170
320
480
0.5
310
470
270
410
0.75
1)
Safety margin of 0.2
Safety margin of 0.1
2)
34 Electrical installation
Start-up 35
6
Start-up
What this chapter contains
This chapter contains:
•
•
•
information on configuring 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! Follow the safety instructions given in this
manual and the drive documentation.
Drive configuration
The following information applies to all drive types compatible with
the adapter module, unless otherwise stated.
36 Start-up
„ CANopen connection configuration
After the adapter module has been mechanically and electrically
installed according to the instructions in chapters Mechanical
installation and Electrical installation, the drive must be prepared
for communication with the module.
The detailed procedure of activating the module for CANopen
communication with the drive depends on the drive type. Normally,
a parameter must be adjusted to activate the communication. See
the drive-specific start-up sections on pages 58, 64, 69 and 75.
Once communication between the drive and the adapter module
has been established, several 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 via the CAN bus is given in
section PDO configuration via the CAN bus.
Note: The new settings take effect only when the adapter module
is powered up the next time or when the fieldbus adapter refresh
parameter is activated.
Data transfer rates supported
The FCAN-01 CANopen adapter module supports the following
CANopen communication speeds: 50 kbit/s, 100 kbit/s, 125 kbit/s,
250 kbit/s, 500 kbit/s, 1 Mbit/s.
Note: 100 kbit/s is not recommended for a new installation.
Start-up 37
FCAN-01 configuration parameters – group A (group 1)
Note: The actual parameter group number depends on the drive
type. Group A (group 1) corresponds to:
•
•
parameter group 51 in ACS355, ACSM1 and ACS850
parameter group 51 in ACS880 if the adapter is installed as
fieldbus adapter A or group 54 if the adapter is installed as
fieldbus adapter B.
No. Name/Value
Description
Default
setting
01
FBA TYPE
Read-only. Shows the fieldbus adapter type as 1 =
detected by the drive. Value cannot be adjusted CAN-
by the user.
open
If the value is 0 = None, the communication
between the drive and the module has not been
established.
02
NODE ID
Selects the node address of the module.
Each device on the CANopen network must
have a unique node identifier. Used to define a
node identifier for the drive it is connected to.
3
ACS355:
FB PAR 2
ACSM1:
FBA PAR2
ACS850:
FBA par2
ACS880:
Node ID
1…127
Node address
38 Start-up
No. Name/Value
Description
Default
setting
03
BIT RATE
Sets the bit rate for the CANopen interface.
This is user selectable, but must be the same
on every node on the CANopen network.
Note: 100 kbit/s is not recommended for a new
installation.
3 = 125
kbit/s
ACS355:
FB PAR 3
ACSM1:
FBA PAR3
ACS850:
FBA par3
ACS880:
Bit rate
0 = 1 Mbit/s
1 = 500 kbit/s
2 = 250 kbit/s
3 = 125 kbit/s
4 = 100 kbit/s
5 = 50 kbit/s
CONF LOC
1 Mbit/s
500 kbit/s
250 kbit/s
125 kbit/s
100 kbit/s
50 kbit/s
04
Selects the source of the PDO configuration.
Note: The first mapping entries of the Tx/Rx
PDO1 and Tx/Rx PDO6 are fixed in the
ACS355 drive.
Note: Make sure that the PLC does not
overwrite the selected configuration during the
initialization phase when the configuration is
taken from the FCAN-01 configuration
parameter groups.
0
ACS355:
FB PAR 4
ACSM1:
FBA PAR4
ACS850:
FBA par4
ACS880:
Conf location
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).
Start-up 39
No. Name/Value
Description
Default
setting
05
PROFILE
Selects the used communication profile used by 1 = ABB
the adapter module:
For more information on the communication
profiles, see chapter Communication profiles.
Drives
ACS355:
FB PAR 5
ACSM1:
FBA PAR5
ACS850:
FBA par5
ACS880:
Profile
0 = CiA 402
CANopen device profile CiA 402 selected
ABB Drives profile selected
1 = ABB Drives
2 = Transp. 16
3 = Transp. 32
T16 SCALE
Transparent 16 profile selected
Transparent 32 profile selected
06
Defines the reference multiplier/actual value
divisor for the adapter module. The parameter
is effective only when the Transparent 16 profile
is selected AND the drive is using the native
communication profile (for example, DCU or
FBA) and a 16-bit transparent Reference
1/Actual value 1.
99
ACS355:
FB PAR 6
ACSM1:
FBA PAR6
ACS850:
With an ACS355 drive, the speed 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.
FBA par6
ACS880:
T16 scale
With ACSM1, ACS850 and ACS880, setting
this parameter to 65535 provides the
approximation of 1 ≈ 1 rpm.
0…65535
Reference multiplier/actual value divisor
40 Start-up
No. Name/Value
Description
Default
setting
07
RPDO1-COB-ID
Defines the COB-ID for Rx PDO1.
Note: It is recommended to use the default
COB-ID.
1
ACS355:
FB PAR 7
ACSM1:
FBA PAR7
ACS850:
FBA par7
ACS880:
RPDO1-COB-ID
0 = Disable
Rx PDO1 is not valid (disabled). COB-ID is
80000200h + Node-ID.
1 = Default
Rx PDO1 is valid and configured to use the
default COB-ID (200h + Node-ID).
385…1407 (dec) = Rx PDO1 is valid and configured to use a
181h … 57Fh
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
255
chapter Appendix A – Dictionary structure and
entries.
ACS355:
FB PAR 8
ACSM1:
FBA PAR8
ACS850:
FBA par8
ACS880:
RPDO1-TR type
0…255 (dec)
Rx PDO1 transmission type. See section
Description of transmission type on page 158.
Start-up 41
No. Name/Value
09 RPDO1-EV TIME
Description
Default
setting
Defines the event time (time-out time) for the
Rx PDO1 in the asynchronous transmission
0 =
Disable
ACS355:
FB PAR 9
mode. If the Rx PDO1 communication between
the adapter module and the bus master fails,
the adapter module sets the communication
between the module and the drive to the off-line
mode.
ACSM1:
FBA PAR9
ACS850:
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 PDO1.
FBA par9
ACS880:
RPDO1-EV time
0 = Disable
Time-out supervision is disabled.
Event time in ms
1…65535 (ms)
TPDO1-COB-ID
10
Defines the COB-ID for Rx PDO6.
1 =
Default
Note: It is recommended to use the default
COB-ID.
ACS355:
FB PAR 10
ACSM1:
FBA PAR10
ACS850:
FBA par10
ACS880:
TPDO1-COB-ID
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).
385…1407 (dec) = Tx PDO1 is valid and configured to use a
181h … 57Fh
custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
42 Start-up
No. Name/Value
Description
Default
setting
11
TPDO1-TR TYPE Defines the PDO1 transmission type. See
255
chapter Appendix A – Dictionary structure and
entries.
ACS355:
FB PAR 11
ACSM1:
FBA PAR11
ACS850:
FBA par11
ACS880:
TPDO1-TR type
0…255 (dec)
PDO1 transmission type. See section
Description of transmission type on page 158.
12
TPDO1-EV TIME
Defines the event time for the Tx PDO1
asynchronous transmission mode.
Event timer elapses as a multiple of 1 ms of the
entry of this parameter.
0 =
Disable
ACS355:
FB PAR 12
ACSM1:
FBA PAR12
ACS850:
FBA par12
ACS880:
TPDO1-EV time
0 = Disable
Event timer is disabled.
Event time in ms.
1…65535 (ms)
RPDO6-COB-ID
13
Defines the COB-ID for Rx PDO6.
0 =
Disable
Note: It is recommended to use the default
COB-ID.
ACS355:
FB PAR 13
ACSM1:
FBA PAR13
ACS850:
FBA par13
ACS880:
RPDO6-COB-ID
0 = Disable
Rx PDO6 is not valid (disabled). COB-ID is
80000300h + Node-ID.
1 = Default
Rx PDO6 is valid and configured to use the
default COB-ID (300h + Node-ID).
385…1407 (dec) = Rx PDO1 is valid and configured to use a
181h … 57Fh
custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
Start-up 43
No. Name/Value
Description
Default
setting
14
RPDO6-TR TYPE Defines the Rx PDO6 transmission type. See
255
chapter Appendix A – Dictionary structure and
entries.
ACS355:
FB PAR 14
ACSM1:
FBA PAR14
ACS850:
FBA par14
ACS880:
RPDO6-TR type
0…255 (dec)
Rx PDO6 transmission type. See section
Description of transmission type on page 158.
15
RPDO6-EV TIME
Defines the event time (time-out time) for the
Rx PDO6 in the asynchronous transmission
0 =
Disable
ACS355:
FB PAR 15
mode. If the Rx PDO6 communication between
the adapter module and the bus master fails,
the adapter module sets the communication
between the module and the drive to the off-line
mode.
ACSM1:
FBA PAR15
ACS850:
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 PDO6.
FBA par15
ACS880:
RPDO6-EV time
0 = Disable
Time-out supervision is disabled.
Event time in ms.
1…65535 (ms)
TPDO6-COB-ID
16
Defines the COB-ID for Tx PDO6.
0 =
Disable
Note: It is recommended to use the default
COB-ID.
ACS355:
FB PAR 16
ACSM1:
FBA PAR16
ACS850:
FBA par16
ACS880:
TPDO6-COB-ID
0 = Disable
Tx PDO6 is not valid (disabled). COB-ID is
80000280h + Node-ID.
1 = Default
Tx PDO6 is valid and configured to use the
default COB-ID (280h + Node-ID).
385…1407 (dec) = Tx PDO6 is valid and configured to use a
181h … 57Fh
custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
44 Start-up
No. Name/Value
Description
Default
setting
17
TPDO6-TR TYPE Defines the Tx PDO6 transmission type. See
255
chapter Appendix A – Dictionary structure and
entries.
ACS355:
FB PAR 17
ACSM1:
FBA PAR17
ACS850:
FBA par17
ACS880:
TPDO6-TR type
0…255 (dec)
Tx PDO6 transmission type. See section
Description of transmission type on page 158.
18
TPDO6-EV TIME
Defines the event time for the Tx PDO6
asynchronous transmission mode.
0 =
Disable
ACS355:
FB PAR 18
Event timer elapses as a multiple of 1 ms of the
entry of this parameter.
ACSM1:
FBA PAR18
ACS850:
FBA par18
ACS880:
TPDO6-EV time
0 = Disable
Event timer is disabled.
Event time in ms.
1…65535 (ms)
RPDO21-COB-ID
19
Defines the COB-ID for Rx PDO21.
0 =
Disable
Note: It is recommended to use the default
COB-ID.
ACS355:
FB PAR 19
ACSM1:
FBA PAR19
ACS850:
FBA par19
ACS880:
RPDO21-COB-ID
0 = Disable
Rx PDO21 is not valid (disabled). COB-ID is
80000400h + Node-ID.
1 = Default
Rx PDO21 is valid and configured to use the
default COB-ID (400h + Node-ID).
385…1407 (dec) = Rx PDO21 is valid and configured to use a
181h … 57Fh
custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
Start-up 45
No. Name/Value
Description
Default
setting
20
RPDO21-TR
TYPE
Defines the Rx PDO21 transmission type. See 255
chapter Appendix A – Dictionary structure and
entries.
ACS355:
FB PAR 20
ACSM1:
FBA PAR20
ACS850:
FBA par20
ACS880:
RPDO21-TR type
0…255 (dec)
Rx PDO21 transmission type. See section
Description of transmission type on page 158.
21
RPDO21-EV TIME Defines the event time (time-out time) for the
Rx PDO21 in the asynchronous transmission
0 =
Disable
ACS355:
mode. If the Rx PDO21 communication
between the adapter module and the bus
master fails, the adapter module sets the
communication between the module and the
drive to the off-line mode.
FB PAR 21
ACSM1:
FBA PAR21
ACS850:
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.
FBA par21
ACS880:
RPDO21-EV time
0 = Disable
Time-out supervision is disabled.
Event time in ms.
1…65535 (ms)
46 Start-up
No. Name/Value
Description
Default
setting
22
TPDO21-COB-ID
Defines the COB-ID for Tx PDO21.
0 =
Disable
Note: It is recommended to use the default
COB-ID.
ACS355:
FB PAR 22
ACSM1:
FBA PAR22
ACS850:
FBA par22
ACS880:
TPDO21-COB-ID
0 = Disable
Tx PDO21 is not valid (disabled). COB-ID is
80000380h + Node-ID.
1 = Default
Tx PDO21 is valid and configured to use the
default COB-ID (380h + Node-ID).
385…1407 (dec) = Tx PDO21 is valid and configured to use a
181h … 57Fh
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.
255
ACS355:
FB PAR 23
ACSM1:
FBA PAR23
ACS850:
FBA par23
ACS880:
TPDO21-TR type
0…255 (dec)
Tx PDO21 transmission type. See section
Description of transmission type on page 158.
Start-up 47
No. Name/Value
Description
Default
setting
24
TPDO21-EV TIME Defines the event time for the Tx PDO21
0 =
asynchronous transmission mode.
Disable
ACS355:
FB PAR 23
Event timer elapses as a multiple of 1 ms of the
entry of this parameter.
ACSM1:
FBA PAR23
ACS850:
FBA par23
ACS880:
TPDO21-EV time
0 = Disable
1...65535 (ms)
Reserved
Event timer is disabled.
Event time in ms.
25
…
26
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
ACS355/
ACSM1:
FBA PAR
REFRESH
ACS850/ACS880:
FBA par refresh
0 = Done
Refreshing done
Refreshing
1 =
Refresh/Configure
28
PAR TABLE VER
Read-only. Displays the parameter table
revision of the fieldbus adapter module
mapping file stored in the memory of the drive.
In format xyz, where:
x = major revision number
y = minor revision number
x = correction number
N/A
ACS355:
FILE CPI FW REV
ACSM1:
PAR TABLE VER
ACS850/ACS880:
Par table ver
OR
in format axyz, where
a = major revision number
xy = minor revision numbers
z = correction number or letter.
Parameter table revision
48 Start-up
No. Name/Value
Description
Default
setting
29
DRIVE TYPE
CODE
Read-only. Displays the drive type code of the N/A
fieldbus adapter module mapping file stored in
the memory of the drive.
ACS355:
FILE CONFIG ID
ACSM1:
DRIVE TYPE
COD
ACS850/ACS880:
Drive type code
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
ACS355:
FILE CONFIG
REV
ACSM1:
MAPPING FILE
VER
ACS850/ACS880:
Mapping file ver
Mapping file revision
Start-up 49
No. Name/Value
Description
Default
setting
31
D2FBA COMM
STA
Read-only. Displays the status of the fieldbus
adapter module communication.
0 = Idle
OR
Note: The value names may vary by drive.
4 = Off-
line
ACS355:
FBA STATUS
ACSM1:
D2FBA COMM
STA
ACS850/ACS880:
D2FBA comm sta
0 = Idle
Adapter is not configured.
Adapter is initializing.
1 = Exec.init
2 = Time out
Time-out has occurred in the communication
between the adapter and the drive.
3 = Conf.err
Adapter configuration error: Major or minor
revision code of the common program revision
in the fieldbus adapter module is not the
revision required by the module or mapping file
upload has failed more than three times.
4 = Off-line
5 = On-line
6 = Reset
Adapter is off-line.
Adapter is on-line.
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:
N/A
ACS355:
FBA CPI FW REV
a = major revision number
xy = minor revision numbers
z = correction number or letter.
Example: 190A = revision 1.90A
ACSM1:
FBA COMM SW
VER
ACS850/ACS880:
FBA comm SW
rev
Common program version of the adapter
module
50 Start-up
No. Name/Value
Description
Default
setting
33
FBA COMM APPL Read-only. Displays the application program
N/A
REV
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
ACS355:
FBA CPI APPL
REV
ACSM1:
FBA COMM APPL
VER
ACS850/ACS880:
FBA appl SW ver
Application program revision of the adapter
module
Start-up 51
FCAN-01 configuration parameters – group B (group 2)
Note: The actual parameter group number depends on the drive
type. Group B (group 2) corresponds to:
•
•
•
parameter group 55 in ACS355
group 53 in ACSM1 and ACS850
parameter group 53 in ACS880 if the adapter is installed as
fieldbus adapter A or group 56 if the adapter is installed as
fieldbus adapter B.
1)
2)
No.
01
Name /Value
Description
Default
For ACS355:
Rx PDO1 word 2
Selects data word 1 received by the drive over
the CANopen network. From the drive's
0 = Not
used
For other drives: perspective this corresponds to Rx PDO
Rx PDO1 word 1
communication in CANopen.
ACS355:
FBA DATA OUT 1
CANopen
master
ABB drive
ACSM1:
FBA DATA OUT1
ACS850/ACS880:
FBA data out1
Control word (CW)
References
FBA DATA OUT
(Rx PDO)
Content is defined by a decimal number in the
range of 0 to 9999 as follows:
0
Not used
1…99 Virtual address area of drive control
101… Parameter area of the drive
9999
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 parameter to parameter no.
1 also reserves parameter no. 2.
Note: In ACS355 drives, Rx PDO1 word 1 and
Rx PDO6 word 1 are fixed and always mapped
to object 6040h Control word. The first
configuration parameters have effect on the 2nd
words of these PDOs in ACS355 drives.
52 Start-up
1)
2)
No.
Name /Value
0 = None
Description
Default
Not used
1 = CW 16bit
2 = Ref1 16bit
3 = Ref2 16bit
11 = CW 32bit
12 = Ref1 32bit
13 = Ref2 32bit
101…9999
Control word (16 bits)
Reference REF1 (16 bits)
Reference REF2 (16 bits)
Control word (32 bits)
Reference REF1 (32 bits)
Reference REF2 (32 bits)
Parameter number with format xxyy, where:
•
xx is the parameter group number (1 to 99)
•
yy is the parameter number index within that
group (01 to 99).
Note: In ACS880, choose Other to display a list
of mappable drive parameters.
02
03
04
05
06
07
08
For ACS355:
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
0
0
0
0
0
0
0
Rx PDO1 word 3
For other drives:
Rx PDO1 word 2
For ACS355:
Rx PDO1 word 4
For other drives:
Rx PDO1 word 3
For ACS355:
Rx PDO6 word 2
For other drives:
Rx PDO1 word 4
For ACS355:
Rx PDO6 word 3
For other drives:
Rx PDO6 word 1
For ACS355:
Rx PDO6 word 4
For other drives:
Rx PDO6 word 2
For ACS355:
Rx PDO21 word 1
For other drives:
Rx PDO6 word 3
For ACS355:
Rx PDO21 word 2
For other drives:
Rx PDO6 word 4
Start-up 53
1)
2)
No.
Name /Value
Description
Default
09
For ACS355:
See parameter 01 above.
0
Rx PDO21 word 3
For other drives:
Rx PDO21 word 1
10
11
For ACS355:
See parameter 01 above.
0
0
0
Rx PDO21 word 4
For other drives:
Rx PDO21 word 2
For ACS355:
N/A
For other drives:
Rx PDO21 word 3
See parameter 01 above.
Note: ACS355 has only ten FBA DATA OUT
parameters, indexes 1 to 10.
12
1)
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.
The number of parameters in this group may vary by drive type and drive firmware.
2)
For more information, see chapter Communication protocol.
54 Start-up
FCAN-01 configuration parameters – group C (group 3)
Note: The actual parameter group number depends on the drive
type. Group C (group 3) corresponds to:
•
•
•
parameter group 54 in ACS355
group 52 in ACSM1 and ACS850
parameter group 52 in ACS880 if the adapter is installed as
fieldbus adapter A or group 55 if the adapter is installed as
fieldbus adapter B.
1)
2)
No.
01
Name /Value
Description
Default
For ACS355:
Data word 1 sent by the drive over the
0 = Not
Tx PDO1 word 2
CANopen network. From the drive's perspective used
For other drives: this corresponds to Tx PDO communication in
Tx PDO1 word 1
CANopen.
ACS355:
FBA DATA IN 1
CANopen
master
ABB drive
ACSM1:
FBA DATA IN1
ACS850/ACS880:
FBA data in1
FBA DATA IN
(Tx PDO)
Status word (SW)
Actual values
Content is defined by a decimal number in the
range of 0 to 9999 as follows:
0
Not used
1…99 Virtual address area of drive control
101… Parameter area of the drive
9999
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 parameter to parameter no.
1 also reserves parameter no. 2.
Note: In ACS355 drives, Tx PDO1 word 1 and
Tx PDO6 word 1 are fixed and always mapped
to object 6041h Status word. The first
configuration parameters have effect on the 2nd
words of these PDOs in ACS355 drives.
Start-up 55
1)
2)
No.
Name /Value
Description
Default
0 = None
Not used
4 = SW 16bit
5 = Act1 16bit
6 = Act2 16bit
14 = SW 32bit
15 = Act1 32bit
16 = Act2 32bit
101…9999
Status word (16 bits)
Actual value ACT1 (16 bits)
Actual value ACT2 (16 bits)
Status word (32 bits)
Actual value ACT1 (32 bits)
Actual value ACT2 (32 bits)
Parameter number with format xxyy, where:
•
xx is the parameter group number (1 to 99)
•
yy is the parameter number index within that
group (01 to 99).
Note: In ACS880, choose Other to display a list
of mappable drive parameters.
02
03
04
05
06
07
08
For ACS355:
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
0
0
0
0
0
0
0
Tx PDO1 word 3
For other drives:
Tx PDO1 word 2
For ACS355:
Tx PDO1 word 4
For other drives:
Tx PDO1 word 3
For ACS355:
Tx PDO6 word 2
For other drives:
Tx PDO1 word 4
For ACS355:
Tx PDO6 word 3
For other drives:
Tx PDO6 word 1
For ACS355:
Tx PDO6 word 4
For other drives:
Tx PDO6 word 2
For ACS355:
Tx PDO21 word 1
For other drives:
Tx PDO6 word 3
For ACS355:
Tx PDO21 word 2
For other drives:
Tx PDO6 word 4
56 Start-up
1)
2)
No.
Name /Value
Description
Default
09
For ACS355:
See parameter 01 above.
0
Tx PDO21 word 3
For other drives:
Tx PDO21 word 1
10
11
For ACS355:
See parameter 01 above.
0
0
0
Tx PDO21 word 4
For other drives:
Tx PDO21 word 2
For ACS355:
N/A
For other drives:
Tx PDO21 word 3
See parameter 01 above.
Note: ACS355 has only ten FBA DATA IN
parameters, indexes 1 to 10.
12
1)
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.
The number of parameters in this group may vary by drive type and drive firmware.
2)
For more information, see chapter Communication protocol.
Start-up 57
Additional information on the virtual address area
allocation
The drive virtual address area is allocated as follows:
Profile
1)
CiA 402
hm
pp
ip pv
pt
vl
1
2
3
4
5
6
Control
word
16-bit 6040h 6040h
6040h
6040h 6040h 6040h
6071h 6042h 6042h
6040h
6042h
-
-
-
-
-
-
Refer-
ence 1
16-bit
16-bit
-
-
-
-
-
Refer-
ence 2
-
-
2000h03 2000h03
Status
word
16-bit 6041h 6041h
6041h
6041h 6041h 6041h
6077h 6044h 6044h
6041h
6044h
Actual
value 1
16-bit
16-bit
-
-
-
-
-
-
Actual
-
-
2000h06 2000h06
value 2
7…10 Reserved N/A
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
11
12
13
14
15
16
Control
word
32-bit
32-bit
32-bit
32-bit
32-bit
32-bit
2001h
Refer-
ence 1
-
-
-
-
-
607Ah
60FFh
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
2002h
2003h
2004h
2005h
2006h
Refer-
ence 2
-
-
Status
word
-
-
Actual
value 1
6064h
-
606Ch
-
Actual
value 2
1)
1)
hm = homing mode
pp = profile position mode
ip = interpolated position mode
pv = profile velocity mode
pt = profile torque mode
vl = velocity mode
ACS355 supports only vl.
ACS850 and ACS880 support vl and
pt.
1)
ACSM1 supports hm, pp, pv, pt and vl.
58 Start-up
„ Control locations
ABB drives can receive control information from multiple sources
including digital inputs, analog inputs, the drive control panel and a
communication module (for example, FCAN-01). ABB drives allow
the user to separately determine the source for each type of control
information (Start, Stop, Direction, Reference, Fault reset, etc.).
To give the fieldbus master station the most complete control over
the drive, the communication module must be selected as the
source of this information. The drive-specific parameter setting
examples below contain the drive control parameters needed in
the examples. For a complete parameter 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 configuration in 5104 CONF LOC and
the communication profile in 5105 PROFILE.
4. With parameter 3018 COMM FAULT FUNC, select how the
drive reacts to a fieldbus communication break.
5. With parameter 3019 COMM FAULT TIME, define the time
between communication break detection and the selected
action.
6. If group 51 is selected as the source for the PDO configuration,
select the application specific configuration for the PDOs with
parameters 5107…5124.
Start-up 59
7. If group 51 is selected as the source for the PDO configuration,
define the process data transferred to and from the drive in
FCAN-01 parameter groups 54 and 55.
Note: If the PDO configuration is written from the PLC,
parameters 5107…5124 are not used and the parameter
groups 54 and 55 display the process data selected in the
PLC.
8. To validate the settings made in parameter groups 51, 54 and
55, set parameter 5127 FBA PAR REFRESH to REFRESH.
9. Set the relevant drive control parameters to control the drive
according to the application.
Examples of 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 mapping entries of Rx PDO1 and Tx PDO1 are fixed and
always mapped to objects 6040h and 6041h.
PDO
Word 1
Length
16 bits
16 bits
Rx PDO1
Tx PDO1
6040h Control word
6041h Status word
Note: The Tx PDO1 default transmission type is 255 (acyclic) and
event time is 0. The event time should be changed with CANopen
object 1800h05 if the default transmission type is used.
60 Start-up
The ACS355 parameters and recommended parameter settings
for the CANopen fieldbus communication are listed in the following
table.
Drive parameter
Setting for ACS355
drives
Description
9802 COMM PROT SEL 4 = EXT FBA
Activates the communication
(fieldbus) module.
1)
5101 FBA TYPE
32 (= CANopen)
Communication module type
Adapter module node ID
2)
3
5102 FBA PAR 2
(NODE ID)
2)
5103 FBA PAR 3
(BIT RATE)
3 (= 125 kbit/s)
Bit rate used on the CANopen
network
5104 FBA PAR 4
(CONF LOC)
0 (= Network)
CANopen objects (14xxh,
16xxh, 18xxh and 1Axxh) as the
source for the PDO settings
5105 FBA PAR 5
(PROFILE)
0 (= CiA 402)
1 = FAULT
3.0 s
CiA 402 mode communication
profile
3018 COMM FAULT
FUNC
Sets the fieldbus communication
loss functionality.
3019 COMM FAULT
TIME
Fieldbus communication loss
supervision time-out
5127 FBA PAR
REFRESH
1 = REFRESH
10 = COMM
Fieldbus configuration
parameter settings activation
1001 EXT1
COMMANDS
Communication module as the
source for the start, stop and
direction commands
2)
1103 REF1 SELECT
1601 RUN ENABLE
1 = AI1
Analogue input as the source for
reference 1
7 = COMM
Communication module as the
source for the Run enable signal
1604 FAULT RESET
SEL
8 = COMM
Communication module as the
source for the fault reset signal
1)
Automatically detected
Example
2)
Start-up 61
The start sequence for the parameter example above is given
below.
Control word:
•
•
•
Reset the fieldbus communication fault (if active).
7Eh (126 decimal) –> SWITCH ON DISABLED
7Fh (127 decimal) –> OPERATION ENABLED
Speed and torque control using ABB Drives
communication profile with parameter-configured PDO
mapping
This example shows how to configure a speed and torque control
application that uses the ABB Drives profile. In addition, some
application specific data is added to the communication.
The start/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 reference set with parameter 1108
REF2 MAX 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.
PDO
Word 1
Word 2
Word 3
Word 4
Length
Rx PDO1
6040h
6042h
Target
velocity
2000h03
4001h23
Par. 0135
COMM
64 bits
Control
Reference
1)
1)
1)
2
word
2)
VALUE 1
Tx PDO1
1)
6041h
Status
word
6044h
2000h06
4001h06
64 bits
vl control
Actual value Par. 0106
1)
1)
1)
2)
effort
2
POWER
According to the ABB Drives profile mode
Example
2)
Note: In ACS355 drives, the first mapping entries of PDOs 1 and 6 are fixed. See
Process Data Objects (PDO) on page 113.
62 Start-up
Note: The settings of the PDOs can be changed with CANopen
objects 14xxh, 16xxh, 18xxh and 1Axxh. The communication
parameter settings of CANopen objects 14xxh and 18xxh are valid
only to the next boot-up unless they are stored to the non-volatile
memory.
The ACS355 parameters and recommended parameter settings
for the CANopen fieldbus communication are listed in the following
table.
Drive parameter
Setting for ACS355
drives
Description
9802 COMM PROT SEL 4 = EXT FBA
Activates the communication
(fieldbus) module.
1)
5101 FBA TYPE
32 (= CANopen)
Communication module type
Adapter module node ID
2)
3
5102 FBA PAR 2
(NODE ID)
2)
5103 FBA PAR 3
(BIT RATE)
2 (= 250 kbit/s)
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 and
54.
5105 FBA PAR 5
(PROFILE)
1 (= ABB Drives)
ABB Drives profile mode (that is,
communication profile used by
the module)
3018 COMM FAULT
FUNC
1 = FAULT
3.0 s
Sets the fieldbus communication
loss functionality.
3019 COMM FAULT
TIME
Fieldbus communication loss
supervision time-out
5107 FBA PAR 7
(RPDO1-COB-ID)
1 (= Default)
Rx PDO1 is enabled and
configured to use the default
COB-ID.
2)
5108 FBA PAR 8
(RPDO1-TR TYPE)
255
Asynchronous transmission
mode is used by Rx PDO1.
5110 FBA PAR 10
(TPDO1-COB-ID)
1 (= Default)
Tx PDO1 is enabled and
configured to use the default
COB-ID.
Start-up 63
Drive parameter
Setting for ACS355
drives
Description
5111 FBA PAR 11
(TPDO1-TR TYPE)
255
Asynchronous transmission
mode is used by Tx PDO1.
Transmission is triggered by the
event time.
2)
5112 FBA PAR 12
(TPDO1-EV TIME)
100
Event time, that is, event time
elapses every 100 ms.
5401 FBA DATA IN 1
5402 FBA DATA IN 2
5403 FBA DATA IN 3
5501 FBA DATA OUT 1
5502 FBA DATA OUT 2
5503 FBA DATA OUT 3
5 (= Act1 16bit)
6 (= Act2 16bit)
106
Actual value 1 as mapping
entry 2 in Tx PDO1
Actual value 2 as mapping
entry 3 in Tx PDO1
Signal 106 POWER as mapping
entry 4 in Tx PDO1
2 (= Ref1 16bit)
3 (= Ref2 16bit)
135
Reference 1 as mapping entry 2
in Rx PDO1
Reference 2 as mapping entry 3
in Rx PDO1
Signal 135 COMM VALUE 1 as
mapping entry 4 in Rx PDO1
5127 FBA PAR
REFRESH
1 = REFRESH
Activates the fieldbus
configuration parameter
settings.
9904 MOTOR CTRL
MODE
2 = VECTOR: TORQ
Selects the motor control mode.
1001 EXT1
COMMANDS
10 = COMM
Communication module as the
source for the start, stop and
direction commands in EXT1
mode
1002 EXT2
COMMANDS
10 = COMM
Communication module as the
source for the start, stop and
direction commands in EXT2
mode
1102 EXT1/EXT2 SEL
8 = COMM
Communication module as the
source for the control location
selection
1103 REF1 SELECT
1106 REF2 SELECT
8 = COMM
Communication module as the
source for reference 1
8 = COMM
Communication module as the
source for reference 2
64 Start-up
Drive parameter
Setting for ACS355
drives
Description
1601 RUN ENABLE
7 = COMM
Communication module as the
source for the Run enable signal
1604 FAULT RESET
SEL
8 = COMM
Communication module as the
source for the fault reset signal
1)
Automatically detected
Example
2)
The start sequence for the parameter example above is given
below.
Control word:
•
•
•
Reset the fieldbus communication fault (if active).
47Eh (1150 decimal) –> READY TO SWITCH ON
47Fh (1151 decimal) –> OPERATING (Speed mode)
or
C7Fh (3199 decimal) –> OPERATING (Torque mode)
Starting up ACSM1 drives
1. Power up the drive.
2. Enable the communication between the adapter module and
the drive by setting parameter 50.01 FBA ENABLE to
ENABLE.
3. With parameter 50.02 COMM LOSS FUNC, select how the
drive reacts to a fieldbus communication 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.
Start-up 65
5. Select application-specific values for parameters
50.04…50.11.
Examples of appropriate values are shown in the tables below.
6. Set the FCAN-01 configuration parameters in parameter group
51.
At minimum, set the required node address in parameter 51.02
NODE ID and the required bit rate in 51.03 BIT RATE, select
the source of the PDO configuration 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 53.
Note: If the PDO configuration is written from the PLC,
parameters 51.07…51.24 are not used and the parameter
groups 52 and 53 display the process data selected in the
PLC.
9. To validate the settings made in parameter groups 51, 52 and
53, set parameter 51.27 FBA 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.
66 Start-up
„ Parameter setting examples – ACSM1
Using position control with the CiA 402 Profile Position mode
This example shows how to configure a basic positioning
application for an ACSM1 motion control drive. The start/stop
commands and reference are according to the CiA 402 Profile
Position mode.
The parameter setting example results in the following PDO
configuration.
Note: Rx PDO1 and Tx PDO1 are enabled by default.
PDO
Word 1
Word 2, 3
Length
Rx PDO1
6040h
607Ah
48 bits
Control word
Target position
Tx PDO1
6041h
6064h
48 bits
Status word
Position actual
value
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:
Drive parameter
Example setting
60.05 POS UNIT (Position unit)
60.08 POS2INT SCALE
m
100
1000 / 100 = 10.00 m
60.05 POS UNIT
Physical value
60.08 POS2INT SCALE
Set point value
Start-up 67
The ACSM1 parameters and recommended parameter settings for
the CANopen fieldbus communication are listed in the following
table.
Drive parameter
Setting for ACSM1
drives
Description
50.01 FBA ENABLE
Enable
Activates the communication
(fieldbus) module.
50.02 COMM LOSS
FUNC
Fault
Enables communication
between the drive and the
fieldbus adapter module.
50.03 COMM LOSS T
OUT
1.0 s
Defines the fieldbus
communication break
supervision time-out.
50.04 FBA REF1
MODESEL
Position
Defines the fieldbus reference
scaling.
1)
51.01 FBA TYPE
32 (= CANopen)
Communication module type
Adapter module node ID
2)
3
51.02 FBA PAR2 (NODE
ID)
2)
51.03 FBA PAR3 (BIT
RATE)
3 (= 125 kbit/s)
Bit rate used on the CANopen
network
51.04 FBA PAR4 (CONF 1 (= Parameters)
LOC)
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 communication profile
(that is, communication profile
used by the module)
2)
51.08 FBA PAR8
(RPDO1-TR TYPE)
255
Asynchronous transmission
mode is used by Rx PDO1.
52.01 FBA DATA IN1
52.02 FBA DATA IN2
4 (= SW 16bit)
Status word (16-bit) as mapping
entry 1 in Tx PDO1
15 (= Act1 32bit)
Position actual value (32-bit) as
mapping entries 2 and 3 in Tx
PDO1
68 Start-up
Drive parameter
Setting for ACSM1
drives
Description
52.03 FBA DATA IN3
0 (reserved)
Parameters in groups 52 and 53
are 16-bit parameters. Mapping
of 32-bit parameters
automatically reserves also the
following cell (that is, the
mapping of 15 to parameter
52.02 reserves also the
parameter 52.03).
53.01 FBA DATA OUT1
53.02 FBA DATA OUT2
1 (= CW 16bit)
Control word (16-bit) as
mapping entry 1 in Rx PDO1
12 (= Ref1 32bit)
Position Reference (32-bit) as
mapping entries 2 and 3 in Rx
PDO1
53.03 FBA DATA OUT3
0 (reserved)
Parameters in groups 52 and 53
are16-bit parameters. Mapping
of 32-bit parameters
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
Ref table
FBA REF1
Selects the position control
mode for external control
location EXT1.
65.01 POS
REFSOURCE
Reference and other positioning
parameters are read from
reference set 1/2.
65.04 POS REF 1 SEL
Fieldbus reference 1 is the
source for the position reference
when reference set 1 is used.
1)
Automatically detected
Example
2)
Start-up 69
The start sequence for the parameter example above is given
below.
Control word:
•
•
•
•
Reset the fieldbus communication fault (if active).
0Eh (14 decimal) –> SWITCH ON DISABLED
0Fh (15 decimal) –> OPERATION ENABLED
1Fh (31 decimal) –> MOVE TO NEW SETPOINT
Starting up ACS850 drives
1. Power up the drive.
2. Enable the communication between the adapter module and
the drive by setting parameter 50.01 FBA enable to Enable.
3. With parameter 50.02 Comm loss func, select how the drive
reacts to a fieldbus communication 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 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 the
source of the PDO configuration in 51.04 CONF LOC and the
communication profile in 51.05 PROFILE.
70 Start-up
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. Define the process data transferred to and from the drive in the
FCAN-01 configuration parameter groups 52 and 53.
Note: If the PDO configuration is witten from the PLC,
parameters 51.07…51.24 are not used and the parameter
groups 52 and 53 display the process data selected in the
PLC.
9. To validate the settings made in parameter groups 51, 52 and
53, set parameter 51.27 FBA 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 profile velocity control mode.
Rx PDO1 and Tx PDO1 are enabled by default.
PDO
Word 1
Length
16 bits
16 bits
Rx PDO1
Tx PDO1
6040h Control word
6041h Status word
Note: The Tx PDO1 default transmission type is 255 (acyclic) and
event time is 0. The event time should be changed with CANopen
object 1800h05 if the default transmission type is used.
Start-up 71
The ACS850 parameters and recommended parameter settings
for the CANopen fieldbus communication are listed in the following
table.
Drive parameter
Setting for ACS850
drives
Description
50.01 FBA enable
Enable
Activates the communication
(fieldbus) module.
50.02 Comm loss func
50.03 Comm loss t out
Fault
Enables fieldbus communication
fault monitoring.
3.0 s
Defines the fieldbus
communication break
supervision time-out.
50.04 FBA ref1 modesel Speed
Defines the fieldbus reference
scaling.
1)
51.01 FBA type
CANopen
Communication module type
Adapter module node ID
2)
51.02 FBA par2 (NODE
ID)
3
2)
51.03 FBA par3
(BIT RATE)
3 (= 125 kbit/s)
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
53.01 FBA data out1
4 (= SW 16bit)
Status word (16-bit) as mapping
entry 1 in Tx PDO1
1 (= CW 16bit)
Control word (16-bit) as
mapping entry 1 in Rx PDO1
51.27 FBA par refresh
10.01 Ext1 start func
Refresh
FBA
Activates the fieldbus
configuration parameter settings
activation.
Communication module as the
source for the start, stop and
direction commands
72 Start-up
Drive parameter
Setting for ACS850
drives
Description
12.03 Ext1 ctrl mode
Speed
Selects the speed control mode
for external control location
EXT1.
2)
21.01 Speed ref1 sel
AI1 scaled
Analog input as the source for
reference 1
(Parameter 02.05)
1)
Automatically detected
Example
2)
The start sequence for the parameter example above is given
below.
Control word:
•
•
•
Reset the fieldbus communication fault (if active).
7Eh (126 decimal) –> SWITCH ON DISABLED
7Fh (127 decimal) –> OPERATION ENABLED
ABB Drives communication profile with parameter-
configured PDO mapping
This example shows how to configure a speed control application
that uses the ABB drives profile.
The start/stop commands and references are according to the ABB
Drives profile. (For more information, see section ABB Drives
communication 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.
PDO
Word 1
Word 2
Length
Rx PDO1
6040h
6042h
32 bits
Control word
Target velocity
Tx PDO1
6041h
6044h
32 bits
Status word
vl control effort
Start-up 73
Note: The settings of the PDOs can be changed with CANopen
objects 14xxh, 16xxh, 18xxh and 1Axxh. The communication
parameter settings of CANopen objects 14xxh and 18xxh are valid
only to the next boot-up unless stored to the non-volatile memory.
The ACS850 parameters and recommended parameter settings
for the CANopen fieldbus communication are listed in the following
table:
Drive parameter
Setting for ACS850
drives
Description
50.01 FBA enable
Enable
Activates the communication
(fieldbus) module.
50.02 Comm loss func
50.03 Comm loss t out
Fault
Enables fieldbus communication
fault monitoring.
3.0 s
Defines the fieldbus
communication break
supervision time.
50.04 FBA ref1 modesel Speed
Defines the fieldbus reference
scaling.
1)
51.01 FBA type
CANopen
Communication module type
Adapter module node ID
2)
51.02 FBA par2 (NODE
ID)
3
2)
51.03 FBA par3
(BIT RATE)
3 (= 125 kbit/s)
Bit rate used on the CANopen
network
51.04 FBA par4 (CONF
LOC)
1 (= Parameters)
PDO1 configuration is done with
FCAN-01 configuration
parameters group A (group1),
group B (group 2) and group C
(group 3), that is, ACS850
parameter groups 51, 52 and
53.
51.05 FBA par5
(PROFILE)
1 (= ABB Drives)
ABB Drives profile mode (that is,
communication profile used by
the module)
51.07 FBA par7
1 (= Default)
Rx PDO1 is enabled.
(RPDO1-COB-ID)
2)
51.08 FBA par8
(RPDO1-TR TYPE)
255
Asynchronous transmission
mode is used by Rx PDO1.
51.10 FBA par10
(TPDO1-COB-ID)
1 (= Default)
Tx PDO1 is enabled.
74 Start-up
Drive parameter
Setting for ACS850
drives
Description
2)
51.11 FBA par11
(TPDO1-TR TYPE)
255
Asynchronous transmission
mode is used by Tx PDO1.
52.01 FBA data in1
52.02 FBA data in2
53.01 FBA data out1
53.02 FBA data out2
4 (= SW 16bit)
5 (= Act1 16bit)
1 (= CW 16bit)
2 (= Ref1 16bit)
16-bit Status word as mapping
entry 1 in Tx PDO1
16-bit actual value as mapping
entry 2 in Tx PDO1
16-bit Control word 1 as
mapping entry 1 in Rx PDO1
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
12.03 Ext1 ctrl mode
FBA
Communication module as the
source for the start, stop and
direction commands
Speed
Selects the speed control mode
for external control location
EXT1.
21.01 Speed ref1 sel
1)
FBA ref1
(Parameter 02.26)
Fieldbus reference 1 as the
source for speed reference 1
Automatically detected
Example
2)
The start sequence for the parameter example above is given
below.
Control word:
•
•
•
Reset the fieldbus communication fault (if active).
47Eh (1150 decimal) –> READY TO SWITCH ON
47Fh (1151 decimal) –> OPERATING
Start-up 75
Starting up ACS880 drives
1. Power up the drive.
2. Enable the communication between the adapter module and
the drive by setting parameter 50.01 FBA A enable to Enable.
3. With parameter 50.02 FBA A comm loss func, select how the
drive reacts to a fieldbus communication 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 FBA A 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 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 source for the PDO
configuration, select the application specific configuration for
the PDOs with parameters 51.07…51.24.
8. Define the process data transferred to and from the drive in the
FCAN-01 configuration parameter groups 52 and 53.
Note: If the PDO configuration is written from the PLC, the
parameters 51.07…51.24 are not used and the parameter
groups 52 and 53 display the process data selected in the
PLC.
76 Start-up
9. Save the valid parameter values to permanent memory by
setting parameter 96.07 Param save to Save.
10. To validate the settings made in the parameter groups 51, 52
and 53, set parameter 51.27 FBA par refresh to Configure.
11. Set the relevant drive control parameters to control the drive
according to the application.
Examples of appropriate values are shown in the tables 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.
PDO
Word 1
Length
16 bits
16 bits
Rx PDO1
Tx PDO1
6040h Control word
6041h Status word
Note: The Tx PDO1 default transmission type is 255 (acyclic) and
event time is 0. The event time should be changed with CANopen
object 1800h05 if the default transmission type is used.
Start-up 77
The ACS880 parameters and recommended parameter settings
for the CANopen fieldbus communication are listed in the following
table.
Drive parameter
Setting for ACS880
drives
Description
50.01 FBA A enable
1 = Enable
Enables communication
between the drive and the
fieldbus adapter module.
50.02 FBA A comm loss 1 = Fault
func
Enables fieldbus communication
fault monitoring.
50.03 FBA A comm loss 3.0 s
t out
Defines the fieldbus
communication break
supervision time.
50.04 FBA A ref1 type
4 = Speed
Defines the fieldbus A reference
1 scaling.
1)
51.01 FBA type
51.02 Node ID
51.03 Bit rate
CANopen
Communication module type
Adapter module node ID
2)
3
2)
3 = 125 kbit/s
Bit rate used on the CANopen
network
51.04 Conf location
51.05 Profile
0 = Network
CANopen objects (14xxh,
16xxh, 18xxh and 1Axxh) as the
source for the PDO settings
0 = CiA 402
CiA 402 Velocity mode
communication profile (that is,
communication profile used by
the module)
2)
52.01 FBA data in1
53.01 FBA data out1
4 = SW 16bit
16-bit Status word as mapping
entry 1 in Tx PDO1
2)
1 = CW 16bit
16-bit Control word 1 as
mapping entry 1 in Rx PDO1
51.27 FBA par refresh
1 = Configure
Activates the fieldbus
configuration parameter
settings.
19.12 Ext1 control mode 2 = Speed
1
Selects speed control as control
mode 1 for external control
location 1.
78 Start-up
Drive parameter
Setting for ACS880
drives
Description
20.01 Ext1 commands
21 = Fieldbus A
Selects the fieldbus A interface
as the source of the start and
stop commands for external
control location 1.
2)
22.11 Speed ref1
selection
AI1 scaled
Analog input as the source for
reference 1
1)
Automatically detected
Example
2)
The start sequence for the parameter example above is given
below.
Control word:
•
•
•
Reset the fieldbus communication fault (if active).
7Eh (126 decimal) –> SWITCH ON DISABLED
7Fh (127 decimal) –> OPERATION ENABLED
Configuring the master station
After the adapter module has been initialized by the drive, the
master station must be prepared for communication with the
adapter module. Examples of an ABB AC500 PLC are given
below. If you are using another master system, refer to its
documentation for more information.
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
communication objects. The EDS files for ABB Drives are available
Start-up 79
„ Configuring an ABB AC500 PLC
This example shows how to configure the communication between
an AC500 PLC and the adapter module using the Control 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.
80 Start-up
4. Open or create the PLC project 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.
Start-up 81
82 Start-up
8. Configure the FCAN-01 properties:
•
Select the node boot up sequence.
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.
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.
Start-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.
86 Start-up
•
On the CANopen I/O Mapping tab, configure the I/O mapping.
Type names for 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.
Communication profiles 87
7
What this chapter contains
This chapter describes the communication profiles used in
communication between the CANopen network, the adapter
module and the drive.
Communication profiles
Communication profiles are ways of conveying control commands
(Control word, Status word, references and actual values) between
the master station and the drive.
With the FCAN-01 CANopen adapter module, the CANopen
network may employ the CiA 402 profile (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
CANopen device profile CiA 402 on page 89 for more details.
The profile is selected from the drive with parameter 05 PROFILE
of the fieldbus configuration group A. For example, if parameter 05
PROFILE is set to 0, the Control word of the drive is set according
to the CiA 402 specification.
88 Communication profiles
The figure below illustrates the profile selection:
Control word, reference, Status word
and actual values according to
CANopen profile CiA 402, ABB Drives
profile or drive-specific 16-bit words
FCAN-01
Drive
CiA 402
Data
1)
1)
conversion
CANopen
objects
ABB Drives
Select
6040h
6042h
6041h
Data
Select
2
conversion
6044h
2)
2000h03
2000h06
Transparent 16
3)
Optional
reference,
actual value
scaling
607Ah
6064h
6071h
6077h
60FF
606C
3)
3)
3)
3)
3)
Transparent 32
CANopen
objects
2001h
...
2006h
Control word, reference, Status word
and actual values according to drive-
specific 32-bit words
1)
native profile (eg, DCU or FBA)
2)
Selection with FCAN-01 configuration parameters
(parameter 05 PROFILE of group A)
Only with ACSM1 drives
3)
The following sections describe the Control word, the Status word,
references and actual values for the CANopen device profile CiA
402 and ABB Drives communication profiles. See the drive
manuals for details on the native profiles.
Communication profiles 89
CANopen device profile CiA 402
„ Device Control state machine
The start and stop of the drive and several mode-specific
commands are executed by the Device Control state machine.
This is described in figure below.
Device Control state machine
1)
Modes of operation
Velocity
mode
Homing
mode
Profile
Position
mode
Inter-
Profile
Torque
mode
Profile
Velocity
mode
polated
Position
2)
mode
2)
1)
1)
1)
Not supported
ACS355 supports only vl.
ACS850 and ACS880 support vl and tq.
ACSM1 supports hm, pp, pv, tq and vl.
The Control word is the principal means for controlling the drive
from a fieldbus system. It is sent by the fieldbus master station to
the drive through the adapter 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.
90 Communication profiles
„ Modes of operation
The operation mode defines the behavior of the drive. CiA 402
defines following operation modes:
•
•
•
•
•
•
Homing mode
Profile position mode
Interpolated position mode
Profile velocity mode
Profile torque mode
Velocity mode
The FCAN-01 CANopen adapter module supports minimal
implementation of the operation modes. Operation mode support is
drive-specific (see the figure at the beginning of this chapter). The
interpolated position mode is not supported.
In this chapter scalings of the reference and actual values are
described for each operation mode. Operation-mode-specific
objects are defined in section CANopen Object Dictionary on page
131.
In ACSM1 drives, 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 possible to set
the mode of operation with object 6060h. For more information,
see section Standardized device profile area (6000...9FFF) on
page 145.
„ Homing mode
Homing mode describes various methods of finding a home
position, or zero point. Either limit switches at the ends of travel or
a home switch in mid travel are used. Most of the methods also
use the index (zero) pulse from an encoder. For more information
on the homing mode and descriptions of the various homing
methods, see the drive manual.
Communication profiles 91
„ Profile position mode
This mode enables the positioning of the drive to be controlled.
Position demand value
Position demand value defines the position set point. The position
set point is scaled as follows:
Drive parameter (ACSM1)
60.05 POS UNIT (Position unit)
60.08 POS2INT SCALE
Example setting
m
100
1000 / 100 = 10.00 m
60.05 POS UNIT
Physical value
60.08 POS2INT SCALE
Set point value
Position actual value
Position actual value defines the actual 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.
92 Communication profiles
Target velocity
Target velocity is the required velocity of the application. The target
velocity is scaled as follows:
Drive parameter (ACSM1)
60.05 POS UNIT (Position unit)
60.10 POS SPEED UNIT
60.11 POS SPEED2INT
Example setting
m
unit/s
100
1000 / 100 = 10.00 m/s
60.10 POS SPEED UNIT
Physical value
60.11 POS SPEED2INT
Set point value
Velocity actual value
Velocity actual value defines the actual velocity of the application.
Velocity actual value is scaled as target velocity (see above).
„ Profile torque mode
Profile torque mode enables 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%.
Communication profiles 93
„ Velocity mode
Basic mode to control the velocity of the drive with limits and ramp
functions.
Target velocity of CiA 402 Velocity mode
Target velocity is the required velocity of the application. The unit
of the target 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
Switch on
0
1
Enable voltage
Quick stop
2
3
Enable operation
Operation-mode-specific
Fault reset
4...6
7
8
Halt
9...10
11...15
Reserved
Drive-specific bit
94 Communication profiles
Operation-mode-specific bits
Bit Velocity Profile
Profile
Profile
Homing Interpo-
1)
mode
position velocity torque
mode
lated
1)
1)
2)
mode
mode
mode
position
3)
mode
4
5
rfg
enable
New
setpoint
Reserved Reserved Homing
Enable
operation ipmode
start
rfg unlock Change
Reserved Reserved Reserved Reserved
set
immedi-
ately
6
rfg use
ref
abs / rel
Reserved Reserved Reserved Reserved
1)
2)
3)
Supported with ACSM1 only
Supported with ACSM1, ACS850 and ACS880 only
Not supported
Communication profiles 95
Status word of CiA 402
Bit
Description
0
Ready to switch on
Switched on
1
2
Operation enabled
Fault
3
4
Voltage enabled
Quick stop
5
6
Switch on disabled
Warning
7
8
Drive-specific bit
Remote
9
10
Target reached
Internal limit active
Operation-mode-specific
Drive-specific bit
11
12…13
14…15
Operation-mode-specific bits
Bit Velocity Profile Profile
mode position velocity torque
Profile
Homing
mode
Interpo-
lated
1)
1)
1)
2)
mode
mode
mode
position
3)
mode
12 Reserved Set point Speed
Reserved Homing
attained
IP mode
active
acknowl-
edge
13 Reserved Following Max
Reserved Homing
error
Reserved
error
slippage
error
1)
2)
3)
Supported with ACSM1 only
Supported with ACSM1 and ACS850 only
Not supported
96 Communication profiles
Device control commands are triggered by the Control word bits as
follows:
Device control commands
Command Control word bit
Fault Enable
Quick Enable Switch State
reset, operation, stop, voltage, on,
transi-
tions*
bit 7
bit 3
bit 2
bit 1
bit 0
Shut down
Switch on
Switch on
0
x
0
1
1
1
0
2, 6, 8
1)
3
0
0
1
1
1
1
1
1
1)
3
Disable
voltage
7, 9, 10,
12
0
0
0
x
x
0
x
0
1
0
1
1
x
x
1
Quick stop
7, 10, 11
5
Disable
operation
Enable
operation
0
1
x
1
x
1
x
1
x
4
Fault reset
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 are performed. See the Device Control state
machine figure on page 89.
Communication profiles 97
The following stop modes are associated with the control
commands and other events:
Command/Event
Quick stop
Shut down
Disable voltage
Halt
Drive stop mode
Emergency stop
Coast stop
Ramp stop
Ramp stop (configurable with CANopen object
605Dh)
Fault
Fault reaction specified by the drive. Typically a
coast stop.
The halt mode is controlled with bit 8 of the CiA 402 control word.
When the halt bit is set during the OPERATION ENABLED state,
the drive stops and the state machine remains in the OPERATION
ENABLED state. When the bit is reset, the drive starts running
again. In all modes supporting the halt function, CiA 402 Status
Word 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 605Dh.
98 Communication profiles
Mode
Description
Dynamic limiter ramp
Halt option codes
Profile Position
1
1
1
1
Interpolated Position Dynamic limiter ramp
Profile Velocity
Profile Torque
Dynamic limiter ramp
Sets the torque reference to
0. Ramp depends on drive
parameters.
Homing
Velocity
Dynamic limiter ramp
1
Halt mode 1: Ramp input is
set to 0.
1, 2, 3, 4
Halt mode 2,3,4: Ramp
output is set to 0.
Other modes
Halt bit has no effect.
N/A
Communication profiles 99
State machine
The following figure describes the CANopen state machine.
From any state
CW: Control word
SW: Status word
FAULT REACTION
ACTIVE
START
SW: xxxxxxxxx0xx1111
Power-on,
self-initialization
Fault reaction
completed
State transition
(0)
NOT READY
TO SWITCH ON
FAULT
SW: xxxxxxxxx0xx0000 SW: xxxxxxxxx0xx1000
Initialized
CW: xxxxxxxx1xxxxxxx
(1)
(15)
successfully
SWITCH-ON
DISABLED
SW: xxxxxxxxx1xx0000
CW: xxxxxxxxxxxxx110
(2)
(7)
CW: xxxxxxxxxxxxx01x
or
CW: xxxxxxxxxxxxxx0x
READY TO
SWITCH ON
CW: xxxxxxxxxxxxx01x
or
CW: xxxxxxxxxxxxxx0x
SW: xxxxxxxxx01x0001
(10)
CW: xxxxxxxxxxxxx111
(3)
(6)
CW: xxxxxxxxxxxxx110
(8)
CW: xxxxxxxxxxxxx110
SWITCHED ON
SW: xxxxxxxxx01x0011
Quick stop
completed
or
(12)
(4)
(5)
CW: xxxxxxxxxxxx1111
CW: xxxxxxxxxxxxxx0x
CW: xxxxxxxxxxxx0111
(11)
OPERATION
ENABLED
QUICK STOP
ACTIVE
(9)
CW: xxxxxxxxxxxxxx0x
SW: xxxxxxxxx01x0111
SW: xxxxxxxxx0xx0111
CW: xxxxxxxxxxxxx01x
100 Communication profiles
ABB Drives communication profile
„ Control word and Status word
The Control word is the principal means for controlling the drive
from a fieldbus system. It is sent by the fieldbus master station to
the drive through the adapter 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
below. The drive 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
0
Proceed to READY TO OPERATE.
Stop along currently active deceleration
ramp. Proceed to OFF1 ACTIVE;
proceed to READY TO SWITCH ON
unless other interlocks (OFF2, OFF3)
are active.
1
OFF2_
CONTROL
1
0
Continue operation (OFF2 inactive).
Emergency OFF; coast to stop.
Proceed to OFF2 ACTIVE, proceed to
SWITCH-ON INHIBITED.
Communication profiles 101
Control word of ABB Drives profile
Bit
Name
Value STATE/Description
2
OFF3_
CONTROL
1
0
Continue operation (OFF3 inactive).
Emergency stop; stop within time
defined with the drive parameter.
Proceed to OFF3 ACTIVE; proceed to
SWITCH-ON INHIBITED.
Warning: Ensure motor and driven
machine can be stopped using this stop
mode.
3
INHIBIT_
OPERATION
1
Proceed to OPERATION ENABLED.
Note: Run enable signal must be
active; see the drive manuals. If the
drive is set to receive the Run enable
signal from the fieldbus, this bit
activates the signal.
0
1
0
Inhibit operation; proceed to
OPERATION INHIBITED.
4
5
6
RAMP_OUT_
ZERO
Normal operation; proceed to RFG:
OUTPUT ENABLED.
Force the Ramp Function Generator
output to zero. The drive ramps to stop
(current and DC voltage limits in force).
RAMP_HOLD
1
Enable the ramp function;
proceed to RFG: ACCELERATOR
ENABLED.
0
1
Halt ramping (the Ramp Function
Generator output held).
RAMP_IN_
ZERO
Normal operation; proceed to
OPERATION.
Note: Effective only if the fieldbus
interface is set as the source for this
signal with drive parameters.
0
Force the Ramp Function Generator
input to zero.
102 Communication profiles
Control word of ABB Drives profile
Bit
Name
Value STATE/Description
7
RESET
0 –>1 Fault reset if an active fault exists.
Proceed to SWITCH-ON INHIBITED.
Note: Effective only if the fieldbus
interface is set as the source for this
signal with drive parameters.
0
Continue normal operation.
8…9
10
Reserved
REMOTE_
CMD
1
0
Fieldbus control enabled
Control word and reference not getting
through to the drive, except for CW bits
OFF1, OFF2 and OFF3.
11
EXT_CTRL_
LOC
1
0
Select external control location EXT2.
Effective if the control location is
parameterized to be selected from the
fieldbus.
Select external control location EXT1.
Effective if the control location is
parameterized to be selected from the
fieldbus.
12…15 Reserved
Communication profiles 103
Status word contents
The following table presents the Status 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.
Status word of ABB Drives profile
Bit
Name
Value STATE/Description
0
1
2
3
4
5
6
7
8
RDY_ON
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
READY TO SWITCH ON
NOT READY TO SWITCH ON
READY TO OPERATE
OFF1 ACTIVE
RDY_RUN
RDY_REF
TRIPPED
OPERATION ENABLED
OPERATION INHIBITED
FAULT
No fault
OFF_2_STA
OFF_3_STA
OFF2 inactive
OFF2 ACTIVE
OFF3 inactive
OFF3 ACTIVE
SWC_ON_
INHIB
SWITCH-ON INHIBITED
–
ALARM
Warning/Alarm
No warning/alarm
AT_
SETPOINT
OPERATION. Actual value equals
reference = is within tolerance limits,
that is, in speed control, speed error is
10% max. of the nominal motor speed.
0
1
0
Actual value differs from reference, that
is, it is outside tolerance limits.
9
REMOTE
Drive control location: REMOTE (EXT1
or EXT2)
Drive control location: LOCAL
104 Communication profiles
Status word of ABB Drives profile
Bit
10
Name
Value STATE/Description
ABOVE_
LIMIT
1
Actual frequency or speed equals or
exceeds the supervision limit (set with
the drive parameter). Valid in both
directions of rotation.
0
1
Actual frequency or speed within
supervision limit
11
EXT_CTRL_
LOC
External Control Location EXT2
selected
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 0 selection
(06.33).
0
1
External Control Location EXT1
selected
12
EXT_RUN_E
NABLE
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_ERROR
1
0
Communication error detected by the
fieldbus adapter module.
Fieldbus adapter communication OK
Communication profiles 105
State machine
The following figure describes the state machine of the ABB Drives
communication profile.
SWITCH-ON
INHIBITED
ABB Drives
Communication
Profile
MAINS OFF
(SW Bit6=1)
(SW Bit0=0)
Power ON
(CW Bit0=0)
NOT READY TO
SWITCH ON
CW = Control word
SW = Status word
A
B
C
D
n
I
= Speed
= Input Current
(CW=xxxx x
1
xx xxxx x110
)
RFG = Ramp Function
Generator
f
(CW Bit3=0)
READY TO
= Frequency
OPERATION
INHIBITED
SWITCH ON
(SW Bit0=1)
(SW Bit2=0)
from any state
Fault
operation
inhibited
(CW=xxxx x
1
xx xxxx x111
)
READY TO
OPERATE
FAULT
(SW Bit3=1)
from any state
OFF1 (CW Bit0=0)
(SW Bit1=1)
(CW Bit7=1)
(CW=xxxx x1xx xxxx 1111
OFF1
ACTIVE
and SW Bit12=1)
(SW Bit1=0)
from any state
from any state
Emergency Stop
Emergency OFF
n(f)=0 / I=0
OFF3 (CW Bit2=0)
OFF2 (CW Bit1=0)
(CW Bit3=1
and
OFF3
ACTIVE
OFF2
ACTIVE
SW Bit12=1)
B
C
D
C
(SW Bit5=0)
(SW Bit4=0)
n(f)=0 / I=0
(CW Bit4=0)
OPERATION
ENABLED
D
(SW Bit2=1)
A
B
(CW Bit5=0)
(CW Bit6=0)
(CW=xxxx x
1
xx xxx1 1111
)
RFG: OUTPUT
ENABLED
D
(CW=xxxx x
1
xx xx11 1111)
RFG: ACCELERATOR
ENABLED
state
condition
C
D
(CW=xxxx x
1
xx x111 1111
)
rising edge
of the bit
OPERATION
(SW Bit8=1)
106 Communication profiles
„ References
References are 16-bit signed two's complement integers. A
negative reference indicates a reverse direction of rotation.
ABB drives can receive control information from multiple sources
including analogue and digital inputs, the drive control panel and a
communication module (for example, FCAN-01). To have the drive
controlled through the fieldbus, the module must be defined as the
source for 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, ACS880 parameter
46.10 Speed scaling.)
In ACS355, drive parameter REFx MIN may limit the actual
minimum reference.
Fieldbus
Drive
REF2: 10000
REF1: 20000
REFx MAX / Speed scale
REFx MIN
0
-(REFx MIN)
REF2: -10000
REF1: -20000
-(REFx MAX) / Speed scale
Communication profiles 107
„ Actual values
Actual values are 16-bit signed two's complement integers
containing information on the operation of the drive. A negative
reference 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
REFx MAX
0
0
ACT2: -10000
ACT1: -20000
-(REFx MAX)
108 Communication profiles
Communication protocol 109
8
Communication protocol
What 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.
110 Communication protocol
Header
ARBITRATION FIELD
REMOTE
CONTROL
FIELD
CYCLIC
REDUNDANCY
CHECK
TRANS-
MISSION
REQUEST
(RTR)
COMM.
OBJECT ID
(COB ID)
ACKNOW-
LEDGE
FIELD
START OF
FRAME
DATA
FIELD
END OF
FRAME
(CRC)
3
1
2
1 BIT
11 BITS
(OR 29 BITS)
1 BIT
6 BITS
0 TO 8
BYTES
16 BITS
2 BITS
7 BITS
FUNCTION CODE
NODE ID
10
9
8
7
6
5
4
3
2
1
0
Communication Functioncode COB ID (hex) COB ID (dec)
object
(binary)
0000
0001
0010
0001
0011
0100
0101
0110
0111
NMT
00
0
SYNC
80
128
TIME STAMP
EMERGENCY
PDO1 (Tx)
PDO1 (Rx)
PDO6 (Tx)
PDO6 (Rx)
PDO21 (Tx)
PDO21 (Rx)
SDO (Tx)
100
256
81…FF
181...1FF
201...27F
281...2FF
301...37F
381...3FF
401...47F
581…5FF
601…67F
701…77F
129…255
385...511
513...639
641...767
769...895
897...1023
1025...1151
1409…1535
1537…1663
1793…1919
1000
1011
1100
1110
SDO (Rx)
NODEGUARD
Control field contents:
1 = IDE bit = 29-bit Extended identifier / 11-bit standard identifier (1 bit)
2 = r0 = reserved (1 bit)
3 = DLC = Data Length Code (4 bits)
Inside the CANopen data frame, different types of Communication
Objects are used to convey the data. Process Data Objects (PDO)
are used for transmitting time critical process data (references,
control commands, status information); Service Data Objects
(SDO) are used for less time critical data, for example, parameters.
Communication protocol 111
In addition, there are Special Function Objects and Network
Management Objects.
„ FCAN-01 boot-up sequence and
Network Management (NMT)
The adapter module supports the boot-up sequence of a “Minimum
Capability Device”, as defined by the CANopen Communication
Profile. The boot-up state diagram of the adapter module is shown
below.
Initialization
(10)
Reset application
(13)
(11)
Reset communication
(14)
Power on
Init
(12)
(6) Start_Remote_Node indication
(7) Stop_Remote_Node indication
(8) Enter_Pre-Operational_State indication
(10) Reset_Node indication
(11) Reset_Communication indication
(12) After Initialization is finished
(13) (14) After Reset is performed
Pre-operational
(8)
(7)
(6)
(8)
Stopped
(7)
(6)
Operational
The NMT (Network Management) message is mapped to a single
CAN frame with data length of 2 bytes. Its identifier is 0. The first
byte contains the command 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
112 Communication protocol
is at first in the Initialization state and then the state transits
automatically to the Pre-Operational state.
The NMT commands used for controlling the node are:
Command (dec)
Name
Start_Remote_Node
1
2
Stop_Remote_Node
Enter_Pre-Operational_State
Reset_Node
128
129
130
Reset_Communication
Header (bin)
Payload data byte
1
2
0000 0000000 0 0 0 0010
NMT Command
Node ID
Note: If Node ID is 0, all NMT slaves are addressed.
The node state indications are as follows:
Indication (dec)
State
0
4
Boot-up
Stopped
5
Operational
Pre-operational
127
Communication protocol 113
Process Data Objects (PDO)
Process Data Object (PDO) is used for time critical process data
exchange. PDO transmissions can be controlled by an internal
timer, by remote requests or by the received Sync message. For
each PDO the transmission mode of the PDO as well as the
default mappings of the application objects are described in the
Object Dictionary. The adapter module supports also configuration
of the PDOs with drive parameters.
The adapter module supports a maximum of three PDOs in both
directions. By default only Tx PDO1 and Rx PDO1 are enabled
(valid) and Tx/Rx PDO6 and Tx/Rx PDO21 are disabled (not valid).
PDO mapping defines which application 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 and mapping
entries of the PDOs are configurable.
The mapping entries of the PDOs can be configured through
CANopen objects or from the drive with fieldbus configuration
parameters. The configuration location is selected from the drive
with parameter 04 CONF LOC of the fieldbus configuration group
A (group 1) (parameter 51.04 in ACS355, ACSM1, ACS850 and
ACS880).
When mapping through CANopen objects, the PDO length must be
set to zero before the mapping entries can be changed.
114 Communication protocol
Rx PDO1
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
1)
ACS355 Fixed
FBADATA FBADATA FBADATA
OUT 1 OUT 2 OUT 3
Mapping
parameter
2)
ACSM1 FBADATA FBADATA FBADATA FBADATA
ACS850 OUT 1
OUT 2
OUT 3
OUT 4
ACS880
1)
In ACS355 drives, the first mapping entry is fixed and always mapped to
object 6040h Control word. The other mapping entries are configurable.
In ACSM1, ACS850 and ACS880 drives, all mapping entries are
configurable.
2)
Configuration group B (group 2) (when parameter 04 CONF LOC = 1)
The mapping entries of the Rx PDO1 can be configured through
CANopen object 1600h or from the drive with fieldbus
configuration parameter group B (group 2).
The default COB ID for Rx PDO1 is 200h + Node ID, the default
transmission type is 255 and the event time is 0. These values can
be changed with CANopen object 1400h or from the drive with
parameters 7, 8 and 9 of the fieldbus configuration group A (group
1).
Communication protocol 115
Tx PDO1
Mapped
obj 1
Mapped
obj 2
Mapped
obj 3
Mapped
obj 4
Byte
1
2
3
4
5
6
7
8
CANopen object for 1A00h01
1A00h02
1A00h03
1A00h04
mapping
1)
ACS355 Fixed
FBA
FBA
FBA
DATA IN 1 DATA IN 2 DATA IN 3
FBA FBA FBA
Mapping
parameter
2)
ACSM1 FBA
ACS850 DATA IN 1 DATA IN 2 DATA IN 3 DATA IN 4
ACS880
1)
2)
In ACS355 drives, the first mapping entry is fixed and always mapped to
object 6041h Status word. The other mapping entries are configurable.
In ACSM1, ACS850 and ACS880 drives, all mapping entries are
configurable.
Configuration group C (group 3) (when parameter 04 CONF LOC = 1)
Note: The mapping entries of the Tx PDO1 can be configured
through CANopen object 1A00h or from the drive with fieldbus
configuration parameter group C (group 3).
The default COB ID for Tx PDO1 is 180h + Node ID, the default
transmission type is 255 and the event time is 0. These values can
be changed with CANopen object 1600h or from the drive with
parameters 10, 11 and 12 of the fieldbus configuration group A
(group 1).
116 Communication protocol
Rx PDO6
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
1)
ACS355 Fixed
FBADATA FBADATA FBADATA
OUT 4 OUT 5 OUT 6
Mapping
parameter
2)
ACSM1 FBADATA FBADATA FBADATA FBADATA
ACS850 OUT 5
OUT 6
OUT 7
OUT 8
ACS880
1)
In ACS355 drives, the first mapping entry is fixed and always mapped to
object 6040h Control word. The other mapping entries are configurable.
In ACSM1, ACS850 and ACS880 drives, all mapping entries are
configurable.
2)
Configuration group B (group 2) (when parameter 04 CONF LOC = 1)
Note: The mapping entries of the Rx PDO6 can be configured
through CANopen object 1605h or from the drive with fieldbus
configuration parameter group B (group 2).
The default COB ID for Rx PDO6 is 80000300h + Node ID (Rx
PDO6 disabled), the default transmission type is 255 and the event
time is 0. These values can be changed with CANopen object
1405h or from the drive with parameters 13, 14 and 15 of the
fieldbus configuration group A (group 1).
Communication protocol 117
Tx PDO6
Mapped
obj 1
Mapped
obj 2
Mapped
obj 3
Mapped
obj 4
Byte
1
2
3
4
5
6
7
8
CANopen object for 1A05h01
1A05h02
1A05h03
1A05h04
mapping
1)
ACS355 Fixed
FBADATA FBADATA FBADATA
IN 4 IN 5 IN 6
Mapping
parameter
2)
ACSM1 FBADATA FBADATA FBADATA FBADATA
ACS850 IN 5
IN 6
IN 7
IN 8
ACS880
1)
In ACS355 drives, the first mapping entry is fixed and it is always
mapped to object 6041h Status word. The other mapping entries are
configurable. In ACSM1, ACS850 and ACS880 drives, all mapping
entries are configurable.
2)
Configuration group C (group 3) (when parameter 04 CONF LOC = 1)
Note: The mapping entries of the Tx PDO6 can be configured
through CANopen object 1A05h or from the drive with fieldbus
configuration parameter group C (group 3).
The default COB ID for Tx PDO6 is 80000280h + Node ID (Tx
PDO6 disabled), the default transmission type is 255 and the event
time is 0. These values can be changed with CANopen object
1605h or from the drive with parameters 16, 17 and 18 of the
fieldbus configuration group A (group 1).
118 Communication protocol
Rx PDO21
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
ACS355 FBADATA FBADATA FBADATA FBADATA
OUT 7 OUT 8 OUT 9 OUT 10
Mapping
parameter
1)
ACSM1 FBADATA FBADATA FBADATA FBADATA
ACS850 OUT 9
OUT 10
OUT 11
OUT 12
ACS880
1)
Configuration group B (group 2) (when parameter 04 CONF LOC = 1)
Note: The mapping entries of the Rx PDO21 can be configured
through CANopen object 1614h or from the drive with fieldbus
configuration parameter group B (group 2).
The default COB ID for Rx PDO21 is 80000400h + Node ID (Rx
PDO21 disabled), the default transmission type is 255 and the
event 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).
Communication protocol 119
Tx PDO21
Mapped
obj 1
Mapped
obj 2
Mapped
obj 3
Mapped
obj 4
Byte
1
2
3
4
5
6
7
8
CANopen object for 1A14h01
1A14h02
1A14h03
1A14h04
mapping
ACS355 FBADATA FBADATA FBADATA FBADATA
IN 7 IN 8 IN 9 IN 10
Mapping
parameter
1)
ACSM1 FBADATA FBADATA FBADATA FBADATA
ACS850 IN 9
IN 10
IN 11
IN 12
ACS880
1)
Configuration group C (group 3) (when parameter 04 CONF LOC = 1)
Note: The mapping entries of the Tx PDO21 can be configured
through CANopen object 1A14h or from the drive with fieldbus
configuration parameter group C (group 3).
The default COB ID for Tx PDO21 is 80000380h + Node ID (Tx
PDO21 disabled), the default transmission type is 255 and the
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).
120 Communication protocol
Mapping format
Note: Subindex 0 contains the number of valid entries within the
mapping record. This number is also the number of the application
variables (parameters), which shall be transmitted/received with
the corresponding PDO. The subindexes from 1 to the number of
objects contain information about the mapped application
variables.
The mapping values in the CANopen object are hexadecimal
coded. The following table presents an example of the PDO
mapping entry structure:
Type
MSB
LSB
UINT32
31
16 15
8
7
0
Description
Index
eg, 6048h
(16 bits)
Subindex
eg, 02h
(8 bits)
Object length in bits
eg, 10h (= 16 bits)
(8 bits)
If the PDO mappings are configured with fieldbus configuration
parameter group B (group 2) and group C (group 3), only objects
belonging to the virtual address area of the drive control 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 CANopen objects. The
length of the object is detected automatically.
Note: The PDO mappings should be started from subindex 1. If a
PDO mapping entry is zero, the mapping for that subindex and
from that subindex onwards is neglected. That is, if there are zeros
in the PDO mapping, only objects from subindex 1 to the first zero
are taken into account.
Communication protocol 121
PDO configuration via the CAN bus
This section gives an example of how to configure PDOs via the
CAN bus from the CANopen master. In this example, the following
PDO configuration is made:
•
•
•
Rx PDO1 (from master to drive): 6040h Control word and
6042h vl target velocity
Tx PDO1 (from drive to master): 6041h Status word, 6044h vl
control effort and drive parameter 01.20
Tx PDO1 sent to the master at 100 ms intervals
Set the drive parameters as listed in the table below.
1)
Drive parameter
51.02 NODE ID
51.03 BIT RATE
Setting
3
Description
In this example, module node ID = 3
0…5
Bit rate used on the CANopen network.
See Drive configuration.
51.04 CONF LOC
0
0
PDO configuration via CAN bus
CiA 402
51.05 PROFILE
1)
The actual parameter group number depends on the drive type. For
example, the fieldbus configuration parameter group A (group 1) equals
to parameter group 51 in drives ACS355, ACSM1, ACS850 and
ACS880 if the adapter is installed as fieldbus adapter A.
122 Communication protocol
Write the CANopen objects via the CAN bus as shown in the
following table. The adapter module must be in the Pre-operational
state.
Object Sub-
index index
Name
Write
value
(hex)
Description
1)
1400
1400
01
02
Rx PDO1
Parameter, COB-ID
80000203 Disable Rx PDO1 .
Rx PDO1
Parameter,
Transmission type
FF
0
Transmission type 255
1600
1600
00
01
Rx PDO1 Mapping,
Number of entries
Required before
2)
mapping
Rx PDO1 Mapping, 60400010 6040h Control word
Mapped object 1
(subindex 0, length 16
bits)
1600
02
Rx PDO1 Mapping, 60420010 6042h vl target velocity
Mapped object 2
(subindex 0, length 16
bits)
2)
1600
1400
1800
1800
00
01
01
02
Rx PDO1 Mapping,
Number of entries
2
2 objects mapped
Rx PDO1
Parameter, COB-ID
203
Enable Rx PDO1, use
COB-ID 203h.
1)
Tx PDO1
Parameter, COB-ID
80000183 Disable Tx PDO1 .
Tx PDO1
Parameter,
Transmission type
FF
64
0
Transmission type 255
100 ms
1800
05
Tx PDO1
Parameter, Event
timer
1A00
1A00
00
01
Tx PDO1 Mapping,
Number of entries
Required before
2)
mapping
Tx PDO1 Mapping, 60410010 6041h Status word
Mapped object 1
(subindex 0, length 16
bits)
Communication protocol 123
Write Description
value
(hex)
Object Sub-
index index
Name
1A00
02
Tx PDO1 Mapping, 60440010 6044h vl control effort
Mapped object 2
(subindex 0, length 16
bits)
1A00
1A00
03
00
01
Tx PDO1 Mapping, 40011410 Parameter 01.20
Mapped object 3
(length 16 bits)
2)
Tx PDO1 Mapping,
Number of entries
3
3 objects mapped
1800
1)
Tx PDO1
Parameter, COB-ID
183
Enable Tx PDO1, use
COB-ID 183h.
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 actual number of the mapped
entries.
124 Communication protocol
Service Data Objects (SDO)
Service Data Objects are mainly used for transferring non-time
critical data, for example, parameter values. SDOs provide access
to the entries in the device Object Dictionary.
If 4 bytes (or less) of data is to be transmitted, an Expedited
transfer SDO message can be used. Larger quantities of data can
be segmented, that is, split between several CAN messages.
The following services can be applied to SDO depending on the
service requirements:
•
•
•
SDO Upload, which can be divided into
•
•
Initiate SDO Upload
Upload SDO Segment.
SDO Download, which can be divided into
•
•
Initiate SDO Download
Download SDO Segment.
Abort 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 Client (Slave to Master): 580h + Node ID.
„ SDO Download
Through this service the client of an SDO downloads data to the
server (owner of the Object Dictionary).
The data, the multiplexor (index and subindex) of the data set that
is downloaded and the data size are indicated to the server. The
service is confirmed. The remote result parameter will indicate the
success or failure of the request. In case of a failure, an Abort SDO
Transfer request has to be executed.
Communication protocol 125
„ SDO Upload
Through this service the client of an SDO requests the server to
prepare to upload data to the client.
The multiplexor (index and subindex) of the data set to be
uploaded is 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 corresponding data.
126 Communication protocol
Read Service (SDO Upload)
„ Initiate SDO Upload Protocol
This protocol is used to implement the Initiate SDO Upload service.
Client
Initiate SDO Upload Protocol
Server
Indication
0
1
4
8
7...5
ccs = 2
4...0
x
Request
Confirm
m
1
Reserved
4
0
8
Response
7...5
scs = 2
4
x
3...2
n
1
e
0
s
d
m
ccs
scs
Client command specifier; ccs = 2: Initiates the upload request.
Server command specifier; scs = 2: Initiates the upload
response.
n
Number of data bytes (in d) which do not contain data. Bytes
[8-n, 7] do not contain segment data. Valid only if e = 1 and s =
1 (otherwise n = 0).
e
s
Transfer type; e = 0: Normal transfer. e = 1: Expedited transfer.
Size indicator; s = 0: No data set size indication.
s = 1: Data set size indication.
m
d
Multiplexor; represents the index/subindex of the data to be
transferred by the SDO.
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 subindex.
e = 1, s = 0: Contains unspecified number of bytes to be
uploaded.
x
Not used. Value is always 0.
Reserved Reserved for further use. Value is always 0.
Communication protocol 127
Write Service (SDO Download)
„ Initiate SDO Download Protocol
This protocol is used to implement the Initiate SDO Download
service.
Client
Initiate SDO Download Protocol
Server
0
1
4
8
7...5
ccs = 1
4
x
3...2
n
1
e
0
s
m
4
d
Request
Confirm
Indication
0
1
8
7...5
scs = 3
4...0
x
Response
m
Reserved
ccs
scs
n
Client command specifier; ccs = 1: Initiates the download
request.
Server command specifier; scs = 3: Initiates the download
response.
Number of data bytes (in d) which do not contain data. Bytes
[8-n, 7] do not contain segment data. Valid only if e = 1 and s =
1 (otherwise n = 0).
e
s
Transfer type; e = 0: Normal transfer. e = 1: Expedited transfer.
Size indicator; s = 0: No data set size indication.
s = 1: Data set size indication.
m
d
Multiplexor; represents the index/subindex of the data to be
transferred by the SDO.
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
and subindex.
e = 1, s = 0: Contains unspecified number of bytes to be
downloaded.
x
Not used. Value is always 0.
Reserved Reserved for further use. Value is always 0.
128 Communication protocol
Abort SDO Transfer
„ Abort SDO Transfer Protocol
This protocol is used to implement the Abort SDO Transfer
Service.
Client/Server
Abort SDO Transfer
Server/Client
0
1
4
8
Request
Indication
7...5
cs = 4
4...0
x
m
d
cs
x
Command specifier; cs = 4: Aborts the transfer request.
Not used. Value is always 0.
m
d
Multiplexor; represents the index and subindex of the SDO.
Contains a 4-byte abort code which includes the reason for the
abort.
Communication protocol 129
Abort code description
Error Error Additional Description
class code code
05
03
04
0000h
0000h
0001h
Toggle bit not alternated
SDO protocol time-out
Client/Server command specifier not valid
or unknown
0002h
0003h
0004h
0005h
0000h
0001h
0002h
0000h
Invalid block size (block mode only)
Invalid sequence number (block mode only)
CRC error (block mode only)
Out of memory
06
01
Unsupported access to an object
Attempt to read a write-only object.
Attempt to write a read-only object.
02
04
Object does not exist in the Object
Dictionary.
0041h
0042h
Object cannot be mapped to the PDO.
Number and length of the objects to be
mapped would exceed the PDO length.
0043h
0047h
0000h
0010h
General parameter incompatibility
General internal incompatibility in the device
Access failed because of hardware error
06
07
Data type does not match. The length of the
service parameter does not match.
0012h
0013h
Data type does not match. The length of the
service parameter is too long.
Data type does not match. The length of the
service parameter is too short.
130 Communication protocol
Error Error Additional Description
class code code
09
0011h
0030h
Subindex does not exist.
Parameter value range is exceeded (for
write access parameters).
0031h
0032h
0036h
Value of the written parameter is too high.
Value of the written parameter is too low.
Maximum value is less than the minimum
value.
08
00
0000h
0020h
General error
Data cannot be transferred or stored to the
application.
0021h
0022h
Data cannot be transferred or stored to the
application because of local control.
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 generated
from a file and the generation fails because
of a file error).
The abort codes not listed here are reserved.
Communication protocol 131
CANopen Object Dictionary
Each object within the dictionary is addressed using a 16-bit index.
„ Object Dictionary Structure
The overall layout of the standardized Object Dictionary:
Index (hex)
0000
Object
Not used
0001...001F
0020...003F
0040...005F
0060...007F
0080...009F
Static Data Types
Complex Data Types
Manufacturer-Specific Complex Data Types
Device-Profile-Specific Static Data Types
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 (2000...5FFF) on
page 142.
6000...9FFF Standardized Device Profile Area
A000...BFFF Standardized Interface Profile area
C000...FFFF Reserved for further use
The serial communication properties of the drive, as well as drive
parameters, are detailed further in the appropriate drive firmware
manual.
132 Communication protocol
„ Communication profile area (1000...1FFF)
Index Sub- Name
(hex) index
Type
U32
U8
Attri- Information
bute
1000
0
Device
Type
RO
Describes the type of the
device.
1001
0
Error
RO
Bit value 1 = error occurred
Register
Bit Description
0
1
2
3
4
5
6
7
Generic error
Current
Voltage
Temperature
Communication error
Device-profile-specific
Reserved
Manufacturer-specific
Communication protocol 133
Attri- Information
Index Sub- Name
(hex) index
Type
bute
1003
0
Pre-
U8
RW
Number of errors occurred.
Errors are listed in subindexes
1 to 5. The list is deleted by
writing a zero.
defined
Error
Field
1
Pre-
U32
RO
List of errors. The most recent
error is at subindex 1. When a
new error occurs, the previous
errors move down the list.
Error numbers comprise a 16-
bit error code (see the
appropriate 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
defined
Error
Field
…
5
…
…
…
Pre-
U32
RO
defined
Error
Field
additional information in the
upper 2 bytes (MSB).
Slave to master
Byte
Header
1…2
3
0001xxxxxx01000 Error
Error
code register
4...7
8
Addi- Unused
tional
error
info
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 transmission
type.
134 Communication protocol
Index Sub- Name
(hex) index
Type
Attri- Information
bute
1008
0
Manufac- Visible RO
Device name. The constant
turer
Device
Name
string
string is FCAN-01 with <drive
type>.
1009
0
Manufac- Visible RO
Adapter module hardware
version, eg, V.1.00
turer
string
Hard-
ware
Version
100A
0
Manufac- Visible RO
Adapter module firmware
version, eg, V.1.02B
turer
string
Software
Version
100C
100D
1010
0
0
0
Guard
Time
U16
RW
RW
RO
Guard Time (ms) × Life Time
Factor = Life time for the Node
Guarding Protocol
Life Time U8
Factor
Store
Parame-
ters
U32
Largest supported subindex.
Subindex 1...n bit 0 value 1
indicates that the device can
save the parameters in
question. Parameters can be
saved by writing 65766173h
("evas") to the appropriate
subindex.
1
2
U32
U32
RW
RW
Saves all parameters.
Saves communication
parameters (1000h...1FFFh).
3
4
U32
U32
RW
RW
Saves application parameters
(6000h...9FFFh).
Saves drive parameters
(4001h...4063h).
Communication protocol 135
Attri- Information
Index Sub- Name
(hex) index
Type
bute
1011
0
Restore
Default
Parame-
ters
U32
RO
Largest supported subindex.
Default values can be
restored by writing
64616F6Ch ("daol") to the
appropriate subindex.
1
2
U32
U32
RW
RW
Restores default values to all
parameters.
1)
Restores default values to
communication parameters
1)
(1000h...1FFFh).
3
4
0
U32
U32
U32
RW
RW
RW
Restores default values to
application parameters
(6000h...9FFFh).
1)
Restores default values to
drive parameters
1)
(4001h...4063h).
1014
1016
COB-ID
Emer-
gency
Defines the COB ID of the
Emergency Object (EMCY).
Default: 80h + Node ID
Message
0
Con-
U8
RO
Number of entries
sumer
heart-
beat time
1
0
U32
U16
RW
RW
Heartbeat receive time-out
(ms)
1017
Pro-
Defines the cycle time of the
heartbeat (ms).
0 = Not used
ducer
Heart-
beat
Time
136 Communication protocol
Index Sub- Name
(hex) index
Type
Attri- Information
bute
1018
0
1
2
3
4
0
Identity
Object
U8
RO
RO
RO
RO
RO
RO
Number of entries
Vendor
ID
U32
U32
U32
U32
Vendor ID; Value: B7h = ABB
Product
code
Drive dependent, eg, 21C00h
= ACS850
Module
revision
Adapter module firmware
version, eg, 102Bh
Serial
number
Serial number of the adapter
module
1400
Receive U8
PDO1
Number of entries
Parame-
ter
1
2
COB ID
U32
RW
RW
Default: 200h + Node ID
Trans-
mission
Type
U8
Default: 255 = FFh
(asynchronous
2)
transmission)
3
5
Inhibit
time
U16
U16
RW
RW
Not used for Rx PDO
Event
timer
0...65535 ms
0 = not used
Default: 0
1600
0
1
Receive U8
PDO1
Mapping
RO
RW
Number of mapped objects,
0...4
3)
Mapped U32
Obj 1
Default: 60400010h = 6040h
3)
Control word . See Mapping
format.
2
3
4
Mapped U32
Obj 2
RW
RW
RW
Mapped U32
Obj 3
Mapped U32
Obj 4
Communication protocol 137
Attri- Information
Index Sub- Name
(hex) index
Type
bute
1405
0
Receive U8
RO
Number of entries
PDO6
Parame-
ter
1
2
COB ID
U32
U8
RW
RW
Default: 80000300h + Node
ID (= PDO not valid)
2)
2)
Trans-
mission
Type
Default: 255 asynchronous
3
5
Inhibit
time
U16
U16
RW
RW
Not used for Rx PDO
Event
timer
0...65535 ms
0 = not used
Default: 0
1605
0
1
Receive U8
PDO6
Mapping
RO
RW
Number of mapped objects,
0...4
3)
Mapped U32
Obj 1
Default: 60400010h = 6040h
3)
Control word . See Mapping
format.
2
3
4
Mapped U32
Obj 2
RW
RW
RW
Mapped U32
Obj 3
Mapped U32
Obj 4
138 Communication protocol
Index Sub- Name
(hex) index
Type
Attri- Information
bute
1414
0
Receive U8
PDO21
RO
Number of entries
Parame-
ter
1
2
COB ID
U32
RW
RW
Default: 80000400h + Node
ID (= PDO not valid)
2)
2)
Trans-
mission
Type
U8
Default: 255
3
5
Inhibit
time
U16
U16
RW
RW
Not used for Rx PDO
Event
timer
0...65535 ms
0 = not used
Default: 0
1614
0
Receive U8
PDO21
RW
Number of mapped objects,
0...4
Mapping
1
2
3
4
Mapped U32
Obj 1
RW
RW
RW
RW
See Mapping format.
Mapped U32
Obj 2
Mapped U32
Obj 3
Mapped U32
Obj 4
Communication protocol 139
Attri- Information
Index Sub- Name
(hex) index
Type
bute
1800
0
Transmit U8
RO
Number of entries
PDO1
Parame-
ter
1
2
COB ID
U32
U8
RW
RW
Default: 180h + Node ID
Trans-
mission
Type
Default: 255 (asynchronous
2)
transmission)
3
5
Inhibit
Time
U16
U16
RW
RW
Minimum interval for PDO
transmission (= value x 100
microseconds)
Event
Timer
0...65535 ms
0 = Not used
Default: 0
1A00
0
1
Transmit U32
PDO1
Mapping
RO
RW
Number of mapped objects,
0...4
3)
Mapped U32
Obj 1
Default: 60410010h = 6041h
3)
Status word . See Mapping
format.
2
3
4
Mapped U32
Obj 2
RW
RW
RW
Mapped U32
Obj 3
Mapped U32
Obj 4
140 Communication protocol
Index Sub- Name
(hex) index
Type
Attri- Information
bute
1805
0
Transmit U8
PDO6
RO
Number of entries
Parame-
ter
1
2
COB ID
U32
RW
RW
Default: 80000280h + Node
ID (= PDO not valid)
2)
Trans-
mission
Type
U8
Default: 255 (asynchronous
2)
transmission)
3
5
Inhibit
Time
U16
U16
RW
RW
Minimum interval for PDO
transmission (= value x 100
microseconds)
Event
Timer
0...65535 ms
0 = Not used
Default: 0
1A05
0
1
Transmit U8
PDO6
Mapping
RO
RW
Number of mapped objects,
0...4
3)
Mapped U32
Obj 1
Default: 60410010h = 6041h
3)
Status word . See Mapping
format.
2
3
4
Mapped U32
Obj 2
RW
RW
RW
Mapped U32
Obj 3
Mapped U32
Obj 4
Communication protocol 141
Attri- Information
Index Sub- Name
(hex) index
Type
bute
1814
0
Transmit U8
RO
Number of entries
PDO21
Parame-
ter
1
2
COB ID
U32
U8
RW
RW
Default: 80000380h + Node
ID (= not valid)
2)
2)
Trans-
mission
Type
3
5
Inhibit
Time
U16
U16
RW
RW
Minimum interval for PDO
transmission (= value x 100
microseconds)
Event
Timer
0...65535 ms
0 = Not used
Default: 0
1A14
0
Transmit U8
PDO21
RW
Number of mapped objects,
0...4
Mapping
1
2
3
4
Mapped U32
Obj 1
RW
RW
RW
RW
See Mapping format.
Mapped U32
Obj 2
Mapped U32
Obj 3
Mapped U32
Obj 4
1)
WARNING: Drive default values are set immediately after the restore
command, without discrete reset command or power cycle. The adapter
module loses connection to the drive.
See Appendix A – Dictionary structure and entries.
With ACS355 drives subindex 1 is fixed.
2)
3)
Uxx = unsigned xx
142 Communication protocol
„ Manufacturer-specific profile area (2000...5FFF)
Manufacturer-specific profile objects
Index Sub- Name
(hex) index
Type
Attri- Information
bute
2000
0
Virtual
U8
RO
Number of entries
Address of
the drive
control
3
6
0
REF2
ACT2
INT16 RW
INT16 RO
Reference value 2
Actual value 2
2001
2002
2003
2004
Transparent U32
32 Control
word
RW
32-bit Transparent Control
word
0
0
0
Transparent INT32 RW
32 Refer-
ence 1
32-bit Transparent
reference value 1
Transparent INT32 RW
32 Refer-
ence 2
32-bit Transparent
reference value 2
Transparent U32
32 Status
RO
32-bit Transparent Status
word
word
2005
2006
0
0
Transparent INT32 RO
32 Actual 1
32-bit Transparent actual
value 1
Transparent INT32 RO
32 Actual 2
32-bit Transparent actual
value 2
Communication protocol 143
Attri- Information
Index Sub- Name
(hex) index
Type
bute
2100
0
1
2
3
4
5
Number of
entries
U8
RO
Alarm code U16
1 (latest)
RO
RO
RO
RO
RO
Alarm code U16
2
Alarm code U16
3
Alarm code U16
4
Alarm code U16
5 (oldest)
Uxx = unsigned xx
INTxx = signed xx
Drive actual signals and parameters
The actual signals and parameters available depend on the drive
type. See the appropriate drive firmware manual for signal and
parameter listings.
The Read service is used for reading actual signals and
parameters from the drive. The Write service is used for writing
parameter values to the 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.
144 Communication protocol
Index
(hex)
Sub-
index
Name
Type Attribute Information
1)
1)
2)
2)
3)
3)
4001
1
2
Drive signal 1.01
Drive signal 1.02
• • •
• • •
4002
• • •
• • •
1
• • •
1)
• • •
2)
• • •
3)
Drive signal 2.01
• • •
• • •
1
• • •
1)
• • •
2)
• • •
3)
4003
• • •
Drive signal 3.01
• • •
• • •
1
• • •
1)
• • •
2)
• • •
3)
400A
Drive par. 10.01
Drive par. 10.02
• • •
1)
2)
3)
2
• • •
400B
• • •
• • •
1
• • •
1)
• • •
2)
• • •
3)
Drive par. 11.01
• • •
• • •
1
• • •
1)
• • •
2)
• • •
3)
4063
• • •
Drive par. 99.01
• • •
• • •
• • •
• • •
• • •
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.
Communication protocol 145
„ Standardized device profile area (6000...9FFF)
Index Sub Access
(hex)
Type
Name
Information
Sup-
port
603F
6040
6041
6042
6043
RO
RW
RO
RW
RO
U16
Error
code
See Appendix B – CANopen error
codes.
all
all
all
vl
U16
Control
word
See Communication protocol.
U16
Status
word
INT16
INT16
Target
velocity
Vlvelocity Instantaneous velocity provided by the
vl
demand
ramp function. Scaled to the unit of the
vl target velocity.
6044
6046
RO
INT16
Vl control Actual velocity
effort
vl
vl
Vlvelocity Vl velocity min max amount
min max
amount
0
1
RO
RW
U8
Number
of entries
vl
vl
U32
Vlvelocity Mapped internally to vl velocity min
min
pos and vl velocity max neg values
amount
2
RW
U32
Vlvelocity Mapped internally to vl velocity max
vl
vl
max
pos and vl velocity max neg values
amount
6048
Vlvelocity Slope of the acceleration ramp = delta
accelera-
tion
speed / delta time. If delta time = 0, the
function follows the set point (=target
velocity) value.
0
1
2
RO
RW
RW
U8
Number
of entries
vl
vl
vl
U32
U16
Delta
speed
[rpm]
Delta time 0...65535 [sec]
146 Communication protocol
Index Sub Access
(hex)
Type
Name
Information
Sup-
port
6049
Vlvelocity Slope of the deceleration ramp = delta
decelera- speed / delta time. If delta time = 0, the
vl
tion
function follows the set point (=target
velocity) value.
0
1
2
RO
RW
U8
Number
of entries
vl
vl
U32
Delta
speed
[rpm]
RW
RW
U16
Delta time 0...65535 [sec]
vl
605D
INT16
Halt
Sets the action to be performed when
all
option
code
the halt function is executed.
Default: +1.
Value Operation
0
Reserved
+1
Slows down on a slow down
ramp and stays in
OPERATION ENABLED
+2
+3
+4
Slows down on a quick stop
ramp and stays in
OPERATION ENABLED (vl
mode only)
Slows down on a current
limit and stays in
OPERATION ENABLED (vl
mode only)
Slows down on a voltage
limit and stays in
OPERATION ENABLED (vl
mode only)
Communication protocol 147
Index Sub Access
(hex)
Type
INT8
Name
Information
Sup-
port
6060
RW
Modes of
operation
Operation mode request
all
Bit
Mode
-128…-1 Manufacturer-specific
0
1
2
3
4
5
6
Reserved
Profile position mode
Velocity mode
Profile velocity mode
Profile torque mode
Reserved
Homing mode
Note: If the value of parameter 50.04
FBA REF1 MODESEL and 50.05 FBA
REF2 MODESEL of ACSM1 is (5)
AUTO, it is possible to set the mode of
operation with object 6060h. Other-
wise the mode of operation cannot be
changed with this object. See section
Modes of operation on page 90.
6061
6064
6069
RO
RO
RO
INT8
Modes of
operation See index 6060h.
display
Current operation mode
all
pp
pv
INT32
INT32
Position
actual
value
See chapter Communication profiles.
Velocity
sensor
actual
value
Value read from a velocity encoder
606B
606C
RO
RO
INT32
INT32
INT16
Velocity
demand
value
Demand value from the velocity con-
troller
pv
pv
Velocity
actual
value
See chapter Communication profiles.
6071
6072
RW
RW
Target
torque
tq
UINT16 Max
torque
Unit 0.1%
all
148 Communication protocol
Index Sub Access
(hex)
Type
Name
Information
Sup-
port
6073
RW
UINT16 Max cur-
rent
Unit 0.1%
Value
all
Current
1000
Nominal current
Supported with ACS850 and ACQ810.
See chapter Communication profiles.
6077
RW
INT16
Torque
actual
value
tq
607A
6081
RW
RW
INT32
INT32
Target
position
pp
Profile
velocity
Velocity attained at the end of the
acceleration ramp during a profiled
move
pp, tq
6083
6084
6098
RW
RW
RW
U32
U32
INT8
Profile
accelera-
tion
Acceleration during a profiled move
pp, tq
pp, tq
hm
Profile
decelera-
tion
Deceleration during a profiled move
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.
6099
Homing
speeds
hm
hm
hm
0
1
RO
RO
U8
Number
of entries
U32
Speed
during
search for
switch
2
RO
RW
U32
Speed
during
search for
zero
hm
pv
60FF
INT32
Target
See chapter Communication profiles.
velocity
Communication protocol 149
Index Sub Access
(hex)
Type
U16
Name
Motor
Information
Sup-
port
6402
RW
all
type
Value Type
(hex)
0000
0001
0002
Non-standard motor
Phase-modulated DC motor
Frequency-controlled DC
motor
0003
0004
0005
0006
0007
0008
0009
000A
000B
PM synchronous motor
FC synchronous motor
Switched reluctance motor
Wound rotor induction motor
Squirrel cage induction motor
Stepper motor
Micro-step stepper motor
Sinusoidal PM BL motor
Trapezoidal PM BL motor
000C Reserved
7FFF Reserved
8000
Manufacturer-specific
FFFF Manufacturer-specific
6502
RO
U32
Sup-
all
ported
drive
Bit
Mode
modes
0
Profile position mode
Velocity mode
1
2
Profile velocity mode
Profile torque mode
Reserved
3
4
5
Homing mode
6
Interpolated position mode
Reserved
7…15
16…31 Manufacturer-specific
150 Communication protocol
Index Sub Access
(hex)
Type
Name
Drive
manufac-
turer
Information
Sup-
port
6504
RO
Visible
string
ABB Drives
6505
RO
Visible
string
http drive
catalog
address
152 Diagnostics
Name
Color
Function
HOST
Blinking green
Green
Establishing communication to the host.
Connection to the host OK
Communication to the host lost
Internal file system error. The error may
Blinking red
Flashing orange,
alternating with the be cleared by cycling drive power. If the
MODULE flashing error persists, contact your local ABB
orange
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
CANopen controller is in bus off state.
Flashing orange,
Internal file system error. The error may
alternating with the be cleared by cycling drive power. If the
HOST flashing
orange
error persists, contact your local ABB
representative.
NETWORK Green single flash Module is in the stopped state.
(CANopen
Blinking green
Green
Module is in the pre-operational state.
Module is in the operational state.
RUN)
154 Technical data
FCAN-01
The following figure describes the enclosure of the adapter module
from the front and side.
Mounting
Into the option slot on the drive
IP20
Degree of protection
Ambient conditions
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
General
+3.3 V ±5% max. 300 mA (supplied by the drive)
Estimated minimum lifetime: 100 000 h
All materials UL/CSA-approved
Complies with EMC standard EN 61800-3:2004.
Bus interface functionally isolated from the drive
Printed circuit board conformal coated
Technical data 155
CANopen link
Compatible devices
Medium
All CANopen-compliant devices
Shielded twisted pair with nominal impedance of
120 ohms (CANopen-approved cable
recommended)
•
Termination: 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
156 Technical data
158 Appendix A – Dictionary structure and entries
Description of transmission type
Trans-
mission
type
PDO transmission
Cyclic
Acyclic
Synchro- Asyn-
RTR only
nous
chronous
0
X
X
1...240
241...251
252
X
X
Reserved
X
X
X
253
X
X
X
1)
254
2)
255
1)
The transmission of this PDO is initiated by an event device. The event
is manufacturer-specific.
The transmission of this PDO is initiated by an event on the device. This
event must be defined in the device profile.
2)
Description of PDO COB-ID entry
Bit
Value Description
31
0
1
0
1
0
1
0
x
x
PDO valid
PDO not valid
30
RTR allowed on this PDO
No RTR allowed on this PDO
1)
29
11-bit ID is used (CAN 2.0A).
29-bit ID is used (CAN 2.0B).
2)
28...11
If 11-bit ID is used, bits 28...11 = 0.
29-bit COB-ID not supported.
COB-ID
10…0
1)
Recommended
Not supported
2)
160 Appendix A – Dictionary structure and entries
Appendix B – CANopen error codes 161
12
Appendix B – CANopen error
codes
What this chapter contains
This chapter contains the CANopen error codes.
Error codes
Error codes can be read from objects 1003h 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
1000
2000
2100
2110
2120
2121
2122
No error
Generic error
Current
Current on device input side
Short circuit / Earth leakage
Earth leakage
Earth leakage phase L1
Earth leakage phase L2
162 Appendix B – CANopen error codes
Error
code
(hex)
Meaning
2123
2130
2131
2132
2133
2200
2211
2212
2213
2214
2220
2221
2222
2230
2240
2250
2300
2310
2311
2312
2320
2330
2331
2332
2333
2340
2341
Earth leakage phase L3
Short circuit
Short circuit phases L1-L2
Short circuit phases L2-L3
Short circuit phases L3-L1
Internal current
Internal current No. 1
Internal current No. 2
Overcurrent in ramp function
Overcurrent in sequence
Continuous overcurrent
Continuous overcurrent No. 1
Continuous overcurrent No. 2
Short circuit / Earth leakage
Earth leakage
Short circuit
Current on device output side
Continuous overcurrent
Continuous overcurrent No. 1
Continuous overcurrent No. 2
Short circuit / Earth leakage
Earth leakage
Earth leakage phase U
Earth leakage phase V
Earth leakage phase W
Short circuit
Short circuit phases U-V
Appendix B – CANopen error codes 163
Error
code
(hex)
Meaning
2342
2343
3000
3100
3110
3111
3112
3113
3120
3121
3122
3123
3130
3131
3132
3133
3134
3140
3141
3142
3200
3210
3211
3212
3220
3221
3222
Short circuit phases V-W
Short circuit phases W-U
Voltage
Mains voltage
Mains overvoltage
Mains overvoltage phase L1
Mains overvoltage phase L2
Mains overvoltage phase L3
Mains undervoltage
Mains undervoltage phase L1
Mains undervoltage phase L2
Mains undervoltage phase L3
Phase failure
Phase failure L1
Phase failure L2
Phase failure L3
Phase sequence
Mains frequency
Mains frequency too great
Mains frequency too small
DC link voltage
DC link overvoltage
Overvoltage No. 1
Overvoltage No. 2
DC link undervoltage
Undervoltage No. 1
Undervoltage No. 2
164 Appendix B – CANopen error codes
Error
code
(hex)
Meaning
3230
3300
3310
3311
3312
3313
3320
3321
3330
3331
4000
4100
4110
4120
4130
4140
4200
4210
4220
4300
4310
4320
4400
4410
4420
5000
5100
Load error
Output voltage
Output overvoltage
Output overvoltage phase U
Output overvoltage phase V
Output overvoltage phase W
Armature circuit
Armature circuit interrupted
Field circuit
Field circuit interrupted
Temperature
Ambient temperature
Excess ambient temperature
Too low ambient temperature
Temperature supply air
Temperature air outlet
Temperature device
Excess temperature device
Too low temperature device
Temperature drive
Excess temperature drive
Too low temperature drive
Temperature supply
Excess temperature supply
Too low temperature supply
Device hardware
Supply
Appendix B – CANopen error codes 165
Error
code
(hex)
Meaning
5110
5111
5112
5113
5114
5115
5116
5117
5118
5119
5120
5200
5210
5220
5300
5400
5410
5420
5430
5440
5441
5442
5443
5444
5445
5450
5451
Supply low voltage
U1 = supply +/-15 V
U2 = supply +24 V
U3 = supply +5 V
U4 = manufacturer-specific
U5 = manufacturer-specific
U6 = manufacturer-specific
U7 = manufacturer-specific
U8 = manufacturer-specific
U9 = manufacturer-specific
Supply intermediate circuit
Control
Measurement circuit
Computing circuit
Operating unit
Power section
Output stages
Chopper
Input stages
Contactors
Contactor 1 = manufacturer-specific
Contactor 2 = manufacturer-specific
Control
Measurement circuit
Computing circuit
Operating unit
Power section
166 Appendix B – CANopen error codes
Error
code
(hex)
Meaning
5452
5453
5454
5455
5456
5457
5458
5459
5500
5510
5520
5530
6000
6010
6100
6200
6300
6301
...
Output stages
Chopper
Input stages
Contactors
Contactor 1 = manufacturer-specific
Contactor 2 = manufacturer-specific
Control
Measurement circuit
Computing circuit
Operating unit
Power section
Output stages
Chopper
Input stages
Contactors
User software
Data record
Data record No. 1
...
630E
630F
6310
6320
7000
7100
7110
7111
Data record No. 14
Data record No. 15
Loss of parameters
Parameter error
Additional modules
Power
Brake chopper
Failure brake chopper
Appendix B – CANopen error codes 167
Error
code
(hex)
Meaning
7112
7113
7120
7121
7122
7123
7200
7300
7301
7302
7303
7304
7305
7306
7307
7310
7320
7400
7500
7510
7520
7600
8000
8100
8110
8120
8130
Overcurrent brake chopper
Protective circuit brake chopper
Motor
Motor blocked
Motor error or communication malfunc.
Motor tilted
Measurement circuit
Sensor
Tacho fault
Tacho wrong polarity
Resolver 1 fault
Resolver 2 fault
Incremental sensor 1 fault
Incremental sensor 2 fault
Incremental sensor 3 fault
Speed
Position
Computation circuit
Communication
Serial interface No. 1
Serial interface No. 2
Data storage
Monitoring
Communication
CAN overrun (objects lost)
CAN in Error Passive Mode
Life guard error or heartbeat error
168 Appendix B – CANopen error codes
Error
code
(hex)
Meaning
8140
8150
8200
8210
8220
8300
8311
8312
8313
8321
8331
8400
8500
8600
8611
8612
8700
8800
8900
8A00
9000
F000
F001
F002
F003
F004
FF00
Recovered from bus-off
Transmit COB-ID
Protocol error
PDO not processed due to length error
PDO length exceeded
Torque control
Excess torque
Difficult start up
Standstill torque
Insufficient torque
Torque fault
Velocity speed controller
Position controller
Positioning controller
Following error
Reference limit
Sync controller
Winding controller
Process data monitoring
Control
External error
Additional functions
Deceleration
Sub-synchronous run
Stroke operation
Control
Manufacturer-specific
Appendix B – CANopen error codes 169
Error
code
(hex)
Meaning
...
...
FFFF Manufacturer-specific
170 Appendix B – CANopen error codes
Further information
Product and service inquiries
Address any inquiries about the product to your local ABB
representative, quoting the type designation and serial number of
the unit in question. A listing of ABB sales, support and service
selecting Sales, Support and Service network.
Product training
For information on ABB product training, navigate to
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Contact us
ABB Oy
ABB Inc.
ABB Beijing Drive Systems
Co. Ltd.
Drives
Automation Technologies
Drives & Motors
16250 West Glendale Drive
New Berlin, WI 53151
USA
P.O. Box 184
FI-00381 HELSINKI
FINLAND
No. 1, Block D,
A-10 Jiuxianqiao Beilu
Chaoyang District
Telephone +358 10 22 11
Beijing, P.R. China, 100015
Telephone +86 10 5821 7788
Fax
+358 10 22 22681 Telephone 262 785-3200
1-800-HELP-365 Fax
+86 10 5821 7618
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