Abb FCAN-01 User Manual

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User’s manual

FCAN-01 CANopen adapter module

List of related manuals

See section Related manuals on page 16.

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

Table of contents 5

Table of contents

1. Safety

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Use of warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Safety in installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2. About the manual

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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

Bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

AC and DC parameters for the CANopen network . . . . . . . . . . . 32

Bus cable and termination resistors . . . . . . . . . . . . . . . . . . . 32

6. Start-up

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

CANopen connection configuration . . . . . . . . . . . . . . . . . . . 36

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

EDS files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Configuring an ABB AC500 PLC . . . . . . . . . . . . . . . . . . . . . 79

7. Communication profiles

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

CANopen device profile CiA 402 . . . . . . . . . . . . . . . . . . . . . . . . 89

Device Control state machine . . . . . . . . . . . . . . . . . . . . . . . 89

Modes of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Profile position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Position demand value. . . . . . . . . . . . . . . . . . . . . . . . . . 91

Position actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Interpolated position mode . . . . . . . . . . . . . . . . . . . . . . . . . 91

Profile velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Target velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Velocity actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Profile torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Target torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Torque actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Target velocity of CiA 402 Velocity mode . . . . . . . . . . . 93

Control effort of CiA 402 Velocity mode . . . . . . . . . . . . . 93

Control word and Status word of the CiA 402 profile . . . . . . 93

State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

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

CAN data frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

FCAN-01 boot-up sequence and

Network Management (NMT) . . . . . . . . . . . . . . . . . . . . . . . 111

Process Data Objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Rx PDO1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

Tx PDO1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Rx PDO6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Tx PDO6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Rx PDO21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Tx PDO21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Mapping format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

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

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

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

ACSM1-204 regen supply modules (5.3 to 61 kW) hardware manual

ACSM1-04 drive modules (0.75 to 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

ACS850-04 (55…160 kW, 75…200 hp) hardware manual

ACS850-04 (200…500 kW, 250…600 hp) hardware manual

ACS880-01 (0.55 to 250 kW, 0.75 to 350 hp) hardware manual

3AUA0000066143

3AUA0000053713

3AFE68797543

3AFE68912130

3AUA0000022083

3AUA0000045496

3AUA0000045487

3AUA0000026234

3AUA0000078093

About the manual 17

Code (English)

Drive firmware manuals and guides

ACSM1 motion control program firmware manual

ACSM1 speed and torque control program firmware manual

ACSM1 regen supply control program firmware manual

ACS850 standard control program firmware manual

ACS880 primary control program firmware manual

Option manuals and guides

FCAN-01 CANopen adapter module user’s manual

3AFE68848270

3AFE68848261

3AUA0000052174

3AUA0000045497

3AUA0000085967

3AFE68615500

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

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

Command word See Control word.

Control word 16-bit or 32-bit word from master to slave with

FCAN-01 CANopen adapter module

Object dictionary Local storage of all Communication Objects

Parameter Operating instruction for the drive. Parameters

Profile Adaptation of the protocol for certain application

Status word 16-bit or 32-bit word from slave to master with

(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.

bit-coded control signals (sometimes called the Command word)

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.

(COB) recognized by a device

can be read and programmed with the drive control panel, drive PC tools or through the adapter module.

field, for example, drives. In this manual, driveinternal profiles (eg, DCU or FBA) are called native profiles.

bit-coded status messages

20 About the manual

 CANopen abbreviations

Abbreviation Explanation

CAN Controller Area Network

CiA CAN in Automation, International User’s and

CMS CAN Message Specification; one of the service

COB Grouping of pre-defined data objects accessible

DBT Distributor; one of the service elements of the

EDS Electronic Data Sheet; a node-specific ASCII-

LMT Layer Management; one of the service

LSB Least significant bit/byte

MSB Most significant bit/byte

NMT Network Management; one of the service

OSI Open Systems Interconnection

PDO Process Data Object; a type of COB. Used for

Manufacturer’s Group

elements of the CAN Application Layer in the CAN Reference Model

via the network.

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.

format file required when configuring the CAN network. The EDS file contains general information on the node and its dictionary objects (parameters). EDS files for ABB Drives are available at the Document library (www.abb.com/drives

elements of the CAN Application Layer in the CAN Reference Model. It serves to configure parameters for each layer in the CAN Reference Model.

elements of the CAN Application Layer in the CAN Reference Model. It performs initialization, configuration and error handling on a CAN network.

transmitting time critical data, such as control commands, references and actual values.

About the manual 21

Abbreviation Explanation

RO Denotes read-only access.

RW Denotes read/write access.

SDO Service Data Object; a type of COB. Used for

transmitting non-time-critical data, such as parameters.

22 About the manual

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

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

What this chapter contains

This chapter contains a short description of the CANopen protocol and the FCAN-01 CANopen adapter module.

CANopen protocol

CANopen is a higher layer protocol based on the CAN (Control Area Network) serial bus system and the CAL (CAN Application Layer). CANopen assumes that the hardware of the connected device has a CAN transceiver and a CAN controller as specified in ISO 11898.

The CANopen Communication Profile, CiA 301, includes both cyclic and event driven communication, which makes it possible to reduce the bus load to minimum while still maintaining extremely short reaction times. High communication performance can be achieved at relatively low baud rates, thus reducing EMC problems and cable costs.

CANopen device profiles define both direct access to drive parameter and time critical process data communication. The adapter module fulfills CiA (CAN in Automation) specification CiA 402 (CANopen device profile for drives and motion control).

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

CANopen

master

ABB drive

Other slave

device

T = Termination

ABB drive

Other slave

device

Other slave

device

ABB drive

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 International Users and Manufacturers Group (www.can-cia.org

Topology of the CANopen link

The following figure describes the topology of the CANopen link.

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.

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

Diagnostic LEDs (see chapter Diagnostics)

Bus connector X1 (see chapter Electrical

installation)

Mounting screw

Layout of the adapter module

The following figure describes the layout of the adapter module.

Mechanical installation 27

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

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

SUB-D9 (male)

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.

X1 Description

1- Not in use

2 CAN_L CAN_L bus line (dominant low)

3 CAN_GND CAN ground

4- Not in use

5 CAN_SHLD Optional CAN shield

6 GND Optional ground

7 CAN_H CAN_H bus line (dominant high)

8- Not in use

9 CAN_V+ Optional CAN external power supply. Not supported

by FCAN-01.

Electrical installation 31

CANopen

node

CANopen

node

OFF

CANopen

node

CANopen

node

OFF

Ter m . Ter m . Ter m. Te r m.

121 ohm

CAN_H

CAN_L

121 ohm

Metal Film 1/4 W

Metal Film

1/4 W

CANopen

node

CANopen

node

CANopen

node

…

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.

In the following diagram, the bus line is terminated with 121 ohm, 1 % (E96) resistors connected between the CAN_L and CAN_H wires at each end.

Note: Further information on CANopen wiring is available from

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:

Bus length

[m]

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

Recommended cable for AC parameters: 120 ohm impedance and 5

ns/m line delay

Bus cable

Length-

related resistance [mohm/m]

Cross-

section

[mm

]

Termination

resistance

[ohm]

Baud rate

[kbit/s]

With drop cables the recommended cable cross-section is

0.25…0.34 mm

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 V

diff.out.min

• minimum differential input resistance R

• requested differential input voltage V

• minimum termination resistance R

= 1.5 V

diff.min

th.max

= 118 ohm.

T. mi n

= 20 kohm

= 1.0 V

Electrical installation 33

Wire

cross-

section

[mm

Maximum length [m]

n = 32 n = 64 n = 100 n = 32 n = 64 n = 100

]

Maximum length [m]

0.25 200 170 150 230 200 170

0.5 360 310 270 420 360 320

0.75 550 470 410 640 550 480

Safety margin of 0.2

Safety margin of 0.1

34 Electrical installation

Start-up 35

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

01 FBA TYPE Read-only. Shows the fieldbus adapter type as

02 NODE ID Selects the node address of the module.

ACS355:

FB PAR 2

ACSM1:

FBA PAR2

ACS850:

FBA par2

ACS880:

Node ID

1…127 Node address

detected by the drive. Value cannot be adjusted by the user. If the value is 0 = None, the communication between the drive and the module has not been established.

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.

setting

1 =

CANopen

38 Start-up

No. Name/Value Description Default

03 BIT RATE Sets the bit rate for the CANopen interface.

ACS355:

FB PAR 3

ACSM1:

FBA PAR3

ACS850:

FBA par3

ACS880:

Bit rate

0 = 1 Mbit/s 1 Mbit/s

1 = 500 kbit/s 500 kbit/s

2 = 250 kbit/s 250 kbit/s

3 = 125 kbit/s 125 kbit/s

4 = 100 kbit/s 100 kbit/s

5 =50kbit/s 50kbit/s

04 CONF LOC Selects the source of the PDO configuration.

ACS355:

FB PAR 4

ACSM1:

FBA PAR4

ACS850:

FBA par4

ACS880:

Conf location

0 = Network PDO configuration via CAN bus: CANopen

1 = Parameters PDO configuration with drive parameters:

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.

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.

objects 1400h, 1600h, 1405h, 1605h, 1414h, 1614h, 1800h, 1A00h, 1805h, 1A05h, 1814h and 1A14h only.

adapter module configuration parameter group A (group 1), group B (group 2) and group C (group 3) (initial values).

setting

3 =125

kbit/s

Start-up 39

No. Name/Value Description Default

05 PROFILE Selects the used communication profile used by

ACS355:

FB PAR 5

ACSM1:

FBA PAR5

ACS850:

FBA par5

ACS880:

Profile

0 = CiA 402 CANopen device profile CiA 402 selected

1 = ABB Drives ABB Drives profile selected

2 = Transp. 16 Transparent 16 profile selected

3 = Transp. 32 Transparent 32 profile selected

06 T16 SCALE Defines the reference multiplier/actual value

ACS355:

FB PAR 6

ACSM1:

FBA PAR6

ACS850:

FBA par6

ACS880:

T16 scale

0…65535 Reference multiplier/actual value divisor

the adapter module: For more information on the communication profiles, see chapter Communication profiles.

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. 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 an d forwarded to the drive as 100000. According to the DCU profile, this value is interpreted as a reference of 100 rpm in the drive. With ACSM1, ACS850 and ACS880, setting this parameter to 65535 provides the approximation of 1 ≈ 1 rpm.

setting

1 = ABB

Drives

40 Start-up

No. Name/Value Description Default

07 RPDO1-COB-ID Defines the COB-ID for Rx PDO1.

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

1 = Default Rx PDO1 is valid and configured to use the

385…1407 (dec) =

181h … 57Fh

08 RPDO1-TR TYPE Defines the Rx PDO1 transmission type. See

ACS355:

FB PAR 8

ACSM1:

FBA PAR8

ACS850:

FBA par8

ACS880:

RPDO1-TR type

0…255 (dec) Rx PDO1 transmission type. See section

Note: It is recommended to use the default COB-ID.

80000200h + Node-ID.

default COB-ID (200h + Node-ID).

Rx PDO1 is valid and configured to use a custom COB-ID defined with this parameter. COB-ID must be within the allowed PDO COBID range (181h - 57Fh).

chapter Appendix A – Dictionary structure and

entries.

Description of transmission type on page 158.

setting

255

Start-up 41

No. Name/Value Description Default

09 RPDO1-EV TIME Defines the event time (time-out time) for the

ACS355:

FB PAR 9

ACSM1:

FBA PAR9

ACS850:

FBA par9

ACS880:

RPDO1-EV time

0 = Disable Time-out supervision is disabled.

1…65535 (ms) Event time in ms

10 TPDO1-COB-ID Defines the COB-ID for Rx PDO6.

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

1 = Default Tx PDO1 is valid and configur ed to use the

385…1407 (dec) =

181h … 57Fh

Rx PDO1 in the asynchronous transmission 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. 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.

Note: It is recommended to use the default COB-ID.

80000180h + Node-ID.

default COB-ID (180h + Node-ID).

Tx PDO1 is valid and configured to use a custom COB-ID defined with this parameter. COB-ID must be within the allowed PDO COBID range (181h - 57Fh).

setting

0 =

Disable

1 = Default

42 Start-up

No. Name/Value Description Default

11 TPDO1-TR TYPE Defines the PDO1 transmission type. See

ACS355:

FB PAR 11

ACSM1:

FBA PAR11

ACS850:

FBA par11

ACS880:

TPDO1-TR type

0…255 (dec) PDO1 transmission type. See section

12 TPDO1-EV TIME Defines the event time for the Tx PDO1

ACS355:

FB PAR 12

ACSM1:

FBA PAR12

ACS850:

FBA par12

ACS880:

TPDO1-EV time

0 = Disable Event timer is disabled.

1…65535 (ms) Event time in ms.

13 RPDO6-COB-ID Defines the COB-ID for Rx PDO6.

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

1 = Default Rx PDO6 is valid and configured to use the

385…1407 (dec) =

181h … 57Fh

chapter Appendix A – Dictionary structure and

entries.

Description of transmission type on page 158.

asynchronous transmission mode. Event timer elapses as a multiple of 1 ms of the entry of this parameter.

Note: It is recommended to use the default COB-ID.

80000300h + Node-ID.

default COB-ID (300h + Node-ID).

Rx PDO1 is valid and configured to use a custom COB-ID defined with this parameter. COB-ID must be within the allowed PDO COBID range (181h - 57Fh).

setting

255

0 = Disable

Start-up 43

No. Name/Value Description Default

14 RPDO6-TR TYPE Defines the Rx PDO6 transmission type. See

ACS355:

FB PAR 14

ACSM1:

FBA PAR14

ACS850:

FBA par14

ACS880:

RPDO6-TR type

0…255 (dec) Rx PDO6 transmission type. See section

15 RPDO6-EV TIME Defines the event time (time-out time) for the

ACS355:

FB PAR 15

ACSM1:

FBA PAR15

ACS850:

FBA par15

ACS880:

RPDO6-EV time

0 = Disable Time-out supervision is disabled.

1…65535 (ms) Event time in ms.

16 TPDO6-COB-ID Defines the COB-ID for Tx PDO6.

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

1 = Default Tx PDO6 is valid and configur ed to use the

385…1407 (dec) =

181h … 57Fh

chapter Appendix A – Dictionary structure and

entries.

Description of transmission type on page 158.

Rx PDO6 in the asynchronous transmission 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. 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.

Note: It is recommended to use the default COB-ID.

80000280h + Node-ID.

default COB-ID (280h + Node-ID).

Tx PDO6 is valid and configured to use a custom COB-ID defined with this parameter. COB-ID must be within the allowed PDO COBID range (181h - 57Fh).

setting

255

0 = Disable

44 Start-up

No. Name/Value Description Default

17 TPDO6-TR TYPE Defines the Tx PDO6 transmission type. See

ACS355:

FB PAR 17

ACSM1:

FBA PAR17

ACS850:

FBA par17

ACS880:

TPDO6-TR type

0…255 (dec) Tx PDO6 transmission type. See section

18 TPDO6-EV TIME Defines the event time for the Tx PDO6

ACS355:

FB PAR 18

ACSM1:

FBA PAR18

ACS850:

FBA par18

ACS880:

TPDO6-EV time

0 = Disable Event timer is disabled.

1…65535 (ms) Event time in ms.

19 RPDO21-COB-ID Defines the COB-ID for Rx PDO21.

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

1 = Default Rx PDO21 is valid and configured to use the

385…1407 (dec) =

181h … 57Fh

chapter Appendix A – Dictionary structure and

entries.

Description of transmission type on page 158.

asynchronous transmission mode.

Event timer elapses as a multiple of 1 ms of the entry of this parameter.

Note: It is recommended to use the default COB-ID.

80000400h + Node-ID.

default COB-ID (400h + Node-ID).

Rx PDO21 is valid and configured to use a custom COB-ID defined with this parameter. COB-ID must be within the allowed PDO COBID range (181h - 57Fh).

setting

255

0 = Disable

Start-up 45

No. Name/Value Description Default

20 RPDO21-TR

TYPE

ACS355:

FB PAR 20

ACSM1:

FBA PAR20

ACS850:

FBA par20

ACS880:

RPDO21-TR type

0…255 (dec) Rx PDO21 transmission type. See section

21 RPDO21-EV TIME Defines the event time (time-out time) for the

ACS355:

FB PAR 21

ACSM1:

FBA PAR21

ACS850:

FBA par21

ACS880:

RPDO21-EV time

0 = Disable Time-out supervision is disabled.

1…65535 (ms) Event time in ms.

Defines the Rx PDO21 transmission type. See chapter Appendix A – Dictionary structure and

entries.

Description of transmission type on page 158.

Rx PDO21 in the asynchronous transmission mode. If the Rx PDO21 communication between the adapter module and the bus master fails, the adapter module sets the communication between the modu le and the drive to the off-line mode. Event timer (time-out timer) elapses as a multiple of 1 ms of the entry of this parameter. Note: The time-out supervision is activated upon a successful reception of an Rx PDO21.

setting

255

0 = Disable

46 Start-up

No. Name/Value Description Default

22 TPDO21-COB-ID Defines the COB-ID for Tx PDO21.

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

1 = Default Tx PDO21 is valid and configured to use the

385…1407 (dec) =

181h … 57Fh

23 TPDO21-TR

TYPE

ACS355:

FB PAR 23

ACSM1:

FBA PAR23

ACS850:

FBA par23

ACS880:

TPDO21-TR type

0…255 (dec) Tx PDO21 transmission type. See section

Note: It is recommended to use the default COB-ID.

80000380h + Node-ID.

default COB-ID (380h + Node-ID).

Tx PDO21 is valid and configured to use a custom COB-ID defined with this parameter. COB-ID must be within the allowed PDO COBID range (181h - 57Fh).

Defines the Tx PDO21 transmission type. See chapter Appendix A – Dictionary structure and

entries.

Description of transmission type on page 158.

setting

0 =

Disable

255

Start-up 47

No. Name/Value Description Default

24 TPDO21-EV TIME Defines the event time for the Tx PDO21

ACS355:

FB PAR 23

ACSM1:

FBA PAR23

ACS850:

FBA par23

ACS880:

TPDO21-EV time

0 = Disable Event timer is disabled.

1...65535 (ms) Event time in ms.

Reserved Not used by the adapter module. N/A … 26

27 FBA PAR

REFRESH

ACS355/

ACSM1:

FBA PAR

REFRESH

ACS850/ACS880:

FBA par refresh

0 = Done Refreshing done

1 =

Refresh/Configure

28 PAR TABLE VER Read-only. Displays the parameter table

ACS355:

FILE CPI FW REV

ACSM1:

PAR TABLE VER

ACS850/ACS880:

Par table ver

asynchronous transmission mode.

Event timer elapses as a multiple of 1 ms of the entry of this parameter.

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.

Refreshing

revision of the fieldbus adapter module mapping file stored in the memory of the dri ve. In format xyz, where:

x = major revision number y = minor revision number x = correction number

OR in format axyz, where

a = major revision number xy = minor revision numbers z = correction number or letter.

Parameter table revision

setting

0 =

Disable

0 = Done

N/A

48 Start-up

No. Name/Value Description Default

29 DRIVE TYPE

CODE

ACS355: FILE CONFIG ID

ACSM1:

DRIVE TYPE COD

ACS850/ACS880:

Drive type code

30 MAPPING FILE

VER

ACS355: FILE CONFIG REV

ACSM1:

MAPPING FILE VER

ACS850/ACS880:

Mapping file ver

Read-only. Displays the drive type code of the fieldbus adapter module mapping file stored in the memory of the drive.

Drive type code of the fieldbus adapter module mapping file

Read-only. Displays the fieldbus adapter module mapping file revision stored in the memory of the drive in decimal format.

Mapping file revision

setting

N/A

Start-up 49

No. Name/Value Description Default

31 D2FBA COMM

STA

ACS355:

FBA STATUS

ACSM1:

D2FBA COMM

STA

ACS850/ACS880:

D2FBA comm sta

0 = Idle Adapter is not configured.

1 = Exec.init Adapter is initializing.

2 = Time out Time-out has occurred in the communication

3 = Conf.err Adapter configuration error: Major or minor

4 = Off-line Adapter is off-line.

5 = On-line Adapter is on-line.

6 = Reset Adapter is performing a hardware reset.

32 FBA COMM SW

REV

ACS355:

FBA CPI FW REV

ACSM1:

FBA COMM SW

VER

ACS850/ACS880:

FBA comm SW

rev

Read-only. Displays the status of the fieldbus adapter module communication. Note: The value names may vary by drive.

between the adapter and the dr ive.

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.

Read-only. Displays the common program revision of the adapter module in format axyz, where:

a = major revision number xy = minor revision numbers z = correction number or letter.

Example: 190A = revision 1.90A

Common program version of the adapter module

setting

0 = Idle

OR 4 = Offline

N/A

50 Start-up

No. Name/Value Description Default

33 FBA COMM APPL

REV

ACS355: FBA CPI APPL REV

ACSM1:

FBA COMM APPL VER

ACS850/ACS880:

FBA appl SW ver

Read-only. Displays the application program revision of the adapter module in format axyz, where:

a = major revision number xy = minor revision numbers z = correction number or letter.

Example: 190A = revision 1.90A

Application program revision of the adapter module

setting

N/A

FCAN-01 configuration parameters – group B (group 2)

CANopen

master

ABB drive

Control word (CW)

References

FBA DATA OUT

(Rx PDO)

0 Not used

1…99 Virtual address area of drive control

101… 9999

Parameter area of the drive

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.

No.1)Name2)/Value Description Default

01 For ACS355:

Rx PDO1 word 2

For other drives:

Rx PDO1 word 1

ACS355:

FBA DATA OUT 1

ACSM1:

FBA DATA OUT1

ACS850/ACS880:

FBA data out1

Start-up 51

Selects data word 1 received by the drive over the CANopen network. From the drive's perspective this corresponds to Rx PDO communication in CANopen.

Content is defined by a decimal number in the range of 0 to 9999 as follows:

See also Additional information on the virtual

address area allocation on page 57.

Note: The FCAN-01 configuration parameters are 16-bit parameters. If the mapped parameter is a 32-bit parameter, it automatically reserves two consecutive parameters. For example, mapping of a 32-bit 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.

0 = Not used

52 Start-up

No.1)Name2)/Value Description Default

0 = None Not used

1 = CW 16bit Control word (16 bits)

2 = Ref1 16bit Reference REF1 (16 bits)

3 = Ref2 16bit Reference REF2 (16 bits)

11 = CW 32bit Control word (32 bits)

12 = Ref1 32bit Reference REF1 (32 bits)

13 = Ref2 32bit Reference REF2 (32 bits)

101…9999 Parameter number with format xxyy, where:

02 For ACS355:

Rx PDO1 word 3

For other drives:

Rx PDO1 word 2

03 For ACS355:

Rx PDO1 word 4

For other drives:

Rx PDO1 word 3

04 For ACS355:

Rx PDO6 word 2

For other drives:

Rx PDO1 word 4

05 For ACS355:

Rx PDO6 word 3

For other drives:

Rx PDO6 word 1

06 For ACS355:

Rx PDO6 word 4

For other drives:

Rx PDO6 word 2

07 For ACS355:

Rx PDO21 word 1

For other drives:

Rx PDO6 word 3

08 For ACS355:

Rx PDO21 word 2

For other drives:

Rx PDO6 word 4

• 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.

See parameter 01 above. 0

Start-up 53

No.1)Name2)/Value Description Default

09 For ACS355:

Rx PDO21 word 3

For other drives:

Rx PDO21 word 1

10 For ACS355:

Rx PDO21 word 4

For other drives:

Rx PDO21 word 2

11 For ACS355:

N/A

For other drives:

Rx PDO21 word 3

12 For ACS355:

N/A

For other drives:

Rx PDO21 word 4

The number of parameters in this group may vary by drive type and drive firmware.

For more information, see chapter Communication protocol.

See parameter 01 above. 0

See parameter 01 above.

Note: ACS355 has only ten FBA DATA OUT parameters, indexes 1 to 10.

See parameter 01 above.

Note: ACS355 has only ten FBA DATA OUT parameters, indexes 1 to 10.

54 Start-up

CANopen

master

ABB drive

Status word (SW) Actual values

FBA DATA IN

(Tx PDO)

0Not used

1…99 Virtual address area of drive control

101… 9999

Parameter area of the drive

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.

No.1)Name2)/Value Description Default

01 For ACS355:

Tx PDO1 word 2

For other drives:

Tx PDO1 word 1

ACS355:

FBA DATA IN 1

ACSM1:

FBA DATA IN1

ACS850/ACS880:

FBA data in1

Data word 1 sent by the drive over the CANopen network. From the drive's perspective this corresponds to Tx PDO communication in CANopen.

Content is defined by a decimal number in the range of 0 to 9999 as follows:

See also Additional information on the virtual

address area allocation on page 57.

Note: The FCAN-01 configuration parameters are 16-bit parameters. If the mapped parameter is a 32-bit parameter, it automatically reserves two consecutive parameters. For example, mapping of a 32-bit 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 .

0 = Not used

Start-up 55

No.1)Name2)/Value Description Default

0 = None Not used

4 = SW 16bit Status word (16 bits)

5 = Act1 16bit Actual value ACT1 (16 bits)

6 = Act2 16bit Actual value ACT2 (16 bits)

14 = SW 32bit Status word (32 bits)

15 = Act1 32bit Actual value ACT1 (32 bits)

16 = Act2 32bit Actual value ACT2 (32 bits)

101…9999 Parameter number with format xxyy, where:

02 For ACS355:

Tx PDO1 word 3

For other drives:

Tx PDO1 word 2

03 For ACS355:

Tx PDO1 word 4

For other drives:

Tx PDO1 word 3

04 For ACS355:

Tx PDO6 word 2

For other drives:

Tx PDO1 word 4

05 For ACS355:

Tx PDO6 word 3

For other drives:

Tx PDO6 word 1

06 For ACS355:

Tx PDO6 word 4

For other drives:

Tx PDO6 word 2

07 For ACS355:

Tx PDO21 word 1

For other drives:

Tx PDO6 word 3

08 For ACS355:

Tx PDO21 word 2

For other drives:

Tx PDO6 word 4

• 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.

See parameter 01 above. 0

56 Start-up

No.1)Name2)/Value Description Default

09 For ACS355:

Tx PDO21 word 3

For other drives:

Tx PDO21 word 1

10 For ACS355:

Tx PDO21 word 4

For other drives:

Tx PDO21 word 2

11 For ACS355:

N/A

For other drives:

Tx PDO21 word 3

12 For ACS355:

N/A

For other drives:

Tx PDO21 word 4

The number of parameters in this group may vary by drive type and drive firmware.

For more information, see chapter Communication protocol.

See parameter 01 above. 0

See parameter 01 above.

Note: ACS355 has only ten FBA DATA IN parameters, indexes 1 to 10.

See parameter 01 above.

Note: ACS355 has only ten FBA DATA IN parameters, indexes 1 to 10.

Additional information on the virtual address area allocation

The drive virtual address area is allocated as follows:

Profile

hm pp ip pv pt vl

Virtual address

Description

word

ence 1

ence 2

word

value 1

value 2

word

ence 1

ence 2

word

value 1

value 2

Data length

16-bit 6040h 6040h

16-bit - -

16-bit 6041h 6041h

16-bit - -

32-bit - -

32-bit - 607Ah

32-bit - -

32-bit - 6064h

32-bit - -

1 Control

2Refer-

3Refer-

4Status

5Actual

6Actual

7…10 Reserved N/A - -

11 C ont ro l

12 Refer-

13 Refer-

14 Status

15 Actual

16 Actual

hm = homing mode pp = profile position mode ip = interpolated position mode

CiA 402

6040h 60 40h 6040h 6040h 6040h -

- 6071h 6042h 6042h 604 2h -

- - 2000h03 2000h03 -

6041h 60 41h 6041h 6041h 6041h -

- 6077h 6044h 6044h 604 4h -

- - - 2000h06 2000h06 -

------

- - - - - 2001h

60FFh - - - - 2002h

- - - - - 2003h

- - - - - 2004h

606Ch - - - - 2005h

- - - - - 2006h

pv = profile velocity mode pt = profile torque mode vl = velocity mode

ABB Drives

ACS355 supports only vl.

ACS850 and ACS880 support vl and

pt.

ACSM1 supports hm, pp, pv, pt and vl.

Start-up 57

Transparent 16

Transparent 32

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

Rx PDO1 6040h Control word 16 bits

Tx PDO1 6041h Status word 16 bits

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

9802 COMM PROT SEL 4 = EXT FBA Activates the communication

5101 FBA TYPE 32 (= CANopen)

5102 FBA PAR 2 (NODE ID)

5103 FBA PAR 3 (BIT RATE)

5104 FBA PAR 4 (CONF LOC)

5105 FBA PAR 5 (PROFILE)

3018 COMM FAULT FUNC

3019 COMM FAULT TIME

5127 FBA PAR REFRESH

1001 EXT1 COMMANDS

1103 REF1 SELECT 1 = AI1

3 (= 125 kbit/s)

0 (= Network) CANopen objects (14xxh,

0 (= CiA 402) CiA 402 mode communication

1 = FAULT Sets the fieldbus communication

3.0 s Fieldbus communication loss

1 = REFRESH Fieldbus configuration

10 = COMM Communication module as the

1601 RUN ENABLE 7 = COMM Communication module as the

1604 FAULT RESET SEL

Automatically detected

Example

8 = COMM Communication module as the

Description

(fieldbus) module.

Communication module type

Adapter module node ID

Bit rate used on the CANopen network

16xxh, 18xxh and 1Axxh) as the source for the PDO settings

profile

loss functionality.

supervision time-out

parameter settings activation

source for the start, stop and direction commands

Analogue input as the source for reference 1

source for the Run enable signal

source for the fault reset signal

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

Tx PDO1 6041h

According to the ABB Drives profile mode

Example

Note: In ACS355 drives, the first mapping entries of PDOs 1 and 6 are fixed. See

Process Data Objects (PDO) on page 113.

Control word

Stat us word

6042h Ta rg et

velocity

6044h vl control

effort

2000h03 Reference

2000h06 Actual value

4001h23 Par. 0135 COMM VAL UE 1

4001h06 Par. 0106 POWER

64 bits

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

9802 COMM PROT SEL 4 = EXT FBA Activates the communication

5101 FBA TYPE 32 (= CANopen)

5102 FBA PAR 2 (NODE ID)

5103 FBA PAR 3 (BIT RATE)

5104 FBA PAR 4 (CONF LOC)

5105 FBA PAR 5 (PROFILE)

3018 COMM FAULT FUNC

3019 COMM FAULT TIME

5107 FBA PAR 7 (RPDO1-COB-ID)

5108 FBA PAR 8 (RPDO1-TR TYPE)

5110 FBA PAR 10 (TPDO1-COB-ID)

drives

2 (= 250 kbit/s)2) Bit rate used on the CANopen

1 (= Parameters) PDO configuration is done with

1 (= ABB Drives) ABB Drives profile mode (that is,

1 = FAULT Sets the fieldbus communication

3.0 s Fieldbus communication loss

1 (= Default) Rx PDO1 is enabled and

2552) Asynchronous transmission

1 (= Default) Tx PDO1 is enabled and

Description

(fieldbus) module.

Communication module type

Adapter module node ID

network

FCAN-01 configuration parameters, that is, ACS355 parameter groups 51, 55 and

54.

communication profile used by the module)

loss functionality.

supervision time-out

configured to use the default COB-ID.

mode is used by Rx PDO1.

configured to use the default COB-ID.

Start-up 63

Drive parameter Setting for ACS355

5111 FBA PAR 11 (TPDO1-TR TYPE)

5112 FBA PAR 12 (TPDO1-EV TIME)

drives

255 Asynchronous transmission

100

5401 FBA DATA IN 1 5 (= Act1 16bit ) Actual value 1 as mapping

5402 FBA DATA IN 2 6 (= Act2 16bit ) Actual value 2 as mapping

5403 FBA DATA IN 3 106 Signal 106 POWER as mapping

5501 FBA DATA OUT 1 2 (= Ref1 16bi t) Reference 1 as mapping entry 2

5502 FBA DATA OUT 2 3 (= Ref2 16bi t) Reference 2 as mapping entry 3

5503 FBA DATA OUT 3 135 Signal 135 COMM VALUE 1 as

5127 FBA PAR REFRESH

9904 MOTOR CTRL MODE

1001 EXT1 COMMANDS

1002 EXT2 COMMANDS

1 = REFRESH Activates the fieldbus

2 = VECTOR: TORQ Selects the motor control mode.

10 = COMM Communication module as the

1102 EXT1/EXT2 SEL 8 = COMM Communication module as the

1103 REF1 SELECT 8 = COMM Communication module as the

1106 REF2 SELECT 8 = COMM Communication module as the

Description

mode is used by Tx PDO1. Transmission is triggered by the event time.

Event time, that is, event time elapses every 100 ms.

entry 2 in Tx PDO1

entry 3 in Tx PDO1

entry 4 in Tx PDO1

in Rx PDO1

mapping entry 4 in Rx PDO1

configuration parameter settings.

source for the start, stop and direction commands in EXT1 mode

source for the start, stop and direction commands in EXT2 mode

source for the control location selection

source for reference 1

source for reference 2

64 Start-up

Drive parameter Setting for ACS355

1601 RUN ENABLE 7 = COMM Communication module as the

1604 FAULT RESET SEL

Automatically detected

Example

The start sequence for the parameter example above is given below.

drives

8 = COMM Communication module as the

Description

source for the Run enable signal

source for the fault reset signal

Control word:

• Reset the fieldbus communication fault (if active).

• 47Eh (1150 decimal) –> READY TO SWITCH ON

• 47Fh (1151 decimal) –> OPERATING (Speed mode)

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

Drive parameter Example setting

60.05 POS UNIT (Position unit) m

60.08 POS2INT SCALE 100

1000 / 100 = 10.00 m

60.05 POS UNIT Physical value

60.08 POS2INT SCALE

Set point value

 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

Tx PDO1 6041h

Control word

Stat us wor d

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:

607Ah Target position

6064h Position actual value

48 bits

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

50.01 FBA ENABLE Enable Activates the communication

50.02 COMM LOSS FUNC

50.03 COMM LOSS T OUT

50.04 FBA REF1 MODESEL

51.01 FBA TYPE 32 (= CANopen)

51.02 FBA PAR2 (NODE ID)

51.03 FBA PAR3 (BIT RATE)

51.04 FBA PAR4 (CONF LOC)

51.05 FBA PAR5 (PROFILE)

51.08 FBA PAR8 (RPDO1-TR TYPE)

52.01 FBA DATA IN1 4 (= SW 16bit) Status word (16-bit) as mapping

52.02 FBA DATA IN2 15 (= Act1 32bit) Position actual value (32-bit) as

drives

Fault Enables communication

1.0 s Defines the fieldbus

Position Defines the fieldbus reference

3 (= 125 kbit/s)

1 (= Parameters) PDO configuration is d one with

0 (= CiA 402) CiA 402 communicatio n profile

255

Description

(fieldbus) module.

between the drive and the fieldbus adapter module.

communication break supervision time-out.

scaling.

Communication module type

Adapter module node ID

Bit rate used on the CANopen network

FCAN-01 configuration parameter group A (group 1), B (group 2) and C (group 3) (that is, ACSM1 parameter groups 51, 52 and 53).

(that is, communication profile used by the module)

Asynchronous transmission mode is used by Rx PDO1.

entry 1 in Tx PDO1

mapping entries 2 and 3 in Tx PDO1

68 Start-up

Drive parameter Setting for ACSM1

drives

52.03 FBA DATA IN3 0 (reserved) Parameters in groups 52 and 53

53.01 FBA DATA OUT1 1 (= CW 16bit) Control word (16-bit) as

53.02 FBA DATA OUT2 12 (= Ref1 32bit) Position Reference (32-bit) as

53.03 FBA DATA OUT3 0 (reserved) Parameters in groups 52 and 53

51.27 FBA PAR REFRESH

10.01 EXT1 START FUNC

34.03 EXT1 CTRL MODE 1

65.01 POS REFSOURCE

REFRESH Activates the fieldbus

FBA Communication module as the

Position Selects the position control

Ref table Reference and other positioning

65.04 POS REF 1 SEL FBA REF1 Fieldbus reference 1 is the

Automatically detected

Example

Description

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).

mapping entry 1 in Rx PDO1

mapping entries 2 and 3 in Rx PDO1

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).

configuration parameter settings.

source for the start, stop and direction commands

mode for external control location EXT1.

parameters are read from reference set 1/2.

source for the position reference when reference set 1 is used.

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

Rx PDO1 6040h Control word 16 bits

Tx PDO1 6041h Status word 16 bits

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

50.01 FBA enable Enable Activates the communication

50.02 Comm loss func Fault Enables fieldbus communication

50.03 Comm loss t out 3.0 s Defines the fieldbus

50.04 FBA ref1 modesel Speed Defines the fieldbus reference

51.01 FBA type CANopen

51.02 FBA par2 (NODE ID)

51.03 FBA par3 (BIT RATE)

51.04 FBA par4 (CONF LOC)

51.05 FBA par5 (PROFILE)

52.01 FBA data in1 4 (= SW 16bit) Status word (16-bit) as mapping

53.01 FBA data out1 1 (= CW 16bit) Control word (16-bit) as

51.27 FBA par refresh Refresh Activates the fieldbus

10.01 Ext1 start func FBA Communication module as the

drives

3 (= 125 kbit/s)

0 (= Network) CANopen objects (14xxh,

0 (= CiA 402) CiA 402 Velocity mode

Description

(fieldbus) module.

fault monitoring.

communication break supervision time-out.

scaling.

Communication module type

Adapter module node ID

Bit rate used on the CANopen network

16xxh, 18xxh and 1Axxh) as the source for the PDO settings

communication profile (that is, communication profile used by the module)

entry 1 in Tx PDO1

mapping entry 1 in Rx PDO1

configuration parameter settings activation.

source for the start, stop and direction commands

72 Start-up

Drive parameter Setting for ACS850

12.03 Ext1 ctrl mode Speed Selects the speed control mode

21.01 Speed ref1 sel AI1 scaled

Automatically detected

Example

drives

(Parameter 02.05)

Description

for external control location EXT1.

Analog input as the source for reference 1

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 parameterconfigured 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

Tx PDO1 6041h

Control word

Stat us wor d

6042h Target velocity

6044h vl control effort

32 bits

Start-up 73

The ACS850 parameters and recommended parameter settings for the CANopen fieldbus communication are listed in the following table:

Drive parameter Setting for ACS850

50.01 FBA enable Enable Activates the communication

50.02 Comm loss func Fault Enables fieldbus communication

50.03 Comm loss t out 3.0 s Defines the fieldbus

50.04 FBA ref1 modesel Speed Defines the fieldbus reference

51.01 FBA type CANopen

51.02 FBA par2 (NODE ID)

51.03 FBA par3 (BIT RATE)

51.04 FBA par4 (CONF LOC)

51.05 FBA par5 (PROFILE)

51.07 FBA par7 (RPDO1-COB-ID)

51.08 FBA par8 (RPDO1-TR TYPE)

51.10 FBA par10 (TPDO1-COB-ID)

drives

3 (= 125 kbit/s)

1 (= Parameters) PDO1 configuration is done with

1 (= ABB Dr ives) ABB Drives profile mode (that is,

1 (= Default) Rx PDO1 is enabled.

255

1 (= Default) Tx PDO1 is enabled.

Description

(fieldbus) module.

fault monitoring.

communication break supervision time.

scaling.

Communication module type

Adapter module node ID

Bit rate used on the CANopen network

FCAN-01 configuration parameters group A (group1), group B (group 2) and group C (group 3), that is, A CS850 parameter groups 51, 52 and

53.

communication profile used by the module)

Asynchronous transmission mode is used by Rx PDO1.

74 Start-up

Drive parameter Setting for ACS850

51.11 FBA par11 (TPDO1-TR TYPE)

52.01 FBA data in1 4 (= SW 16bit) 16-bit Status word as mapping

52.02 FBA data in2 5 (= Act1 16bit) 16-bit actual value as mapping

53.01 FBA data out1 1 (= CW 16bit) 16-bit Control word 1 as

53.02 FBA data out2 2 (= Ref1 16bit) 16-bit reference as mapping

51.27 FBA par refresh Refresh Activates the fieldbus

10.01 Ext1 start func FBA Communication module as the

12.03 Ext1 ctrl mode Speed Selects the speed control mode

21.01 Speed ref1 sel FBA ref1

Automatically detected

Example

drives

255

(Parameter 02.26)

Description

Asynchronous transmission mode is used by Tx PDO1.

entry 1 in Tx PDO1

entry 2 in Tx PDO1

mapping entry 1 in Rx PDO1

entry 2 in Rx PDO1

configuration parameter settings.

source for the start, stop and direction commands

for external control location EXT1.

Fieldbus reference 1 as the source for speed reference 1

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

Rx PDO1 6040h Control word 16 bits

Tx PDO1 6041h Status word 16 bits

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

50.01 FBA A enable 1 = Enable Enables communication

50.02 FBA A comm loss func

50.03 FBA A comm loss t out

50.04 FBA A ref1 type 4 = Speed Defines the fieldbus A reference

51.01 FBA type CANopen

51.02 Node ID 3

51.03 Bit rate 3 = 125 kbit/s

51.04 Conf location 0 = Network CANopen objects (14xxh,

51.05 Profile 0 = CiA 402 CiA 402 Velocity mode

52.01 FBA data in1 4 = SW 16bit

53.01 FBA data out1 1 = CW 16bit

51.27 FBA par refresh 1 = Configure Activates the fieldbus

19.12 Ext1 control mode 12 = Speed Selects speed control as control

drives

1 = Fault Enables fieldbus communication

3.0 s Defines the fieldbus

Description

between the drive and the fieldbus adapter module.

fault monitoring.

communication break supervision time.

1 scaling.

Communication module type

Adapter module node ID

Bit rate used on the CANopen network

16xxh, 18xxh and 1Axxh) as the source for the PDO settings

communication profile (that is, communication profile used by the module)

16-bit Status word as mapping entry 1 in Tx PDO1

16-bit Control word 1 as mapping entry 1 in Rx PDO1

configuration parameter settings.

mode 1 for external control location 1.

78 Start-up

Drive parameter Setting for ACS880

20.01 Ext1 commands 21 = Fieldbus A Selects the fieldbus A interface

22.11 Speed ref1 selection

Automatically detected

Example

The start sequence for the parameter example above is given below.

drives

AI1 scaled

Description

as the source of the start and stop commands for external control location 1.

Analog input as the source for reference 1

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 for the CANopen master (client). The EDS files for the FCAN-01 CANopen adapter module contain information on the supported communication objects. The EDS files for ABB Drives are available at the Document library (www.abb.com/drives

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 FCAN01 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.

• 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.

Start-up 83

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

Communication profiles

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

Data

conversion

CiA 402

FCAN-01

ABB Drives

Transparent 16

Transparent 32

Drive

Optional

reference,

actual value

scaling

CANopen

objects

2001h

...

2006h

CANopen

objects

6040h 6042h 6041h

6044h 2000h03 2000h06

607Ah

6064h

6071h

6077h

60FF

606C

Control word, reference, Status word

and actual values according to

CANopen profile CiA 402, ABB Drives

profile or drive-specific 16-bit words

Data

conversion

Select

Control word, reference, Status wor d and actual values according to drive-

specific 32-bit words

Select

native profile (eg, DCU or FBA)

Selection with FCAN-01 configuration parameters (parameter 05 PROFILE of group A)

Only with ACSM1 drives

The figure below illustrates the profile selection:

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

Homing

mode

Profile

Position

mode

Inter-

polated

Position

mode

Profile

Velocity

mode

Profile Torque

mode

Velocity

mode

Not supported

ACS355 supports only vl.

ACS850 and ACS880 support vl and tq.

ACSM1 supports hm, pp, pv, tq and vl.

Device Control state machine

Modes of operation

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.

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

Drive parameter (ACSM1) Example setting

60.05 POS UNIT (Position unit) m

60.08 POS2INT SCALE 100

1000 / 100 = 10.00 m

60.05 POS UNIT Physical value

60.08 POS2INT SCALE

Set point value

 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:

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

Drive parameter (ACSM1) 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 UNIT Physical value

60.11 POS SPEED2INT

Set point value

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, 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 m ode

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

0 Switch on

1 Enable voltage

2 Quick stop

3 Enable operation

4...6 Operation-mode-specific

7 Fault reset

8Halt

9...10 Reserved

11...15 Drive-specific bit

94 Communication profiles

Operation-mode-specific bits

Bit Velocity

mode

4rfg

enable

5 rfg unlock Change

Profile position

mode

New setpoint

set immedi-

Profile velocity mode

Profile torque

mode

Reserved Reserved Homing

Reserved Reserved Reserved

ately

6 rfg use

ref

Supported with ACSM1 only

Supported with ACSM1, ACS850 and ACS880 only

Not supported

abs / rel Reserved Reserved Reserved

Homing

mode

operation start

Interpolated position

mode

Enable ipmode

Reserved

Status word of CiA 402

Bit Description

0 Ready to switch on

1 Switched on

2 Operation enabled

3Fault

4 Voltage enabled

5 Quick stop

6 Switch on disabled

7 Warning

8 Drive-specific bit

9Remote

10 Target reached

11 Internal limit active

12…13 Operation-mode-specific

14…15 Drive-specific bit

Operation-mode-specific bits

Bit Velocity

mode

12 Reserved Set point

13 Reserved Following

Supported with ACSM1 only

Supported with ACSM1 and ACS850 only

Not supported

Profile position

mode

acknowledge

error

Profile velocity

mode

Speed Reserved Homing

Max slippage error

Communication profiles 95

Profile torque mode

Homing

mode

attained

Reserved Homing

error

Interpolated position

mode

IP mode active

Reserved

96 Communication profiles

Device control commands are triggered by the Control word bits as follows:

Device control commands

Command Control word bit

Fault reset, bit 7

Enable operation, bit 3

Quick stop, bit 2

Enable voltage, bit 1

Switch on, bit 0

State transitions*

Shut down 0 x 1 1 0 2, 6, 8

Switch on 0 0 1 1 1 3

Switch on 0 1 1 1 1 3

Disable voltage

0xx0x

7, 9, 10,

Quick stop 0 x 0 1 x 7, 10, 11

Disable operation

Enable operation

001115

011114

Fault reset x x x x 15

Bits marked with x are irrelevant.

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 Drive stop mode

Quick stop Emergency stop

Shut down Coast stop

Disable voltage Ramp stop

Halt Ramp stop (configurable with CANopen object

Fault Fault reaction specified by the drive. Typically a

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

605Dh)

coast stop.

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 Halt option codes

Profile Position Dynamic limiter ramp 1

Interpolated Position Dynamic limiter ramp 1

Profile Velocity Dynamic limiter ramp 1

Profile Torque Sets the torque reference to

Homing Dynamic limiter ramp 1

Velocity Halt mode 1: Ramp input is

Other modes Halt bit has no effect. N/A

0. Ramp depends on drive parameters.

set to 0. Halt mode 2,3,4: Ramp

output is set to 0.

1, 2, 3, 4

Communication profiles 99

CW: xxxxxxxx1xxxxxxx

From any state

FAULT REACTION

ACTIVE

SW: xxxxxxxxx0xx1111

Fault reaction completed

FAULT

SW: xxxxxxxxx0xx1000

START

Power-on, self-initialization

NOT READY

SW: xxxxxxxxx0xx0000

TO SWITCH ON

Initialized successfully

CW: xxxxxxxxxxxxx01x

CW: xxxxxxxxxxxxx110

CW: xxxxxxxxxxxxx111

CW: xxxxxxxxxxxxx01x

CW: xxxxxxxxxxxxxx0x

CW: xxxxxxxxxxxx0111

CW: xxxxxxxxxxxx1111

CW: xxxxxxxxxxxxx110

Quick stop completed

CW: xxxxxxxxxxxxx01xCW: xxxxxxxxxxxxxx0x

CW: Control word SW: Status word

SWITCH-ON

SW: xxxxxxxxx1xx0000

DISABLED

SWITCHED ON

SW: xxxxxxxxx01x0011

READY TO

SW: xxxxxxxxx01x0001

SWITCH ON

OPERATION

SW: xxxxxxxxx01x0111

ENABLED

QUICK STOP

SW: xxxxxxxxx0xx0111

ACTIVE

CW: xxxxxxxxxxxxxx0x

State transition

(0)

(1) (15)

(2)

(7)

(3)

(6)

(10)

(12)

(9)

(8)

(5)

(4)

(11)

State machine

The following figure describes the CANopen state machine.

100 Communication profiles

ABB Drives communication profile

 Control word and 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 OFF2_

CONTROL

1 Proceed to READY TO OPERATE.

0 Stop along currently active deceleration

ramp. Proceed to OFF1 ACTIVE; proceed to READY TO SWITCH ON unless other interlocks (OFF2, OFF3) are active.

1 Continue operation (OFF2 inactive).

0 Emergency OFF; coast to stop.

Proceed to OFF2 ACTIVE, proceed to SWITCH-ON INHIBITED.

Abb FCAN-01 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

List of related manuals

Safety

What this chapter contains

Use of warnings

Safety in installation

About the manual

What this chapter contains

Applicability

Compatibility

Target audience

Purpose of the manual

Related manuals

Before you start

Contents

Terms and abbreviations used in this manual

 Terms

 CANopen abbreviations

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

What this chapter contains

CANopen protocol

Topology of the CANopen link

FCAN-01 CANopen adapter module

Layout of the adapter module

Mechanical installation

What this chapter contains

Delivery check

Mounting the adapter module

Electrical installation

What this chapter contains

General cabling instructions

Connecting the module to the CANopen network

Bus termination

AC and DC parameters for the CANopen network

 Bus cable and termination resistors

Start-up

What this chapter contains

Drive configuration

 CANopen connection configuration

Data transfer rates supported

FCAN-01 configuration parameters – group A (group 1)

FCAN-01 configuration parameters – group B (group 2)

FCAN-01 configuration parameters – group C (group 3)

Additional information on the virtual address area allocation

 Control locations

Starting up ACS355 drives

 Parameter setting examples – ACS355

CiA 402 vl velocity mode with default PDO mapping

Speed and torque control using ABB Drives communication profile with parameter-configured PDO mapping

Starting up ACSM1 drives

 Parameter setting examples – ACSM1

Using position control with the CiA 402 Profile Position mode

Starting up ACS850 drives

 Parameter setting examples – ACS850

CiA 402 Velocity mode with default PDO mapping

Starting up ACS880 drives

 Parameter setting examples – ACS880

CiA 402 Velocity mode with default PDO mapping

Configuring the master station

 EDS files

 Configuring an ABB AC500 PLC

Communication profiles

What this chapter contains

Communication profiles

Device Control state machine

CANopen device profile CiA 402

 Modes of operation

• Homing mode

 Profile position mode

Position demand value

Position actual value

 Interpolated position mode

 Profile velocity mode

Target velocity

Velocity actual value

 Profile torque mode

Target torque