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Transcript of En Fcan 01 Revb
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ABB Drives
Users Manual
CANopen Adapter ModuleFCAN-01
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CANopen Adapter ModuleFCAN-01
Users Manual
3AFE68615500 REV B
EN
EFFECTIVE: 27.09.2007
2007 ABB Oy. All Rights Reserved.
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Safety instructions
6
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Table of contents
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Table of contents
Safety inst ruct ions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Table of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Introduct ion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Intended audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
What this manual contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Terms used in this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Communication Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Virtual data words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
FCAN-01 CANopen Adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Further information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
FCAN-01 CANopen Adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Delivery check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Warranty and liability information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Quick start-up guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Mechanical and electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
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Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Parameter setting examples - ACS 350 . . . . . . . . . . . . . . . . . . . . . . . . . . 25
DSP 402 Velocity mode with default mapping . . . . . . . . . . . . . . . . . . . . 25
ABB Drives profile mode with parameter mapping . . . . . . . . . . . . . . . . 27Parameter setting examples - ACSM1 . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
DSP 402 Profile Position mode
(requires ACSM1 Motion Control Program) . . . . . . . . . . . . . . . . . . . . . . 30
Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
CANopen connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
AC and DC parameters for the CANopen network . . . . . . . . . . . . . . . . . . . . 38
Bus cable and termination resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
CANopen connection configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Data transfer rates supported . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
FCAN-01 configuration parameters - group 1 . . . . . . . . . . . . . . . . . . . . . . 42
01 FBA TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
02 NODE ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4403 BIT RATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
04 CONF LOC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
05 PROFILE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
06 T16 SCALE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
07 RPDO1-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
08 RPDO1-TR TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
09 RPDO1-EV TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
10 TPDO1-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
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11 TPDO1-TR TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
12 TPDO1-EV TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
13 RPDO6-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
14 RPDO6-TR TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4815 RPDO6-EV TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
16 TPDO6-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
17 TPDO6-TR TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
18 TPDO6-EV TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
19 RPDO21-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
20 RPDO21-TR TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
21 RPDO21-EV TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
22 TPDO21-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
23 TPDO21-TR TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
24 TPDO21-EV TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
FCAN-01 configuration parameters - group 2 . . . . . . . . . . . . . . . . . . . . . 51
2 FBA DATA OUT 2 to 10 FBA DATA OUT 10 . . . . . . . . . . . . . . . . . . . 54
FCAN-01 configuration parameters - group 3 . . . . . . . . . . . . . . . . . . . . . 55
2 FBA DATA IN 2 to 10 FBA DATA IN 10 . . . . . . . . . . . . . . . . . . . . . . . 56
Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Master configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Configuring the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
EDS files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Communication prof iles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59The CANopen device profile DSP 402 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Device Control state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Modes of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Profile position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Position demand value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Position actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Interpolated position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
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Profile velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Target velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Velocity actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Profile torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Target velocity of DSP 402 Velocity mode . . . . . . . . . . . . . . . . . . . . . . 66
Control effort of DSP 402 Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . 66
Control Word and Status Word of the DSP 402 profile . . . . . . . . . . . . . . . 67
The ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
The Control Word and the Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . 71
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Control Word and Status Word of the ABB Drives profile . . . . . . . . . . . . . 74
Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
CAN data frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
FCAN-01 boot-up sequence and Network Management (NMT) . . . . . . . . 81Process Data Objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
PDO1 Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
PDO1 Tx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
PDO6 Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
PDO6 Tx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
PDO21 Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
PDO21 Tx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Mapping format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Service Data Objects (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91SDO Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
SDO Upload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Read Service (SDO Upload) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Initiate SDO Upload Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Write Service (SDO Download) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Initiate SDO Download Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Abort SDO Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Abort SDO Transfer Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
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Abort code description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
CANopen Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Object Dictionary Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Communication profile area (1000...1FFF) . . . . . . . . . . . . . . . . . . . . . . . . 99Manufacturer specific profile area (2000...5FFF) . . . . . . . . . . . . . . . . . . 108
Manufacturer specific profile objects . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Drive actual signals and parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Standardised device profile area DSP 402 (6000...9FFF) . . . . . . . . . . . 110
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Dictionary structure and entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Description of transmission type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Description of PDO COB-ID entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
PDO mapping entry structure - example . . . . . . . . . . . . . . . . . . . . . . . . . . 116
CANopen error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Definit ions and abbreviat ions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
CANopen definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
CiA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
CMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
COB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
DBT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
EDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
LMT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
NMT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
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Object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
OSI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
PDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
RO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126RW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
FCAN-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
CANopen link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
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Introduction
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Introduction
What this chapter contains
This chapter includes a description of the contents of the manual.
Intended audience
The manual is intended for the people who are responsible for
commissioning and using an FCAN-01 CANopen Adapter module.
The reader is expected to have a basic knowledge of electricalfundamentals, electrical wiring practices and how to operate the
drive.
Before you start
It is assumed that the drive is installed and ready to operate before
starting the installation of the extension module.
In addition to conventional installation tools, have the drive
manuals available during the installation as they contain importantinformation not included in this manual. The drive manuals are
referred to at various points of this manual.
What this manual contains
This manual contains information on the wiring, configuration and
use of the FCAN-01 CANopen Adapter module.
Safety instructionsare featured in the first few pages of this
manual.
Overviewcontains a short description of the CANopen protocol
and the FCAN-01 CANopen Adapter module, and a delivery
checklist.
Quick start-up guidecontains a short description of how to set
up the FCAN-01 CANopen Adapter module.
Mechanical installationcontains placing and mounting
instructions for the module.
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Electrical installationcontains wiring and bus termination
instructions.
Drive configurationexplains how to program the drive before thecommunication through the adapter module can be started.
Master configurationexplains how to program the CANopen
master before the communication through the adapter module can
be started.
Communication profilesdescribes the communication profiles
used in the communication between the CANopen network, the
FCAN-01 module, and the drive.
Communicationcontains a description of how data is transmittedthrough the FCAN-01 module.
Diagnosticsexplains how to trace faults with the status LEDs on
the FCAN-01 module.
Dictionary structure and entriescontains information about
PDO transmission and mapping.
CANopen error codescontains reference tables for decoding
CANopen error messages.Definitions and abbreviationsexplains definitions and
abbreviations concerning the CANopen protocol family.
Technical datacontains information on physical dimensions,
configurable settings and connectors of the module and the
specification of the CANopen link.
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Introduction
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Overview
18
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
as follows:
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
International Users and Manufacturers Group (www.can-cia.org).
FCAN-01 CANopen Adapter module
The FCAN-01 CANopen Adapter module is an optional device for
ABB drives which enables the connection of the drive to
a CANopen network. The drive is considered as a slave (server)
on the CANopen network. Through the FCAN-01 CANopen
Adapter module, it is possible to:
give control commands to the drive
(Start, Stop, Run enable, etc.)
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.
Bit rate Max. bus length Bit rate Max. bus length
1 Mbit/s 25 m 125 kbit/s 500 m
800 kbit/s * 50 m 50 kbit/s 1000 m
500 kbit/s 100 m 20 kbit/s * 2500 m
250 kbit/s 250 m 10 kbit/s * 5000 m
* Not supported by FCAN-01
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Overview
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The CANopen commands and services supported by the
FCAN-01 CANopen Adapter module are discussed in chapter
Communicationon page 79. Please 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.
EDS (Electronic Data Sheet) configuration files for ABB Drives are
available through your local ABB representative and the ABB
Library (www.abb.com).
Figure 1. Construction of the CANopen link and the FCAN-01Adapter module
Bus connector X1 (See chapter
Electrical installationon
page 35.)
Diagnostic LEDs
(See chapter Diagnosticsonpage113.)
CANopen
master
ABB drive Other slave
device
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Overview
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Compatibility
The FCAN-01 module is compatible with all master (client)
stations that support the CANopen protocol.
Delivery check
The option package for the FCAN-01 CANopen Adapter module
contains:
CANopen Adapter module, type FCAN-01
this manual.
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Overview
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Warranty and liability information
The manufacturer warrants the equipment supplied against
defects in design, materials and workmanship for a period oftwelve (12) months after installation or twenty-four (24) months
from date of manufacturing, whichever first occurs. The local ABB
office or distributor may grant a warranty period different to the
above and refer to local terms of liability as defined in the supply
contract.
The manufacturer is not responsible for
any costs resulting from a failure if the installation,
commissioning, repair, alternation, or ambient conditions of theunit do not fulfil the requirements specified in the documentation
delivered with the unit and other relevant documentation
units subjected to misuse, negligence or accident
units comprised of materials provided or designs stipulated by
the purchaser.
In no event shall the manufacturer, its suppliers or subcontractors
be liable for special, indirect, incidental or consequential damages,
losses or penalties.
This is the sole and exclusive warranty given by the manufacturer
with respect to the equipment and is in lieu of and excludes all
other warranties, express or implied, arising by operation of law or
otherwise, including, but not limited to, any implied warranties of
merchantability or fitness for a particular purpose.
If you have any questions concerning your ABB drive, please
contact the local distributor or ABB office. The technical data,
information and specifications are valid at the time of printing.The manufacturer reserves the right to modifications without prior
notice.
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Quick start-up guide
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Quick start-up guide
What this chapter contains
This chapter presents the steps to take during the start-up of the
FCAN-01 CANopen Adapter Module with an ACS350 or ACSM1
drive. For more detailed information, see chapters Mechanical
installationon page 33, Electrical installationon page 35and Drive
configurationon page 41.
WARNING!Follow the safety instructions given in this manual andthe hardware manual of the drive.
Mechanical and electrical installation
Insert the FCAN-01 into its specified slot in the drive.
Fasten the screw.
Plug the fieldbus connector to the module and fasten the
connection screws. See section Bus terminationon page 37.
Drive configuration
Power up the drive.
The detailed procedure of activating the drive for
communication with the module is dependent on the drive type.
Normally, a parameter must be adjusted to activate the
communication. Refer to the drive documentation for
information on the communication settings. With an ACS350drive, set parameter 9802 COMM PROT SEL to EXT FBA; with
an ACSM1 drive, set parameter 5001 FBA ENABLE to
ENABLE.
Parameter group 51 shows the status of the FPBA configuration
parameters.
At minimum, set the required node address at parameter 5102
NODE ADDRESS, the required bit rate at 5103 BIT RATE and
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the communication profile at 5105 PROFILE. Finally, validate
the settings with 5127 FBA PAR REFRESH.
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Parameter setting examples - ACS 350
DSP 402 Velocity mode with default mapping
ACS350 parameters and recommended parameter settings for theCANopen fieldbus communication are listed in the following table.
Drive
parameter
Recommended
setting for ACS350
Description
9802 COMM
PROT SEL
EXT FBA Communication (fieldbus) module
activation
1001 EXT1
COMMANDS
COMM Communication module as the source for
the start, stop and direction commands
1103 REF1
SELECT
AI1 Analogue input as the source for
reference 1
1601 RUN
ENABLE
COMM Communication module as the source for
the run enable signal
1604 FAULT
RESET SEL
COMM Communication module as the source for
the fault reset signal
5101 FBA TYPE CANopen(1
Communication module type
5102 NODE ID
(FBA PAR 2)
3 (2 FCAN-01 module node ID
5103 BIT RATE
(FBA PAR 3)
3 (2 Bit rate used on the CANopen network.
(3 = 125 kbit/s)
5104 CONF
LOC (FBA
PAR 4)
0 CANopen objects (14xxh, 16xxh, 18xxh
and 1Axxh) as the source for the PDO
settings
5105 PROFILE
(FBA PAR 5)
0 DSP 402 Velocity mode communication
profile (i.e. communication profile used by
the module)
5127 FBA PAR
REFRESH
REFRESH Fieldbus configuration parameter settings
activation
(1Automatically detected(2Example
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With default mapping only PDO1 Rx and PDO1 Tx are used in the
cyclical communication.
Note:PDO1 Tx default transmission type is 255 (acyclic) andevent time is 0. The event time should be changed with CANopen
object 1800h05 if the default transmission type is used.
PDO Control Word * PDO length
PDO1 Rx 6040h 16 bits
PDO Status Word *
PDO1 Tx 6041h 16 bits
* According to the DSP 402 Velocity mode
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ABB Drives profile mode with parameter mapping
ACS350 parameters and recommended parameter settings for the
CANopen fieldbus communication are listed in the following table:
Drive parameterRecommended
setting for ACS350
Description
9802 COMM PROT
SEL
EXT FBA Communication (fieldbus)
module activation
1001 EXT1
COMMANDS
COMM Communication module as the
source for the start, stop and
direction commands
1103 REF1 SELECT COMM Communication module as the
source for reference 1
1601 RUN ENABLE COMM Communication module as the
source for the Run enable signal
1604 FAULT RESET
SEL
COMM Communication module as the
source for the fault reset signal
5101 FBA TYPE CANopen (1 Communication module type
5102 NODE ID (FBA
PAR 2)
3 (2 FCAN-01 module node ID
5103 BIT RATE (FBA
PAR 3)
2 (2 Bit rate used on the CANopen
network (2 = 250 kbit/s)
5104 CONF LOC
(FBA PAR 4)
1 Fieldbus configuration
parameters as the source for the
PDO settings
5105 PROFILE (FBAPAR 5)
1 ABB Drives profile mode(i.e. communication profile used
by the module)
5107 RPDO1-COB-
ID TYPE (FBA
PAR 7)
1 RPDO1 is enabled and
configured to use the default
COB-ID.
5108 RPDO1-TR
TYPE (FBA PAR 8)
255 (2 Asynchronous transmission
mode is used by PDO1 Rx.
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5110 TPDO1-COB-ID
(FBA PAR 10)
1 TPDO1 is enabled and
configured to use the default
COB-ID.
5111 TPDO1-TR
TYPE (FBA PAR 11)
255 Asynchronous transmission
mode is used by PDO1 Tx.
Transmission is triggered by the
event time.
5112 TPDO1-EV
TIME (FBA PAR 12)
100 (2 Event time, i.e. event time
elapses every 100 ms.
5401 DATA IN 1 5 (2 Actual value 1 as mapping
entry 2 in PDO1 Tx
5402 DATA IN 2 6 (2 Actual value 2 as mapping
entry 3 in PDO1 Tx
5403 DATA IN 3 106 (2 Signal 106 POWER as mapping
entry 4 in PDO1 Tx
5501 DATA OUT 1 2(2
Reference 1 as mapping entry 2in PDO1 Rx
5502 DATA OUT 2 3 (2 Reference 2 as mapping entry 3
in PDO1 Rx
5503 DATA OUT 3 135 (2 Signal 135 COMM VALUE 1 as
mapping entry 4 in PDO1 Rx
5127 FBA PARREFRESH
REFRESH Fieldbus configuration parametersettings activation
(1Automatically detected(2Example
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With parameter mapping only PDO1 Rx and PDO1 Tx are used in
the cyclical communication.
Note:The settings of the PDOs can be changed with CANopen
objects 14xxh, 16xxh, 18xxh and 1Axxh. Communication
parameter settings (if not stored to the non-volatile memory) of the
CANopen objects 14xxh and 18xxh are valid only to next boot-up.
The start/stop commands and reference are according to the ABB
DRIVES profile. (For more information, see section The ABB
Drives communication profileon page 71.)When reference 1 (REF1) is used, a reference value of 20000
(decimal) corresponds to the reference set by 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 by 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 ControlWord *
Targetvelocity *
Reference 2 * Signal 135COMM VALUE 1
PDOlength
PDO1 Rx 6040h 6042h 2000h03 4001h23 64 bits
PDO Status
Word *
Velocity
control effort *
Ac tual value 2 * Signal 106
POWER
PDO
length
PDO1 Tx 6041h 6044h 2000h06 4001h26 64 bits
* According to the ABB Drives profile mode
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51.04 CONF LOC (FBA
PAR 4)
1 PDO1 configuration is done via
FCAN-01 configuration
parameter groups 1, 2 and 3
(i.e. ACSM1 parameter groups
51, 52 and 53)
51.05 PROFILE (FBA
PAR 5)
0 DSP 402 communication
profile (i.e. communication
profile used by the module)
...
5108 RPDO1-TR TYPE
(FBA PAR 8)
255 (2 Asynchronous transmission
mode is used by PDO1 Rx.
52.01 4 Status Word (16-bit)
52.02 15 Position Actual Value (32-bit)
52.03 0 (reserved) Parameters in groups 52 and
53 are 16-bit parameters.
Mapping of 32-bit parameters
automatically reserves also the
following cell (i.e. mapping of
15 to parameter 52.02reserves also the parameter
52.03)
53.01 1 Control Word (16-bit)
53.02 12 Position Reference (32-bit)
53.03 0 (reserved) Parameters in groups 52 and
53 are 16-bit parameters.
Mapping of 32-bit parameters
automatically reserves also thefollowing cell (i.e. mapping of
12 to parameter 53.02
reserves also the parameter
53.03)
51.27 FBA PAR
REFRESH
REFRESH Fieldbus configuration
parameter settings activation
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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:
With drop cables the recommended cable cross-section is
0.25...0.34 mm2.
Bus
length
[m]
Bus cable (1 Termination
resistance
[ohm]
Baudrate
[kbit/s]Length-relatedresistance [mohm/m] Cross-section[mm2]
0...40 70 0.25...0.34 124 1000 at 40 m
40...300 < 60 0.34...0.6 150...300 > 500 at 100 m
300...600 < 40 0.5...0.6 150...300 > 100 at 500 m
600...1000 < 26 0.75...0.8 150...300 > 50 at 1 km
(1Recommended cable for AC parameters: 120 ohm impedance and 5 ns/m line
delay.
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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.
Wire cross-section
[mm2]
Maximum length [m] (1 Maximum length [m] (2
n = 32 n = 64 n = 100 n = 32 n = 64 n = 100
0.25 200 170 150 230 200 170
0.5 360 310 270 420 360 320
0.75 550 470 410 640 550 480
(1Safety margin of 0.2(2
Safety margin of 0.1
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Drive configuration
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Drive configuration
What this chapter contains
This chapter gives information on configuring the drive for
communication through the FCAN-01 CANopen Adapter module.
CANopen connection configuration
After the FCAN-01 CANopen Adapter module has been
mechanically and electrically installed according to the instructionsin previous chapters, the drive must be prepared for
communication with the module.
The detailed procedure of activating the module for CANopen
communication with the drive is dependent on the drive type.
Normally, a parameter must be adjusted to activate the
communication (see the drive manuals).
As communication between the drive and the FCAN-01 is
established, several configuration parameters are copied to thedrive. These parameters shown below in Tables 2to 4 must be
checked first and adjusted when necessary. The alternative
selections for these parameters are discussed in more detail
below the tables.
Note:The new settings take effect only when the module is
powered up the next time or when a Fieldbus Adapter parameter
refresh command is given (see the drive manuals).
Data transfer rates supported
The FCAN-01 supports the following CANopen communication
speeds: 50 kbit/s, 100 kbit/s *, 125 kbit/s, 250 kbit/s, 500 kbit/s and
1 Mbit/s.
* Note:Not recommended for a new installation.
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FCAN-01 configuration parameters - group 1
Table 2. FCAN-01 configuration parameters group 1 (1
Par.
no.
Parameter name Parameter
name in drive
Al ternat ive sett ings Default
setting
1 FBA TYPE FBA TYPE (Read-only) CANopen
2 NODE ID FBA PAR 2 1 to 127 3
3 BIT RATE FBA PAR 3 (0)1 Mbit/s;
(1) 500 kbit/s;
(2) 250 kbit/s;
(3) 125 kbit/s;
(4) 100 kbit/s;
(5) 50 kbit/s
3
4 CONF LOC FBA PAR 4 (0)PDO configuration
from CANopen objects
(NETWORK);
(1)PDO configuration
from configurationparameters
(PARAMETERS)
0
5 PROFILE FBA PAR 5 (0)DSP 402;
(1)ABB Drives;
(2) Transparent 16;
(3) Transparent 32
1
6 T16 SCALE FBA PAR 6 1 to 65535 100
7 RPDO1-COB-ID FBA PAR 7 0 = Not valid;1 = Valid, default COB
ID; (3
358 to 1407 (dec) =
Valid, custom COB ID
1
8 RPDO1-TR TYPE FBA PAR 8 0 to 255 (dec) (2 255
9 RPDO1-EV TIME FBA PAR 9 0 to 65535 (ms)
0 = Not used
0
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10 TPDO1-COB-ID FBA PAR 10 0 = Not valid;
1 = Valid, default COB; (3
ID358 to 1407 (dec) =Valid, custom COB ID
1
11 TPDO1-TR TYPE FBA PAR 11 0 to 255 (dec) (2 255
12 TPDO1-EV TIME FBA PAR 12 0 to 65535 (ms)
0 = Not used
0
13 RPDO6-COB-ID FBA PAR 13 0 = Not valid;
1 = Valid, default COB
ID; (3
358 to 1407 (dec) =
Valid, custom COB ID
0
14 RPDO6-TR TYPE FBA PAR 14 0 to 255 (dec) (2 255
15 RPDO6-EV TIME FBA PAR 15 0 to 65535 (ms)
0 = Not used
255
16 TPDO6- COB-ID FBA PAR 16 0 = Not valid;
1 = Valid, default COB
ID;(3
358 to 1407 (dec) =
Valid, custom COB ID
0
17 TPDO6-TR TYPE FBA PAR 17 0 to 255 (dec) (2 255
18 TPDO6-EV TIME FBA PAR 18 0 to 65535 (ms)
0 = Not used.
0
19 RPDO21- COB-ID FBA PAR 19 0 = Not valid;1 = Valid,
default COB ID; (3
358 to 1407 (dec) =
Valid, custom COB ID
0
20 RPDO21-TR TYPE FBA PAR 20 0 to 255 (dec)(2 255
21 RPDO21-EV TIME FBA PAR 21 0 to 65535 (ms)
0 = Not used.
0
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01 FBA TYPE
Shows the fieldbus adapter type as detected by the drive. The
value cannot be adjusted by the user.
If this parameter is undefined, the communication between the
drive and the module has not been established.
02 NODE ID
Selects the node address of the module.
1...127
Each device on the CANopen network must have a unique node
identifier. This parameter is used to define a node identifier for the
drive it is connected to.
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.
1 Mbit/s (0), 500 kbit/s (1), 250 kbit/s (2), 125 kbit/s (3),100 kbit/s (4)and 50 kbit/s (5).
Note: 100kbit/s is not recommended for a new installation.
22 TPDO21- COB-ID FBA PAR 22 0 = Not valid;
1 = Valid, default COB
ID;
(3
358 to 1407 (dec) =
Valid, custom COB ID
0
(1Actual parameter group number in the drive depends on the drive type. E.g. for
ACS350 and ACSM1 group 1 is parameter group 51 of the drive.(2See section Description of transmission typeon page 115.(3 Valid with the default value (e.g. RxPDO1 0x200 + Node ID)
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04 CONF LOC
Selects the source of the PDO configuration. PDOs can be
configured either via CANopen objects or via FCAN-01 moduleconfiguration parameter groups 1, 2 and 3.
0 = Configuration via CANopen objects 1400h, 1600h, 1405h,
1605h, 1414h, 1614h, 1800h, 1A00h, 1805h, 1A05h, 1814h and
1A14h only.
1 = Configuration via FCAN-01 module configuration parameter
groups 1, 2 and 3 (default values).
Note: The first mapping entries of the Tx/RxPDO1 andTx/RxPDO6 is fixed in the ACS350.
Note:Make sure that the PLC does not overwrite the selected
configuration during the initialization phase when the configuration
is taken from the configuration parameter groups.
05 PROFILE
Selects the used communication profile by the FCAN-01.
CANopen device profile DSP 402 (0), ABB Drives (1), Transparent
16 (2) and Transparent 32 (3) profiles. For more information on the
communication profiles, see chapter Communication profileson
page 59.
06 T16 SCALE
Defines the reference multiplier / actual value divisor for the
FCAN-01. The parameter is effective only when Transparent 16
profile is selected and the drive is using the DCU communication
profile.
For example, if T16 SCALE has a value of 100 and a reference of
1,000 given by the PLC, the reference will be multiplied by 100
and forwarded to the drive as 100,000. According to the DCU
profile, this value is interpreted as a reference of 100 rpm in the
ACS350.
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07 RPDO1-COB-ID
Defines the COB-ID for RxPDO1.
0 = RxPDO1 is not valid (disabled). The COB-ID is80000200h+Node-ID.
1 = RxPDO1 is valid and configured to use the default COB-ID
(200h+Node-ID).
3581407 (181h57Fh) = RxPDO1 is valid and configured to
use a custom COB-ID defined with this parameter. The COB-ID
must be within the allowed PDO COB-ID range (181h - 57Fh).
Note: It is recommended to use the default COB-ID.
08 RPDO1-TR TYPE
Defines the RxPDO1 transmission type. See chapterDictionary
structure and entrieson page 115.
09 RPDO1-EV TIME
Defines the event time (timeout time) for the RxPDO1 in the
asynchronous transmission mode. In the case when the RxPDO1communication between the FCAN-01 and the bus master fails
the FCAN-01 sets the communication between the module and
the drive to OFF-LINE mode.
0 = timeout supervision is disabled.
1...65535 ms
The event timer (timeout timer) elapses as a multiple of 1 ms of
the entry of this parameter.
Note: Timeout supervision is activated upon a successful
reception of an RxPDO1.
10 TPDO1-COB-ID
Defines the COB-ID for TxPDO1.
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0 = TxPDO1 is not valid (disabled). The COB-ID is
80000180h+Node-ID.
1 = TxPDO1 is valid and configured to use the default COB-ID(180h+Node-ID).
3581407 (181h57Fh) = TxPDO1 is valid and configured to
use a custom COB-ID defined with this parameter. The COB-ID
must be within the allowed PDO COB-ID range (181h - 57Fh).
Note:It is recommended to use the default COB-ID.
11 TPDO1-TR TYPE
Defines the PDO1 transmission type. See chapterDictionary
structure and entrieson page 115.
12 TPDO1-EV TIME
Defines the event time for the TxPDO1 asynchronous
transmission mode.
0 = Not used.
1...65535 msThe event timer elapses as a multiple of 1 ms of the entry of this
parameter.
13 RPDO6-COB-ID
Defines the COB-ID for RxPDO6.
0 = RxPDO6 is not valid (disabled). The COB-ID is
80000300h+Node-ID.
1 = RxPDO6 is valid and configured to use the default COB-ID(300h+Node-ID).
3581407 (181h57Fh) = RxPDO6 is valid and configured to
use a custom COB-ID defined with this parameter. The COB-ID
must be within the allowed PDO COB-ID range (181h - 57Fh).
Note:It is recommended to use the default COB-ID.
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14 RPDO6-TR TYPE
Defines the RxPDO6 transmission type. See chapter Dictionary
structure and entrieson page 115.15 RPDO6-EV TIME
Defines the event time (timeout time) for the RxPDO6 in the
asynchronous transmission mode. In the case when the RxPDO6
communication between the FCAN-01 and the bus master fails
the FCAN-01 sets the communication between the module and
the drive to OFF-LINE mode.
0 = timeout supervision is disabled.
1...65535 ms
The event timer (timeout timer) elapses as a multiple of 1 ms of
the entry of this parameter.
Note: Timeout supervision is activated upon a successful
reception of an RxPDO6.
16 TPDO6-COB-ID
Defines the COB-ID for TxPDO6.
0 = TxPDO6 is not valid (disabled). The COB-ID is
80000280h+Node-ID.
1 = TxPDO6 is valid and configured to use the default COB-ID
(280h+Node-ID).
3581407 (181h57Fh) = TxPDO6 is valid and configured to
use a custom COB-ID defined with this parameter. The COB-ID
must be within the allowed PDO COB-ID range (181h - 57Fh).
Note:It is recommended to use the default COB-ID.
17 TPDO6-TR TYPE
Defines the TxPDO6 transmission type. See chapterDictionary
structure and entrieson page 115.
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49
18 TPDO6-EV TIME
Defines the event time for the TxPDO6 asynchronous
transmission mode.0 = Not used.
1...65535 ms
The event timer elapses as a multiple of 1 ms of the entry of this
parameter.
19 RPDO21-COB-ID
Defines the COB-ID for RxPDO21.
0 = RxPDO21 is not valid (disabled). The COB-ID is
80000400h+Node-ID.
1 = RxPDO21 is valid and configured to use the default COB-ID
(400h+Node-ID).
3581407 (181h57Fh) = RxPDO21 is valid and configured to
use a custom COB-ID defined with this parameter. The COB-ID
must be within the allowed PDO COB-ID range (181h - 57Fh).
Note: It is recommended to use the default COB-ID.
20 RPDO21-TR TYPE
Defines the RxPDO21 transmission type. See chapterDictionary
structure and entrieson page 115.
21 RPDO21-EV TIME
Defines the event time (timeout time) for the RxPDO21 in the
asynchronous transmission mode. In the case when theRxPDO21 communication between the FCAN-01 and the bus
master fails the FCAN-01 sets the communication between the
module and the drive to OFF-LINE mode
0 = timeout supervision is disabled.
1...65535 ms
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FCAN-01 configuration parameters - group 2
Table 3. FCAN-01 configuration parameters group 2 (1
Par.no.
Parameter name (2 Parametername in
drive (2
Al ternative sett ings Defaultsetting
ACS350 ACSM1
1 PDO1 Rx
WORD 2
PDO1 Rx
WORD 1
FBA DATA
OUT 1
(master to
drive)
0 to 9999
Format: xxyy, where
xx = parameter group
and yy = parameter
index.
0
2 PDO1 RxWORD 3
PDO1 RxWORD 2
FBA DATAOUT 2
See FBA DATA OUT 1above.
0
3 PDO1 Rx
WORD 4
PDO1 Rx
WORD 3
FBA DATA
OUT 3
See FBA DATA OUT 1
above.
0
4 PDO6 Rx
WORD 2
PDO1 Rx
WORD 4
FBA DATA
OUT 4
See FBA DATA OUT 1
above.
0
5 PDO6 Rx
WORD 3
PDO6 Rx
WORD 1
FBA DATA
OUT 5
See FBA DATA OUT 1
above.
0
6 PDO6 Rx
WORD 4
PDO6 Rx
WORD 2
FBA DATA
OUT 6
See FBA DATA OUT 1
above.
0
7 PDO21 Rx
WORD 1
PDO6 Rx
WORD 3
FBA DATA
OUT 7
See FBA DATA OUT 1
above.
0
8 PDO21 Rx
WORD 2
PDO6 Rx
WORD 4
FBA DATA
OUT 8
See FBA DATA OUT 1
above.
0
9 PDO21 Rx
WORD 3
PD21 Rx
WORD 1
FBA DATA
OUT 9
See FBA DATA OUT 1
above.
0
10 PDO21 Rx
WORD 4
PD21 Rx
WORD 2
FBA DATA
OUT 10
See FBA DATA OUT 1
above.
0
11 PD21 Rx
WORD 3
FBA DATA
OUT 11
See FBA DATA OUT 1
above.
0
12 PD21 Rx
WORD 4
FBA DATA
OUT 12
See FBA DATA OUT 1
above.
0
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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. E.g. mapping
of a 32-bit parameter to Par. no. 1 also reserves Par. no. 2.
1 FBA DATA OUT 1
This parameter represents data word 1 received by the drive over
the CANopen network. The content is defined by a decimal
number in the range of 0 to 9999 as follows:
(1 Actual parameter group number in the drive depends on the drive type. E.g., for
ACS350 group 2 is the parameter group 55 of the drive and for the ACSM1 group 2
is parameter group 53 of the drive.
(2 For more information, see chapter Communicationon page 79.
0 Not used
1...99 Virtual address area of the drive control
101...9999 Parameter area of the drive
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53
The virtual address area of the drive control is allocated as
follows:
Profile
Transparent3
2
- - - - - - - 2001h
2002h
2003h
2004h
2005h
2006h
-
Transparent16
6040h
6042h
2000h03
6041h
6044h
2000h06
- - - - - - - -
ABB
Drives
6040h
6042h
2000h03
6041h
6044h
2000h06
- - - - - - - -
DSP402
vl
6040h
6042h
- 6041h
6044h
- - - - - - - - -
pt
6040h
6071h
- 6041h
6077h
- - - - - - - - -
p
v
60
40h
- - 60
41h
- - - - 60
FF
- - 60
6C
- -
ip
pp
6040h
- - 6041h
- - - - 607Ah
- - 6064h
- -
hm
6040h
- - 6041h
- - - - - - - - - -
D
ata
len
gth
16-bit
16-bit
16-bit
16-bit
16-bit
16-bit
n/a 32-bit
32-bit
32-bit
32-bit
32-bit
32-bit
n/a
Description
ControlWord
Reference1
Reference2
StatusWord
ActualValue1
ActualValue2
Reserved
ControlWord
Reference1
Reference2
StatusWord
ActualValue1
ActualValue2
Reserved
Virtual
address
1 2 3 4 5 6 7...10
11
12
13
14
15
16
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hm homing mode
pp profile position mode
ip inter-polated position mode
pv profile velocity mode
pt profile torque mode
vl velocity mode
The parameter area is allocated as follows:
Parameter number with format xxyy, where xx is the parameter
group number (1 to 99) and yy is the parameter number index
within that group (01 to 99).
2 FBA DATA OUT 2 to 10 FBA DATA OUT 10
See section 1 FBA DATA OUT 1above.
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1 FBA DATA IN 1
This parameter represents data word 1 sent by the drive over the
CANopen network. For the contents, see configuration parameter
group 2, parameter 1 (FBA DATA OUT 1) on page 52.
2 FBA DATA IN 2 to 10 FBA DATA IN 10
See section 1 FBA DATA IN 1above.
Control locations
ABB drives can receive control information from multiple sources
including digital inputs, analogue inputs, the drive control panel
and a communication module (e.g. 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.). In order to give the fieldbus master station the most
complete control over the drive, the communication module must
be selected as source for this information. See the drive manuals
for information on the selection parameters.
(1Actual parameter group number in the drive depends on the drive type. E.g. for
ACS350 group 3 is parameter group 54 of the drive and for ACSM1 group is
parameter group 52 of the drive.(2For more information, see chapter Communicationon page 79.
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57
Master configuration
What this chapter contains
This chapter gives information on configuring the CANopen
master station for communication through the FCAN-01 CANopen
Adapter module.
Configuring the system
After the FCAN-01 CANopen Adapter module has beenmechanically and electrically installed according to the instructions
in previous chapters, and has been initialised by the drive, the
master station must be prepared for communication with the
module.
Please refer to the master station documentation for more
information.
EDS files
Electronic Data Sheet (EDS) files specify the device properties for
the CANopen master (client). EDS files for the FCAN-01
CANopen Adapter module contain information on the supported
communication objects. EDS files for ABB Drives are available
through your local ABB representative.
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Communication profiles
What this chapter contains
This chapter describes the communication profiles used in the
communication between the CANopen network, the FCAN-01
module, and the drive.
Communication profiles
Communication profiles are ways of conveying control commands(Control Word, Status Word, references and actual values)
between the master station and the drive.
With the FCAN-01 module, the CANopen network may employ
DSP 402 (Device Profile Drives and Motion Control) profile or the
ABB Drives profile. Both are converted to the DCU profile (detailed
in the drive manuals) by the FCAN-01 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 DSP 402 operation mode support is drive-specific. See
The CANopen device profile DSP 402on page 62for more
details.
The profile is selected from the drive with parameter 5 PROFILE
of the fieldbus configuration group 1. E.g. if parameter 5 PROFILE
is set to 0, the Control Word of the drive is set according to theDSP 402 Standard (Device Profile Drives and Motion Control).
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Dataconversion
DSP 402
FCAN-01
ABB Drives
Transparent 16
Transparent 32
Drive
Optionalreference,
actual valuescaling
(1
(1
CANopenobjects2001h
...2006h
CANopenobjects6040h6042h6041h
6044h2000h032000h06607Ah (*6064h (*6071h (*6077h (*60FF (*606C (*
Control Word, reference, Status Wordand actual values according to
CANopen device profile DSP 402,ABB Drives profile or
drive-specific 16-bit words
Dataconversion
Select
(2
Control Word, reference, StatusWord and actual values according
to drive-specific 32-bit words
Select
(2
(1DCU profile(2 Selection via FCAN-01 configuration parameters(par. 5 PROFILE of group 1)(* Only with ACSM1
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The following sections describe the Control Word, the Status
Word, references and actual values for the CANopen device
profile DSP 402 and ABB Drives communication profiles. See the
drive manuals for details on the DCU communication profile.
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The CANopen device profile DSP 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 5.
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 ControlWord, 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 DSP 402
profileon page 67.
Device Control state machine
Modes of operation
Homing
Mode
*)
Profile
Position
mode*)
Inter-
Polated
Positionmode
**)
Profile
Velocity
mode*)
Profile
Torque
mode*)
Velocity
mode
*) Supported with ACSM1 only
**) Not supported
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Modes of operation
The operation mode defines the behavior of the drive. DSP 402
defines following operation modes: Homing mode
Profile position mode
Interpolated position mode
Profile velocity mode
Profile torque mode
Velocity mode
FCAN-01 supports minimal implementation of the operation
modes. Operation mode support is drive-specific (see figure 1).
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 the CANopen Object Dictionaryon page 98.
In ACSM1, the mode of operation is automatically selected
according to the control mode configured with parameter 3403EXT1 CTRL MODE, 3404 EXT1 CTRL MODE2 or 3405 EXT2
CTRL MODE1 (depending on the current control location). The
correct reference scaling must be selected with par. 5004 FBA
REF1 MODESEL.
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 incremental encoder. For more
information on the homing mode and descriptions of the various
homing methods, see the drive manual.
Profile position mode
This mode enables the positioning of the drive to be controlled.
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Position demand value
Position demand value defines the position setpoint. The position
setpoint is scaled as follows:
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 FCAN-01 CANopen adapter.
Profile velocity mode
The profile velocity mode is used to control the velocity of the drivewith no special regard of the position.
Drive parameter Setting
60.05 POS UNIT (Position unit) m**
60.08 POS2INT SCALE 100**
**Example
1000 / 100 = 10.00 m60.05 POS UNITPhysical value60.08 POS2INT SCALESetpoint value
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Target velocity
Target velocity is the required velocity of the application. The
target velocity is scaled as follows:
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, i.e. 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, i.e. 10 = 1 %.
Drive parameter Example setting
60.05 POS UNIT (Position unit) m
60.10 POS SPEED UNIT unit/s
60.11 POS SPEED2INT 100
1000 / 100 = 10.00 m/s
60.10 POS SPEED UNITPhysical value60.11 POS SPEED2INTSetpoint value
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Velocity mode
Basic mode to control the velocity of the drive with limits and ramp
functions.Target velocity of DSP 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 DSP 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.
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Status Word of DSP 402
Bit Description
0 Ready to switch on
1 Switched on
2 Operation enabled
3 Fault
4 Voltage disabled
5 Quick stop
6 Switch on disabled
7 Warning
8 Drive-specific bit
9 Remote
10 Target reached
11 Internal limit active
12...13 Operation mode specific
14...15 Drive-specific bit
Operation mode specif ic bits
Bit Velocity
mode
Profile
positionmode*
Profile
velocitymode*
Profile
torquemode*
Homing
mode*
Interpolation
positionmode**
12 Reserved Setpoint
acknowledge
Speed Reserved Homing
attained
IP mode
active
13 Reserved Following
error
Max
slippage
error
Reserved Homing
error
Reserved
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Figure 5. The CANopen state machine
CW: xxxxxxxx1xxxxxxx
from any state
FAULT REACTIONACTIVE
SW: xxxxxxxxx0xx1111
Fault reactioncompleted
FAULT
SW: xxxxxxxxx0xx1000
START
Power-on,self-initialisation
NOT READY
SW: xxxxxxxxx0xx0000TO SWITCH ON
Initialisedsuccessfully
CW: xxxxxxxxxxxxx01x
CW: xxxxxxxxxxxxx110
CW: xxxxxxxxxxxxx110
CW: xxxxxxxxxxxxx111
CW: xxxxxxxxxxxxx01xor
CW: xxxxxxxxxxxxxx0x
CW: xxxxxxxxxxxx0111
CW: xxxxxxxxxxxx1111
CW: xxxxxxxxxxxxx110
Quick stopcompleted
CW: xxxxxxxxxxxxx01xCW: xxxxxxxxxxxxxx0x
CW: Control WordSW: Status Word
SWITCH-ON
SW: xxxxxxxxx1xx0000DISABLED
SWITCHED ON
SW: xxxxxxxxx01x0011
READY TOSW: xxxxxxxxx01x0001
SWITCH ON
OPERATION
SW: xxxxxxxxx01x0111ENABLED
QUICK STOP
SW: xxxxxxxxx0xx0111ACTIVE
orCW: xxxxxxxxxxxxxx0x
orCW: xxxxxxxxxxxxxx0x
State transition(0)
(1) (15)
(2)
(7)
(3)
(6)
(10)
(12)
(9)
(8)
(5)
(4)
(11)
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The ABB Drives communication profile
The Control Word and the 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 section Control Word and Status Word of the ABB Drives
profileon page 74. The drive states are presented in the ABB
Drives profile state machine, Figure 6.
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References
References are 16-bit words containing a sign bit and a 15-bit
integer. A negative reference (indicating reversed direction ofrotation) is formed by calculating the twos complement from the
corresponding positive reference.
ABB drives can receive control information from multiple sources
including analogue and digital inputs, the drive control panel and
a communication module (e.g. FCAN-01). In order to have the
drive controlled through the fieldbus, the module must be defined
as the source for control information, e.g. reference.
ScalingReferences are scaled as shown below.
Note:The values of REF1 MAX and REF2 MAX are set by drive
parameters. See the drive manuals for further information.
REFx MIN
-(REFx MIN)
REFx MAX
-(REFx MAX)
0
REF2: -10000REF1: -20000
REF2: 10000REF1: 20000
DriveFieldbus
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Control Word and Status Word of the ABB Drives profile
The following table presents the Control Word of the ABB Drives
communication profile. The upper case boldface text refers to thestates shown in Figure 6.
Control Word of ABB Drives profile
Bit Name Value STATE/Description
0 OFF1_
CONTROL
1 Proceed to READY TO OPERATE.
0 Stop along currently active deceleration ramp.
Proceed to OFF1 ACTIVE; proceed to READY TO
SWITCH ONunless other interlocks (OFF2, OFF3)
are active.
1 OFF2_
CONTROL
1 Continue operation (OFF2 inactive).
0 Emergency OFF, coast to stop.
Proceed to OFF2 ACTIVE, proceed to SWITCH-ON
INHIBITED.
2 OFF3_
CONTROL
1 Continue operation (OFF3 inactive).
0 Emergency stop, stop within time defined by drive
parameter. Proceed to OFF3 ACTIVE; proceed toSWITCH-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 Inhibit operation. Proceed to OPERATION
INHIBITED.
4 RAMP_OUT_
ZERO
1 Normal operation. Proceed to RAMP FUNCTION
GENERATOR: OUTPUT ENABLED.
0 Force Ramp Function Generator output to zero.
Drive ramps to stop (current and DC voltage limits in
force).
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75
5 RAMP_HOLD 1 Enable ramp function.
Proceed to RAMP FUNCTION GENERATOR:
ACCELERATOR ENABLED.
0 Halt ramping (Ramp Function Generator output
held).
6 RAMP_IN_
ZERO
1 Normal operation. Proceed to OPERATING.
Note:Effective only if the fieldbus interface is set as
the source for this signal by drive parameters.
0 Force Ramp Function Generator input to zero.
7 RESET 0=>1 Fault reset if an active fault exists. Proceed to
SWITCH-ON INHIBITED.
Note:Effective only if the fieldbus interface is set as
the source for this signal by drive parameters.
0 Continue normal operation.
8 to 9 Reserved.
10 REMOTE_
CMD
1 Fieldbus control enabled
0 Control Word 0 or Reference 0: Retain last
Control Word and Reference.
Control Word = 0 and Reference = 0: Fieldbus
control enabled. Reference and deceleration/
acceleration ramp are locked.
11 EXT_CTRL_
LOC
1 Select External Control Location EXT2. Effective if
control location is parameterised to be selected from
fieldbus.
0 Select External Control Location EXT1. Effective if
control location is parameterised to be selected from
fieldbus.
12 to
15
Reserved
Control Word of ABB Drives profile
Bit Name Value STATE/Description
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The following table presents the Status Word of the ABB Drives
communication profile. The upper case boldface text refers to the
states shown in Figure 6.
Status Word of the ABB Drives prof ile
Bit Name Value STATE/Description
0 RDY_ON 1 READY TO SWITCH ON
0 NOT READY TO SWITCH ON
1 RDY_RUN 1 READY TO OPERATE
0 OFF1 ACTIVE
2 RDY_REF 1 OPERATION ENABLED
0 OPERATION INHIBITED
3 TRIPPED 1 FAULT
0 No fault
4 OFF_2_STA 1 OFF2 inactive
0 OFF2 ACTIVE
5 OFF_3_STA 1 OFF3 inactive
0 OFF3 ACTIVE
6 SWC_ON_
INHIB
1 SWITCH-ON INHIBITED
0
7 ALARM 1 Warning/Alarm
0 No warning/alarm
8 AT_
SETPOINT
1 OPERATING. Actual value equals reference = is
within tolerance limits, i.e. in speed control, speederror is 10% max. of the nominal motor speed.
0 Actual value differs from reference = is outside
tolerance limits.
9 REMOTE 1 Drive control location: REMOTE (EXT1 or EXT2)
0 Drive control location: LOCAL
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10 ABOVE_LIMIT
1 Actual frequency or speed equals or exceedssupervision limit (set by drive parameter). Valid in
both directions of rotation.
0 Actual frequency or speed within supervision limit
11 EXT_CTRL_
LOC
1 External Control Location EXT2 selected
0 External Control Location EXT1 selected
12 EXT_RUN_E
NABLE
1 External Run Enable signal received
0 No External Run Enable signal received
13 to
14
Reserved
15 1 Communication error detected by fieldbus adapter
module
0 Fieldbus adapter communication OK
Status Word of the ABB Drives prof ile
Bit Name Value STATE/Description
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Figure 6. State machine, ABB Drives communication profile
MAINS OFF
Power ON (CW Bit0=0)(SW Bit6=1)
(SW Bit0=0)
from any state
(CW=xxxx x1xx xxxx x110)
(SW Bit1=1)
n(f)=0 / I=0
(SW Bit2=0)
A B C D
(CW Bit3=0)
operationinhibited
OFF1(CW Bit0=0)
(SW Bit1=0)
(SW Bit0=1)
(CW Bit3=1and
SW Bit12=1)
C D
(CW Bit5=0)
(SW Bit2=1)
(SW Bit5=0)
from any state from any state
Emergency StopOFF3(CW Bit2=0)
n(f)=0 / I=0
Emergency OFFOFF2(CW Bit1=0)
(SW Bit4=0)
B
B C D
(CW Bit4=0)
(CW=xxxx x1xx xxx1 1111)
(CW=xxxx x1xx xx11 1111)
D
(CW Bit6=0)
A
C
(CW=xxxx x1xx x111 1111)
(SW Bit8=1)
D
from any state
Fault
(SW Bit3=1)
(CW Bit7=1)
(CW=xxxx x1xx xxxx x111)
(CW=xxxx x1xx xxxx 1111and SW Bit12=1)
CW = Control Word
SW = Status Word
n = Speed
I = Input Current
RFG= Ramp Function
Generator
f = Frequency
ABB Drives
Communication
Profile
SWITCH-ON
INHIBITED
NOT READY TO
SWITCH ON
READY TO
SWITCH ON
READY TO
OPERATE
OPERATION
INHIBITED
OFF1
ACTIVE
OPERATION
ENABLED
RFG: OUTPUT
ENABLED
RFG: ACCELERATOR
ENABLED
OPERATION
OFF2
ACTIVE
FAULT
OFF3
ACTIVE
state
condition
rising edgethe bitof
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79
Communication
What this chapter contains
This chapter describes the communication on a CANopen
network.
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80
CAN data frame
CAN employs data frames for transferring data between the host
(controller) and the nodes on the bus. The following figurepresents the structure of the data frame.
START OFFRAME
1 BIT
ARBITRATION FIELD
COMM.
11 BITS
REMOTETRANS-MISSION
REQUEST
1 BIT
CONTROLFIELD
6 BITS
DATAFIELD
0 TO 8
CYCLICALREDUNDANCY
CHECK
16 BITS
ACKNOW-LEDGEFIELD
2 BITS
END OFFRAME
7 BITS
FUNCTION CODE NODE ID
10 9 8 7 6 5 4 3 2 1 0
Communication
object
Function code
(Binary)
COB ID
(Hex)
COB ID
(Dec)
NMT 0000 00h 0
SYNC 0001 80h 128
TIME STAMP 0010 100h 256EMERGENCY 0001 81hFFh 129255
PDO1 (Tx) 0011 181h...1FFh 385...511
PDO1 (Rx) 0100 201h...27Fh 513...639
PDO6 (Tx) 0101 281h...2FFh 641...767
PDO6 (Rx) 0110 301h...37Fh 769...895
PDO21 (Tx) 0111 381h...3FFh 897...1023
PDO21 (Rx) 1000 401h...47Fh 1025...1151
SDO (Tx) 1011 581h5FFh 14091535
SDO (Rx) 1100 601h67Fh 15371663
NODEGUARD 1110 701h77Fh 17931919
OBJECT ID(COB ID)
BYTES
(CRC)(RTR)
(OR 29 BITS)
1 2 3
Header
1 = IDE bit = Extended format / standard format (1 bit)
2 = ro = reserved (1 bit)
3 = DLC = Data Length Code (4 bits)
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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 contains the
Node ID of the device, which must perform the command (if thenode ID is 0, all nodes 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 states: Initialisation, Pre-Operational, Operational and
Stopped. After power-on, each CANopen device is 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:
Note:If Node ID is 0, all NMT slaves are addressed.
The node state indications are as follows:
Command Name
001 Start_Remote_Node
002 Stop_Remote_Node
128 Enter_Pre-Operational_State
129 Reset_Node
130 Reset_Communication
HeaderByte
1 2
NMT Command Node ID
Indication State
0 Boot-up
4 Stopped
5 Operational
127 Pre-operational
00000000000000010
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PDO1 Rx
Note: The mapping entries of the PDO1 Rx can be configured
through CANopen object 1600h or from the drive through fieldbus
configuration parameter group 2.
The default COB ID for PDO1 Rx is 200h + Node ID, the default
transmission type is 255 and the event time is 0. These values can
be changed only with CANopen object 1400h or from the drive
with parameters 7, 8 and 9 of the fieldbus configuration group 1.
Mapped
obj 1
Mapped
obj 2
Mapped
obj 3
Mapped
obj 4
Byte 1 2 3 4 5 6 7 8
Object
6040h
(Control
Word)
Fixed *
- - -
CANopen Object
for Mapping1600h01 1600h02 1600h03 1600h04
Mapping
parameter **
ACS350 Not usedFBA DATA
OUT 1
FBA DATA
OUT 2
FBA DATA
OUT 3
ACSM1FBA DATA
OUT 1
FBA DATA
OUT 2
FBA DATA
OUT 3
FBA DATA
OUT 4
* With the ACS350, the first mapping entry is fixed and the others are configurable.
With the ACSM1 all mapping entries are configurable.
** Configuration group 2
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PDO1 Tx
Note: The mapping entries of the PDO1 Tx can be configured
through CANopen object 1A00h or from the drive through fieldbus
configuration parameter group 3.
The default COB ID for PDO1 Tx 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 1.
Mapped
obj 1
Mapped
obj 2
Mapped
obj 3
Mapped
obj 4
Byte 1 2 3 4 5 6 7 8
Object
6041h
(Status
Word)
Fixed*
- - -
CANopen Object
for Mapping1A00h01 1A00h02 1A00h03 1A00h04
Mapping
parameter **
ACS350 Not usedFBA DATA
IN 1
FBA DATA
IN 2
FBA DATA
IN 3
ACSM1FBA DATA
IN 1
FBA DATA
IN 2
FBA DATA
IN 3
FBA DATA
IN 4
* With the ACS350, the first mapping entry is fixed and the others are configurable.
With the ACSM1 all mapping entries are configurable.
** Configuration group 3
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PDO6 Rx
Note: The mapping entries of the PDO6 Rx can be configured
through CANopen object 1605h or from the drive through fieldbus
configuration parameter group 2.
The default COB ID for PDO6 Rx is 80000300h + Node ID, 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 1.
Mapped
obj 1
Mapped
obj 2
Mapped
obj 3
Mapped
obj 4
Byte 1 2 3 4 5 6 7 8
Object
6040h
(Control
Word)
Fixed *
- - -
CANopen Object
for Mapping1605h01 1605h02 1605h03 1605h04
Mapping
parameter **
ACS350 Not usedFBA DATA
OUT 4
FBA DATA
OUT 5
FBA DATA
OUT 6
ACSM1FBA DATA
OUT 5
FBA DATA
OUT 6
FBA DATA
OUT 7
FBA DATA
OUT 8
* With the ACS350, the first mapping entry is fixed and the others are configurable.
With the ACSM1 all mapping entries are configurable.
** Configuration group 2
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PDO6 Tx
Note: The mapping entries of the PDO6 Tx can be configured
through CANopen object 1A05h or from the drive through fieldbus
configuration parameter group 3.
The default COB ID for PDO6 Tx is 80000280h + Node ID, 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 1.
Mapped
obj 1
Mapped
obj 2
Mapped
obj 3
Mapped
obj 4
Byte 1 2 3 4 5 6 7 8
Object
6041h
(Status
Word)
Fixed *
- - -
CANopen Object
for Mapping1A05h01 1A05h02 1A05h03 1A05h04
Mapping
parameter **
ACS350 Not usedFBA DATA
IN 4
FBA DATA
IN 5
FBA DATA
IN 6
ACSM1FBA DATA
IN 5
FBA DATA
IN 6
FBA DATA
IN 7
FBA DATA
IN 8
* With the ACS350, the first mapping entry is fixed and the others are configurable.
With the ACSM1 all mapping entries are configurable.
** Configuration group 3
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PDO21 Rx
Note: The mapping entries of the PDO21 Rx can be configured
through CANopen object 1614h or from the drive through fieldbus
configuration parameter group 2.
The default COB ID for PDO21 Rx is 80000400h + Node ID, the
default transmission type is 255 and the event time is 0. Thesevalues can be changed with CANopen object 1414h or from the
drive with parameters 19, 20 and 21 of the fieldbus configuration
group 1.
Mapped
obj 1
Mapped
obj 2
Mapped
obj 3
Mapped
obj 4
Byte 1 2 3 4 5 6 7 8
Object - - - -
CANopen Object
for Mapping1614h01 1614h02 1614h03 1614h04
Mapping
parameter **
ACS350FBA DATA
OUT 7
FBA DATA
OUT 8
FBA DATA
OUT 9
FBA DATA
OUT 10
ACSM1 FBA DATAOUT 9
FBA DATAOUT 10
FBA DATAOUT 11
FBA DATAOUT 12
** Configuration group 2
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PDO21 Tx
Note: The mapping entries of the PDO21 Tx can be configured
through CANopen object 1A14h or from the drive through fieldbus
configuration parameter group 3.
The default COB ID for PDO21 Tx is 80000380h + Node ID and
the default transmission type is 255 and the event time is 0. Thesevalues can be changed with CANopen object 1614h or from the
drive with parameters 22, 23 and 24 of the fieldbus configuration
group 1.
Mapped
obj 1
Mapped
obj 2
Mapped
obj 3
Mapped
obj 4
Byte 1 2 3 4 5 6 7 8
Object - - - -
CANopen Object
for Mapping1A14h01 1A14h02 1A14h03 1A14h04
Mapping
parameter **
ACS350FBA DATA
IN 7
FBA DATA
IN 8
FBA DATA
IN 9
FBA DATA
IN 10
ACSM1 FBA DATAIN 9
FBA DATAIN 10
FBA DATAIN 11
FBA DATAIN 12
** Configuration group 3
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Mapping format
Note:Subindex 0h 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 1h 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:
If the PDO mappings are configured through fieldbus configuration
parameters groups 2 and 3, only objects belonging to the virtualaddress area of the drive control and to the drive parameter area
can be mapped, i.e. objects 6040h, 6042h, 6041h, 6044h, 6064h
60FF, 606C, 607Ah, 6077h, 6071h, 2001h, 2002h, 2003h, 2004h,
2005h, 2006h, 2000h03, 2000h06 and objects 4000h4063h.
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. FCAN-01 converts
the values to CANopen objects. The length of the object is
detected automatically.
Note:The PDO mappings should be started from subindex 1h. If a
PDO mapping entry is zero, the mapping for that subindex and
from that subindex onwards is neglected. I.e. if there are zeros in
the PDO mapping, only objects from subindex 1h to the first zero
are taken into account.
Type MSB LSB
UINT32 31 16 15 8 7 0
Description
Index
e.g. 1400h drive par.12.02
(16 bits)