Options for ABB drives, inverters and converters
User’s manual
FCAN-01 CANopen adapter module
User’s manual
FCAN-01 CANopen adapter module
Table of contents
1. Safety
4. Mechanical installation
5. Electrical installation
6. Start-up
3AFE68615500 Rev D
EN
EFFECTIVE: 2012-01-25
© 2012 ABB Oy
All Rights Reserved.
Table of contents
5
Table of contents
1. Safety
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Safety in installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2. About the manual
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Purpose of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Terms and abbreviations used in this manual . . . . . . . . . . . . . . 19
Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
CANopen abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3. Overview of the CANopen protocol and the FCAN-01
adapter module
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
CANopen protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Topology of the CANopen link . . . . . . . . . . . . . . . . . . . . . . . . . . 24
FCAN-01 CANopen adapter module . . . . . . . . . . . . . . . . . . . . . 25
Layout of the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4. Mechanical installation
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Delivery check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Mounting the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5. Electrical installation
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6 Table of contents
General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Connecting the module to the CANopen network . . . . . . . . . . . 30
AC and DC parameters for the CANopen network . . . . . . . . . . . 32
Bus cable and termination resistors . . . . . . . . . . . . . . . . . . . 32
6. Start-up
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Data transfer rates supported. . . . . . . . . . . . . . . . . . . . . 36
FCAN-01 configuration parameters – group A (group 1) 37
FCAN-01 configuration parameters – group B (group 2) 51
FCAN-01 configuration parameters – group C (group 3) 54
Additional information on the virtual address area
allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Starting up ACS355 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Parameter setting examples – ACS355 . . . . . . . . . . . . . . . . 59
CiA 402 vl velocity mode with default PDO mapping . . . 59
Speed and torque control using ABB Drives
communication profile with parameter-configured PDO
mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Starting up ACSM1 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Parameter setting examples – ACSM1 . . . . . . . . . . . . . . . . 66
Using position control with the CiA 402 Profile Position
mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Starting up ACS850 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Parameter setting examples – ACS850 . . . . . . . . . . . . . . . . 70
CiA 402 Velocity mode with default PDO mapping . . . . 70
ABB Drives communication profile with parameter-
configured PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . 72
Starting up ACS880 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Parameter setting examples – ACS880 . . . . . . . . . . . . . . . . 76
CiA 402 Velocity mode with default PDO mapping . . . . 76
Configuring the master station . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Table of contents
7
Configuring an ABB AC500 PLC . . . . . . . . . . . . . . . . . . . . . 79
7. Communication profiles
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Profile position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Position demand value. . . . . . . . . . . . . . . . . . . . . . . . . . 91
Interpolated position mode . . . . . . . . . . . . . . . . . . . . . . . . . 91
Profile velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Target velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Velocity actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Profile torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Target torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Torque actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Target velocity of CiA 402 Velocity mode . . . . . . . . . . . 93
Control effort of CiA 402 Velocity mode. . . . . . . . . . . . . 93
Control word and Status word of the CiA 402 profile . . . . . . 93
State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . 100
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . 100
Control word contents . . . . . . . . . . . . . . . . . . . . . . . . . 100
Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . 103
State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
8 Table of contents
8. Communication protocol
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
FCAN-01 boot-up sequence and
Network Management (NMT) . . . . . . . . . . . . . . . . . . . . . . . 111
Tx PDO21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
PDO configuration via the CAN bus . . . . . . . . . . . . . . . . . . . . . 121
Service Data Objects (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . 124
SDO Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
SDO Upload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Read Service (SDO Upload) . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Initiate SDO Upload Protocol . . . . . . . . . . . . . . . . . . . . . . . 126
Write Service (SDO Download) . . . . . . . . . . . . . . . . . . . . . . . . 127
Initiate SDO Download Protocol . . . . . . . . . . . . . . . . . . . . 127
Abort SDO Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Abort SDO Transfer Protocol . . . . . . . . . . . . . . . . . . . . . . . 128
Abort code description . . . . . . . . . . . . . . . . . . . . . . . . . 129
CANopen Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Object Dictionary Structure . . . . . . . . . . . . . . . . . . . . . . . . 131
Communication profile area (1000...1FFF) . . . . . . . . . . . . 132
Manufacturer-specific profile area (2000...5FFF) . . . . . . . . 142
Manufacturer-specific profile objects . . . . . . . . . . . . . . 142
Drive actual signals and parameters . . . . . . . . . . . . . . 143
Standardized device profile area (6000...9FFF) . . . . . . . . 145
9. Diagnostics
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Table of contents
9
10. Technical data
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
FCAN-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
CANopen link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
11. Appendix A – Dictionary structure and entries
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Description of transmission type . . . . . . . . . . . . . . . . . . . . . . . 158
Description of PDO COB-ID entry . . . . . . . . . . . . . . . . . . . . . . 158
PDO mapping entry structure – example . . . . . . . . . . . . . . . . . 159
12. Appendix B – CANopen error codes
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Further information
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . 171
Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . 171
10 Table of contents
Safety 11
1
Safety
What this chapter contains
The chapter presents the warning symbols used in this manual and
the safety instructions which you must follow when installing an
optional module into a drive, converter or inverter. If ignored,
physical injury or death may follow, or damage may occur to the
equipment. Read this chapter before you start the installation.
12 Safety
Use of warnings
Warnings caution you about conditions which can result in serious
injury or death and/or damage to the equipment and advise on how
to avoid the danger. The following warning symbols are used in
this manual:
Electricity warning warns of hazards from electricity
which can cause physical injury and/or damage to the
equipment.
General warning warns about conditions, other than
those caused by electricity, which can result in physical
injury and/or damage to the equipment.
Safety 13
Safety in installation
These warnings are intended for all who install an optional module
into a drive, converter or inverter.
WARNING! Ignoring the following instructions can cause
physical injury or death, or damage to the equipment.
•
•
Only qualified electricians are allowed to install and maintain
the drive, converter or inverter!
Disconnect the drive, converter or inverter into which the
optional module will be installed from all possible power
sources. After disconnecting, always wait for 5 minutes to let
the intermediate circuit capacitors discharge before you
proceed.
•
•
Always ensure by measuring with a multimeter (impedance at
least 1 Mohm) that:
•
there is no voltage between the input power terminals of
the drive, converter or inverter and the ground
•
there is no voltage between the output power terminals of
the drive, converter or inverter and the ground.
Do not work on the control cables when power is applied to the
external control circuits of the drive, converter or inverter.
Externally supplied control circuits may carry dangerous
voltage.
14 Safety
About the manual 15
2
About the manual
What this chapter contains
This chapter introduces this manual.
Applicability
This manual applies to the FCAN-01 CANopen adapter module
(+K457), SW version 1.046 or later.
Compatibility
The FCAN-01 CANopen adapter module is compatible with the
following drives:
•
•
•
•
ACS355
ACSM1
ACS850
ACS880.
Target audience
The reader is expected to have basic knowledge of fieldbus
interface, electrical fundamentals, electrical wiring practices and
how to operate the drive.
16 About the manual
Purpose of the manual
The manual provides information on installing, commissioning and
using an FCAN-01 CANopen adapter module.
Related manuals
The related manuals are listed below.
Code (English)
Drive user’s manuals
ACS355 drives (0.37…22 kW,
0.5…30 hp) user’s manual
Drive hardware manuals and
guides
(5.3 to 61 kW) hardware manual
45 kW) hardware manual
ACSM1-04 drive modules (55 to
110 kW) hardware manual
ACSM1-04Lx liquid-cooled drive
modules (55 to 160 kW) hardware
manual
ACS850-04 (0.37…45 kW)
hardware manual
hp) hardware manual
ACS850-04 (200…500 kW,
250…600 hp) hardware manual
to 350 hp) hardware manual
About the manual 17
Code (English)
Drive firmware manuals and
guides
ACSM1 motion control program
firmware manual
program firmware manual
ACSM1 regen supply control
program firmware manual
firmware manual
ACS880 primary control program
firmware manual
Option manuals and guides
FCAN-01 CANopen adapter
module user’s manual
You can find manuals and other product documents in PDF format
on the Internet. See section Document library on the Internet on
the inside of the back cover. For manuals not available in the
Document library, contact your local ABB representative.
Before you start
It is assumed that the drive is installed and ready to operate before
you start the installation of the adapter module.
In addition to conventional installation tools, have the drive
manuals available during the installation as they contain important
information not included in this manual. The drive manuals are
referred to at various points of this manual.
18 About the manual
Contents
The manual consists of the following chapters:
•
Safety presents the safety instructions which you must follow
when installing a fieldbus adapter module.
•
•
About the manual introduces this manual.
Overview of the CANopen protocol and the FCAN-01 adapter
module contains a short description of the CANopen protocol
and the adapter module.
•
•
•
Mechanical installation contains a delivery checklist and
instructions on mounting the adapter module.
Electrical installation contains wiring and bus termination
instructions.
Start-up presents the steps to take during the start-up of the
drive with the adapter module and gives examples of
configuring the master system.
•
Communication profiles describes the communication profiles
used in communication between the CANopen network, the
adapter module and the drive.
•
•
•
•
•
Communication protocol describes the communication on a
CANopen network.
Diagnostics explains how to trace faults with the status LEDs
on the adapter module.
Technical data contains the technical data of the adapter
module and the CANopen link.
Appendix A – Dictionary structure and entries contains
information about PDO transmission and mapping.
Appendix B – CANopen error codes contains reference tables
for decoding CANopen error messages.
About the manual 19
Terms and abbreviations used in this manual
„ Terms
Term
Explanation
Communication module Communication module is a name for a device
(eg, a fieldbus adapter) through which the drive
is connected to an external communication
network (eg, a fieldbus). The communication
with the module is activated with a drive
parameter.
Command word
Control word
See Control word.
16-bit or 32-bit word from master to slave with
bit-coded control signals (sometimes called the
Command word)
FCAN-01 CANopen
adapter module
One of the optional fieldbus adapter modules
available for ABB drives. FCAN-01 is a device
through which an ABB drive is connected to a
CANopen network.
Object dictionary
Parameter
Local storage of all Communication Objects
(COB) recognized by a device
Operating instruction for the drive. Parameters
can be read and programmed with the drive
control panel, drive PC tools or through the
adapter module.
Profile
Adaptation of the protocol for certain application
field, for example, drives. In this manual, drive-
internal profiles (eg, DCU or FBA) are called
native profiles.
Status word
16-bit or 32-bit word from slave to master with
bit-coded status messages
20 About the manual
„ CANopen abbreviations
Abbreviation
CAN
Explanation
Controller Area Network
CiA
CAN in Automation, International User’s and
Manufacturer’s Group
CMS
CAN Message Specification; one of the service
elements of the CAN Application Layer in the
CAN Reference Model
COB
DBT
Grouping of pre-defined data objects accessible
via the network.
Distributor; one of the service elements of the
CAN Application Layer in the CAN Reference
Model. It is the responsibility of the Distributor to
distribute COB IDs to the COBs that are used
by a CMS.
EDS
LMT
Electronic Data Sheet; a node-specific ASCII-
format file required when configuring the CAN
network. The EDS file contains general
objects (parameters). EDS files for ABB Drives
are available at the Document library
Layer Management; one of the service
elements of the CAN Application Layer in the
CAN Reference Model. It serves to configure
parameters for each layer in the CAN
Reference Model.
LSB
MSB
NMT
Least significant bit/byte
Most significant bit/byte
Network Management; one of the service
elements of the CAN Application Layer in the
CAN Reference Model. It performs initialization,
configuration and error handling on a CAN
network.
OSI
Open Systems Interconnection
PDO
Process Data Object; a type of COB. Used for
transmitting time critical data, such as control
commands, references and actual values.
About the manual 21
Abbreviation
Explanation
RO
Denotes read-only access.
Denotes read/write access.
RW
SDO
Service Data Object; a type of COB. Used for
transmitting non-time-critical data, such as
parameters.
22 About the manual
Overview of the CANopen protocol and the FCAN-01 adapter module 23
3
Overview of the CANopen
protocol and the FCAN-01
adapter module
What this chapter contains
This chapter contains a short description of the CANopen protocol
and the FCAN-01 CANopen adapter module.
CANopen protocol
CANopen is a higher layer protocol based on the CAN (Control
Area Network) serial bus system and the CAL (CAN Application
Layer). CANopen assumes that the hardware of the connected
device has a CAN transceiver and a CAN controller as specified in
ISO 11898.
The CANopen Communication Profile, CiA 301, includes both
cyclic and event driven communication, which makes it possible to
reduce the bus load to minimum while still maintaining extremely
short reaction times. High communication performance can be
achieved at relatively low baud rates, thus reducing EMC problems
and cable costs.
CANopen device profiles define both direct access to drive
parameter and time critical process data communication. The
adapter module fulfills CiA (CAN in Automation) specification CiA
402 (CANopen device profile for drives and motion control).
24 Overview of the CANopen protocol and the FCAN-01 adapter module
The physical medium of CANopen is a differentially driven two wire
bus line with common return according to ISO 11898. The
maximum length of the bus is limited by the communication speed.
The maximum theoretical number of nodes is 127. However, in
practice, the maximum number depends on the capabilities of the
used CAN transceivers.
Further information is available from the CAN in Automation
Topology of the CANopen link
The following figure describes the topology of the CANopen link.
ABB drive
Other slave
device
ABB drive
CANopen
master
T
Other slave
device
ABB drive
Other slave
device
ABB drive
T
T = Termination
Overview of the CANopen protocol and the FCAN-01 adapter module 25
FCAN-01 CANopen adapter module
The FCAN-01 CANopen adapter module is an optional device for
ABB drives. It enables the connection of the drive to a CANopen
network. The drive is considered as a slave (server) on the
CANopen network.
Through the adapter module you can:
•
give control commands to the drive
(for example, Start, Stop, Run enable)
•
•
feed a motor speed, torque or position reference to the drive
give a process actual value or a process reference to the PID
controller of the drive
•
•
•
read status information and actual values from the drive
change drive parameter values
reset a drive fault.
The CANopen commands and services supported by the adapter
module are discussed in chapter Communication protocol. Refer to
the drive manuals as to which commands are supported by the
drive.
The adapter module is mounted into an option slot on the motor
control board of the drive. See the drive manuals for module
placement options.
Mechanical installation 27
4
Mechanical installation
What this chapter contains
This chapter contains a delivery checklist and instructions on
mounting the adapter module.
WARNING! Follow the safety instructions given in this
manual and the drive documentation.
Delivery check
The option package for the adapter module contains:
•
•
CANopen adapter module, type FCAN-01
this manual.
28 Mechanical installation
Mounting the adapter module
The adapter module is inserted into its specific position in the drive.
The module is held in place with plastic pins and one screw. The
screw also provides the electrical connection between the module
and drive frame for cable shield termination.
When the module is installed, the signal and power connection to
the drive is made through a 20-pin connector. (All drives do not use
all the available signals so the connector on the drive may have
fewer pins.)
Mounting procedure:
1. Insert the module carefully into its position on the drive.
2. Fasten the screw.
Note: It is essential to install the screw properly to fulfill the EMC
requirements and to ensure the proper operation of the module.
For more information on mounting the adapter module, see the
drive manuals.
Electrical installation 29
5
Electrical installation
What this chapter contains
This chapter contains:
•
•
•
general cabling instructions
bus termination instructions
instructions on connecting the adapter module to the CANopen
network.
WARNING! Before installation, switch off the drive power
supply. Wait five minutes to ensure that the capacitor bank
of the drive is discharged. Switch off all dangerous
voltages connected from external control circuits to the inputs and
outputs of the drive.
General cabling instructions
•
Arrange the bus cables as far away from the motor cables as
possible.
•
•
Avoid parallel runs.
Use bushings at cable entries.
30 Electrical installation
Connecting the module to the CANopen network
Connect the bus cable to connector X1 on the adapter module.
The connector pin allocation described below follows the CANopen
specification CiA 301.
1
5
SUB-D9
(male)
X1
X1
6
9
Description
1
2
3
4
5
6
7
8
9
-
Not in use
CAN_L
CAN_L bus line (dominant low)
CAN ground
CAN_GND
-
Not in use
CAN_SHLD Optional CAN shield
GND
Optional ground
CAN_H
-
CAN_H bus line (dominant high)
Not in use
CAN_V+
Optional CAN external power supply. Not supported
by FCAN-01.
Electrical installation 31
Bus termination
Bus termination is required to prevent signal reflections from the
bus cable ends. The adapter module is not equipped with internal
bus termination. Therefore the first and last nodes of the bus must
be included with bus termination. Termination is done by
connecting one resistor between the CAN_H and CAN_L signals.
The nominal value for the terminating resistor is 120 ohms. The
resistors can be connected between the CAN_H and CAN_L wires
or a D-SUB connector with a built-on termination can be used.
In the following diagram, the built-on terminations of the D-SUB
connectors at the first and last nodes are switched on.
CANopen
node
CANopen
node
CANopen
node
CANopen
node
Term.
ON
Term.
OFF
Term.
OFF
Term.
ON
In the following diagram, the bus line is terminated with 121 ohm,
1 % (E96) resistors connected between the CAN_L and CAN_H
wires at each end.
CANopen
node
CANopen
node
CANopen
node
…
CAN_H
121 ohm
1%
Metal Film
1/4 W
121 ohm
1%
Metal Film
1/4 W
CAN_L
www.can-cia.org.
32 Electrical installation
AC and DC parameters for the CANopen network
„ Bus cable and termination resistors
The cables, connectors, and termination resistors used in
CANopen networks must meet the requirements specified in ISO
11898.
The table below lists the standard values for DC parameters for
CANopen networks with less than 64 nodes:
1)
Bus length
[m]
Bus cable
Termination
resistance
[ohm]
Baud rate
[kbit/s]
Length-
related
resistance
[mohm/m]
Cross-
section
[mm ]
2
0…40
70
0.25…0.34 124
1000 at 40 m
> 500 at 100 m
> 100 at 500 m
> 50 at 1 km
40…300
300…600
< 60
< 40
0.34…0.6
0.5…0.6
0.75…0.8
150…300
150…300
150…300
600…1000 < 26
1)
Recommended cable for AC parameters: 120 ohm impedance and 5
ns/m line delay
With drop cables the recommended cable cross-section is
0.25…0.34 mm2.
In addition to the cable resistance, the real resistance of the
connectors should be taken into account in voltage drop
calculation. The transmission resistance of one connector should
be 2.5...10 mohm.
The following table lists the maximum bus cable length for different
node numbers (n), when
•
•
•
•
minimum dominant value Vdiff.out.min = 1.5 V
minimum differential input resistance Rdiff.min = 20 kohm
requested differential input voltage Vth.max = 1.0 V
minimum termination resistance RT.min = 118 ohm.
Electrical installation 33
1)
2)
Wire
Maximum length [m]
Maximum length [m]
cross-
section
[mm ]
n = 32
n = 64
n = 100 n = 32
n = 64
n = 100
2
0.25
200
360
550
170
150
230
420
640
200
360
550
170
320
480
0.5
310
470
270
410
0.75
1)
Safety margin of 0.2
Safety margin of 0.1
2)
34 Electrical installation
Start-up 35
6
Start-up
What this chapter contains
This chapter contains:
•
•
•
information on configuring the drive for operation with the
adapter module
drive-specific instructions on starting up the drive with the
adapter module
examples of configuring the master station for communication
with the adapter module.
WARNING! Follow the safety instructions given in this
manual and the drive documentation.
Drive configuration
The following information applies to all drive types compatible with
the adapter module, unless otherwise stated.
36 Start-up
„ CANopen connection configuration
After the adapter module has been mechanically and electrically
installed according to the instructions in chapters Mechanical
installation and Electrical installation, the drive must be prepared
for communication with the module.
The detailed procedure of activating the module for CANopen
communication with the drive depends on the drive type. Normally,
a parameter must be adjusted to activate the communication. See
the drive-specific start-up sections on pages 58, 64, 69 and 75.
Once communication between the drive and the adapter module
has been established, several configuration parameters are copied
to the drive. These parameters are shown in the tables below and
must be checked first and adjusted where necessary.
Note: Not all drives display descriptive names for the configuration
parameters. To help you identify the parameters in different drives,
the names displayed by each drive are given in grey boxes in the
tables.
An example on how to configure PDOs via the CAN bus is given in
section PDO configuration via the CAN bus.
Note: The new settings take effect only when the adapter module
is powered up the next time or when the fieldbus adapter refresh
parameter is activated.
Data transfer rates supported
The FCAN-01 CANopen adapter module supports the following
CANopen communication speeds: 50 kbit/s, 100 kbit/s, 125 kbit/s,
250 kbit/s, 500 kbit/s, 1 Mbit/s.
Note: 100 kbit/s is not recommended for a new installation.
Start-up 37
FCAN-01 configuration parameters – group A (group 1)
Note: The actual parameter group number depends on the drive
type. Group A (group 1) corresponds to:
•
•
parameter group 51 in ACS355, ACSM1 and ACS850
parameter group 51 in ACS880 if the adapter is installed as
fieldbus adapter A or group 54 if the adapter is installed as
fieldbus adapter B.
No. Name/Value
Description
Default
setting
01
FBA TYPE
Read-only. Shows the fieldbus adapter type as 1 =
detected by the drive. Value cannot be adjusted CAN-
by the user.
open
If the value is 0 = None, the communication
between the drive and the module has not been
established.
02
NODE ID
Selects the node address of the module.
Each device on the CANopen network must
have a unique node identifier. Used to define a
node identifier for the drive it is connected to.
3
ACS355:
FB PAR 2
ACSM1:
FBA PAR2
ACS850:
FBA par2
ACS880:
Node ID
1…127
Node address
38 Start-up
No. Name/Value
Description
Default
setting
03
BIT RATE
Sets the bit rate for the CANopen interface.
This is user selectable, but must be the same
on every node on the CANopen network.
Note: 100 kbit/s is not recommended for a new
installation.
3 = 125
kbit/s
ACS355:
FB PAR 3
ACSM1:
FBA PAR3
ACS850:
FBA par3
ACS880:
Bit rate
0 = 1 Mbit/s
1 = 500 kbit/s
2 = 250 kbit/s
3 = 125 kbit/s
4 = 100 kbit/s
5 = 50 kbit/s
CONF LOC
1 Mbit/s
500 kbit/s
250 kbit/s
125 kbit/s
100 kbit/s
50 kbit/s
04
Selects the source of the PDO configuration.
Note: The first mapping entries of the Tx/Rx
PDO1 and Tx/Rx PDO6 are fixed in the
ACS355 drive.
Note: Make sure that the PLC does not
overwrite the selected configuration during the
initialization phase when the configuration is
taken from the FCAN-01 configuration
parameter groups.
0
ACS355:
FB PAR 4
ACSM1:
FBA PAR4
ACS850:
FBA par4
ACS880:
Conf location
0 = Network
PDO configuration via CAN bus: CANopen
objects 1400h, 1600h, 1405h, 1605h, 1414h,
1614h, 1800h, 1A00h, 1805h, 1A05h, 1814h
and 1A14h only.
1 = Parameters
PDO configuration with drive parameters:
adapter module configuration parameter group
A (group 1), group B (group 2) and group C
(group 3) (initial values).
Start-up 39
No. Name/Value
Description
Default
setting
05
PROFILE
Selects the used communication profile used by 1 = ABB
the adapter module:
For more information on the communication
profiles, see chapter Communication profiles.
Drives
ACS355:
FB PAR 5
ACSM1:
FBA PAR5
ACS850:
FBA par5
ACS880:
Profile
0 = CiA 402
CANopen device profile CiA 402 selected
ABB Drives profile selected
1 = ABB Drives
2 = Transp. 16
3 = Transp. 32
T16 SCALE
Transparent 16 profile selected
Transparent 32 profile selected
06
Defines the reference multiplier/actual value
divisor for the adapter module. The parameter
is effective only when the Transparent 16 profile
is selected AND the drive is using the native
communication profile (for example, DCU or
FBA) and a 16-bit transparent Reference
1/Actual value 1.
99
ACS355:
FB PAR 6
ACSM1:
FBA PAR6
ACS850:
With an ACS355 drive, the speed reference
from the PLC is multiplied by the value of this
parameter plus one. For example, if the
parameter has a value of 99 and a reference of
1000 given by the master, the reference will be
multiplied by 99 + 1 = 100 and forwarded to the
drive as 100000. According to the DCU profile,
this value is interpreted as a reference of 100
rpm in the drive.
FBA par6
ACS880:
T16 scale
With ACSM1, ACS850 and ACS880, setting
this parameter to 65535 provides the
approximation of 1 ≈ 1 rpm.
0…65535
Reference multiplier/actual value divisor
40 Start-up
No. Name/Value
Description
Default
setting
07
RPDO1-COB-ID
Defines the COB-ID for Rx PDO1.
Note: It is recommended to use the default
COB-ID.
1
ACS355:
FB PAR 7
ACSM1:
FBA PAR7
ACS850:
FBA par7
ACS880:
RPDO1-COB-ID
0 = Disable
Rx PDO1 is not valid (disabled). COB-ID is
80000200h + Node-ID.
1 = Default
Rx PDO1 is valid and configured to use the
default COB-ID (200h + Node-ID).
385…1407 (dec) = Rx PDO1 is valid and configured to use a
181h … 57Fh
custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
08
RPDO1-TR TYPE Defines the Rx PDO1 transmission type. See
255
chapter Appendix A – Dictionary structure and
entries.
ACS355:
FB PAR 8
ACSM1:
FBA PAR8
ACS850:
FBA par8
ACS880:
RPDO1-TR type
0…255 (dec)
Rx PDO1 transmission type. See section
Description of transmission type on page 158.
Start-up 41
No. Name/Value
09 RPDO1-EV TIME
Description
Default
setting
Defines the event time (time-out time) for the
Rx PDO1 in the asynchronous transmission
0 =
Disable
ACS355:
FB PAR 9
mode. If the Rx PDO1 communication between
the adapter module and the bus master fails,
the adapter module sets the communication
between the module and the drive to the off-line
mode.
ACSM1:
FBA PAR9
ACS850:
Event timer (time-out timer) elapses as a
multiple of 1 ms of the entry of this parameter.
Note: The time-out supervision is activated
upon a successful reception of an Rx PDO1.
FBA par9
ACS880:
RPDO1-EV time
0 = Disable
Time-out supervision is disabled.
Event time in ms
1…65535 (ms)
TPDO1-COB-ID
10
Defines the COB-ID for Rx PDO6.
1 =
Default
Note: It is recommended to use the default
COB-ID.
ACS355:
FB PAR 10
ACSM1:
FBA PAR10
ACS850:
FBA par10
ACS880:
TPDO1-COB-ID
0 = Disable
Tx PDO1 is not valid (disabled). COB-ID is
80000180h + Node-ID.
1 = Default
Tx PDO1 is valid and configured to use the
default COB-ID (180h + Node-ID).
385…1407 (dec) = Tx PDO1 is valid and configured to use a
181h … 57Fh
custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
42 Start-up
No. Name/Value
Description
Default
setting
11
TPDO1-TR TYPE Defines the PDO1 transmission type. See
255
chapter Appendix A – Dictionary structure and
entries.
ACS355:
FB PAR 11
ACSM1:
FBA PAR11
ACS850:
FBA par11
ACS880:
TPDO1-TR type
0…255 (dec)
PDO1 transmission type. See section
Description of transmission type on page 158.
12
TPDO1-EV TIME
Defines the event time for the Tx PDO1
asynchronous transmission mode.
Event timer elapses as a multiple of 1 ms of the
entry of this parameter.
0 =
Disable
ACS355:
FB PAR 12
ACSM1:
FBA PAR12
ACS850:
FBA par12
ACS880:
TPDO1-EV time
0 = Disable
Event timer is disabled.
Event time in ms.
1…65535 (ms)
RPDO6-COB-ID
13
Defines the COB-ID for Rx PDO6.
0 =
Disable
Note: It is recommended to use the default
COB-ID.
ACS355:
FB PAR 13
ACSM1:
FBA PAR13
ACS850:
FBA par13
ACS880:
RPDO6-COB-ID
0 = Disable
Rx PDO6 is not valid (disabled). COB-ID is
80000300h + Node-ID.
1 = Default
Rx PDO6 is valid and configured to use the
default COB-ID (300h + Node-ID).
385…1407 (dec) = Rx PDO1 is valid and configured to use a
181h … 57Fh
custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
Start-up 43
No. Name/Value
Description
Default
setting
14
RPDO6-TR TYPE Defines the Rx PDO6 transmission type. See
255
chapter Appendix A – Dictionary structure and
entries.
ACS355:
FB PAR 14
ACSM1:
FBA PAR14
ACS850:
FBA par14
ACS880:
RPDO6-TR type
0…255 (dec)
Rx PDO6 transmission type. See section
Description of transmission type on page 158.
15
RPDO6-EV TIME
Defines the event time (time-out time) for the
Rx PDO6 in the asynchronous transmission
0 =
Disable
ACS355:
FB PAR 15
mode. If the Rx PDO6 communication between
the adapter module and the bus master fails,
the adapter module sets the communication
between the module and the drive to the off-line
mode.
ACSM1:
FBA PAR15
ACS850:
Event timer (time-out timer) elapses as a
multiple of 1 ms of the entry of this parameter.
Note: The time-out supervision is activated
upon a successful reception of an Rx PDO6.
FBA par15
ACS880:
RPDO6-EV time
0 = Disable
Time-out supervision is disabled.
Event time in ms.
1…65535 (ms)
TPDO6-COB-ID
16
Defines the COB-ID for Tx PDO6.
0 =
Disable
Note: It is recommended to use the default
COB-ID.
ACS355:
FB PAR 16
ACSM1:
FBA PAR16
ACS850:
FBA par16
ACS880:
TPDO6-COB-ID
0 = Disable
Tx PDO6 is not valid (disabled). COB-ID is
80000280h + Node-ID.
1 = Default
Tx PDO6 is valid and configured to use the
default COB-ID (280h + Node-ID).
385…1407 (dec) = Tx PDO6 is valid and configured to use a
181h … 57Fh
custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
44 Start-up
No. Name/Value
Description
Default
setting
17
TPDO6-TR TYPE Defines the Tx PDO6 transmission type. See
255
chapter Appendix A – Dictionary structure and
entries.
ACS355:
FB PAR 17
ACSM1:
FBA PAR17
ACS850:
FBA par17
ACS880:
TPDO6-TR type
0…255 (dec)
Tx PDO6 transmission type. See section
Description of transmission type on page 158.
18
TPDO6-EV TIME
Defines the event time for the Tx PDO6
asynchronous transmission mode.
0 =
Disable
ACS355:
FB PAR 18
Event timer elapses as a multiple of 1 ms of the
entry of this parameter.
ACSM1:
FBA PAR18
ACS850:
FBA par18
ACS880:
TPDO6-EV time
0 = Disable
Event timer is disabled.
Event time in ms.
1…65535 (ms)
RPDO21-COB-ID
19
Defines the COB-ID for Rx PDO21.
0 =
Disable
Note: It is recommended to use the default
COB-ID.
ACS355:
FB PAR 19
ACSM1:
FBA PAR19
ACS850:
FBA par19
ACS880:
RPDO21-COB-ID
0 = Disable
Rx PDO21 is not valid (disabled). COB-ID is
80000400h + Node-ID.
1 = Default
Rx PDO21 is valid and configured to use the
default COB-ID (400h + Node-ID).
385…1407 (dec) = Rx PDO21 is valid and configured to use a
181h … 57Fh
custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
Start-up 45
No. Name/Value
Description
Default
setting
20
RPDO21-TR
TYPE
Defines the Rx PDO21 transmission type. See 255
chapter Appendix A – Dictionary structure and
entries.
ACS355:
FB PAR 20
ACSM1:
FBA PAR20
ACS850:
FBA par20
ACS880:
RPDO21-TR type
0…255 (dec)
Rx PDO21 transmission type. See section
Description of transmission type on page 158.
21
RPDO21-EV TIME Defines the event time (time-out time) for the
Rx PDO21 in the asynchronous transmission
0 =
Disable
ACS355:
mode. If the Rx PDO21 communication
between the adapter module and the bus
master fails, the adapter module sets the
communication between the module and the
drive to the off-line mode.
FB PAR 21
ACSM1:
FBA PAR21
ACS850:
Event timer (time-out timer) elapses as a
multiple of 1 ms of the entry of this parameter.
Note: The time-out supervision is activated
upon a successful reception of an Rx PDO21.
FBA par21
ACS880:
RPDO21-EV time
0 = Disable
Time-out supervision is disabled.
Event time in ms.
1…65535 (ms)
46 Start-up
No. Name/Value
Description
Default
setting
22
TPDO21-COB-ID
Defines the COB-ID for Tx PDO21.
0 =
Disable
Note: It is recommended to use the default
COB-ID.
ACS355:
FB PAR 22
ACSM1:
FBA PAR22
ACS850:
FBA par22
ACS880:
TPDO21-COB-ID
0 = Disable
Tx PDO21 is not valid (disabled). COB-ID is
80000380h + Node-ID.
1 = Default
Tx PDO21 is valid and configured to use the
default COB-ID (380h + Node-ID).
385…1407 (dec) = Tx PDO21 is valid and configured to use a
181h … 57Fh
custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
23
TPDO21-TR
TYPE
Defines the Tx PDO21 transmission type. See
chapter Appendix A – Dictionary structure and
entries.
255
ACS355:
FB PAR 23
ACSM1:
FBA PAR23
ACS850:
FBA par23
ACS880:
TPDO21-TR type
0…255 (dec)
Tx PDO21 transmission type. See section
Description of transmission type on page 158.
Start-up 47
No. Name/Value
Description
Default
setting
24
TPDO21-EV TIME Defines the event time for the Tx PDO21
0 =
asynchronous transmission mode.
Disable
ACS355:
FB PAR 23
Event timer elapses as a multiple of 1 ms of the
entry of this parameter.
ACSM1:
FBA PAR23
ACS850:
FBA par23
ACS880:
TPDO21-EV time
0 = Disable
1...65535 (ms)
Reserved
Event timer is disabled.
Event time in ms.
25
…
26
Not used by the adapter module.
N/A
27
FBA PAR
REFRESH
Validates any changed adapter module
configuration parameter settings. After
refreshing, the value reverts automatically to 0
= Done.
Note: This parameter cannot be changed while
the drive is running.
0 = Done
ACS355/
ACSM1:
FBA PAR
REFRESH
ACS850/ACS880:
FBA par refresh
0 = Done
Refreshing done
Refreshing
1 =
Refresh/Configure
28
PAR TABLE VER
Read-only. Displays the parameter table
revision of the fieldbus adapter module
mapping file stored in the memory of the drive.
In format xyz, where:
x = major revision number
y = minor revision number
x = correction number
N/A
ACS355:
FILE CPI FW REV
ACSM1:
PAR TABLE VER
ACS850/ACS880:
Par table ver
OR
in format axyz, where
a = major revision number
xy = minor revision numbers
z = correction number or letter.
Parameter table revision
48 Start-up
No. Name/Value
Description
Default
setting
29
DRIVE TYPE
CODE
Read-only. Displays the drive type code of the N/A
fieldbus adapter module mapping file stored in
the memory of the drive.
ACS355:
FILE CONFIG ID
ACSM1:
DRIVE TYPE
COD
ACS850/ACS880:
Drive type code
Drive type code of the fieldbus adapter module
mapping file
30
MAPPING FILE
VER
Read-only. Displays the fieldbus adapter
module mapping file revision stored in the
memory of the drive in decimal format.
N/A
ACS355:
FILE CONFIG
REV
ACSM1:
MAPPING FILE
VER
ACS850/ACS880:
Mapping file ver
Mapping file revision
Start-up 49
No. Name/Value
Description
Default
setting
31
D2FBA COMM
STA
Read-only. Displays the status of the fieldbus
adapter module communication.
0 = Idle
OR
Note: The value names may vary by drive.
4 = Off-
line
ACS355:
FBA STATUS
ACSM1:
D2FBA COMM
STA
ACS850/ACS880:
D2FBA comm sta
0 = Idle
Adapter is not configured.
Adapter is initializing.
1 = Exec.init
2 = Time out
Time-out has occurred in the communication
between the adapter and the drive.
3 = Conf.err
Adapter configuration error: Major or minor
revision code of the common program revision
in the fieldbus adapter module is not the
revision required by the module or mapping file
upload has failed more than three times.
4 = Off-line
5 = On-line
6 = Reset
Adapter is off-line.
Adapter is on-line.
Adapter is performing a hardware reset.
32
FBA COMM SW
REV
Read-only. Displays the common program
revision of the adapter module in format axyz,
where:
N/A
ACS355:
FBA CPI FW REV
a = major revision number
xy = minor revision numbers
z = correction number or letter.
Example: 190A = revision 1.90A
ACSM1:
FBA COMM SW
VER
ACS850/ACS880:
FBA comm SW
rev
Common program version of the adapter
module
50 Start-up
No. Name/Value
Description
Default
setting
33
FBA COMM APPL Read-only. Displays the application program
N/A
REV
revision of the adapter module in format axyz,
where:
a = major revision number
xy = minor revision numbers
z = correction number or letter.
Example: 190A = revision 1.90A
ACS355:
FBA CPI APPL
REV
ACSM1:
FBA COMM APPL
VER
ACS850/ACS880:
FBA appl SW ver
Application program revision of the adapter
module
Start-up 51
FCAN-01 configuration parameters – group B (group 2)
Note: The actual parameter group number depends on the drive
type. Group B (group 2) corresponds to:
•
•
•
parameter group 55 in ACS355
group 53 in ACSM1 and ACS850
parameter group 53 in ACS880 if the adapter is installed as
fieldbus adapter A or group 56 if the adapter is installed as
fieldbus adapter B.
1)
2)
No.
01
Name /Value
Description
Default
For ACS355:
Rx PDO1 word 2
Selects data word 1 received by the drive over
the CANopen network. From the drive's
0 = Not
used
For other drives: perspective this corresponds to Rx PDO
Rx PDO1 word 1
communication in CANopen.
ACS355:
FBA DATA OUT 1
CANopen
master
ABB drive
ACSM1:
FBA DATA OUT1
ACS850/ACS880:
FBA data out1
Control word (CW)
References
FBA DATA OUT
(Rx PDO)
Content is defined by a decimal number in the
range of 0 to 9999 as follows:
0
Not used
1…99 Virtual address area of drive control
101… Parameter area of the drive
9999
See also Additional information on the virtual
address area allocation on page 57.
Note: The FCAN-01 configuration parameters
are 16-bit parameters. If the mapped parameter
is a 32-bit parameter, it automatically reserves
two consecutive parameters. For example,
mapping of a 32-bit parameter to parameter no.
1 also reserves parameter no. 2.
Note: In ACS355 drives, Rx PDO1 word 1 and
Rx PDO6 word 1 are fixed and always mapped
to object 6040h Control word. The first
configuration parameters have effect on the 2nd
words of these PDOs in ACS355 drives.
52 Start-up
1)
2)
No.
Name /Value
0 = None
Description
Default
Not used
1 = CW 16bit
2 = Ref1 16bit
3 = Ref2 16bit
11 = CW 32bit
12 = Ref1 32bit
13 = Ref2 32bit
101…9999
Control word (16 bits)
Reference REF1 (16 bits)
Reference REF2 (16 bits)
Control word (32 bits)
Reference REF1 (32 bits)
Reference REF2 (32 bits)
Parameter number with format xxyy, where:
•
xx is the parameter group number (1 to 99)
•
yy is the parameter number index within that
group (01 to 99).
Note: In ACS880, choose Other to display a list
of mappable drive parameters.
02
03
04
05
06
07
08
For ACS355:
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
See parameter 01 above.
0
0
0
0
0
0
0
Rx PDO1 word 3
For other drives:
Rx PDO1 word 2
For ACS355:
Rx PDO1 word 4
For other drives:
Rx PDO1 word 3
For ACS355:
Rx PDO6 word 2
For other drives:
Rx PDO1 word 4
For ACS355:
Rx PDO6 word 3
For other drives:
Rx PDO6 word 1
For ACS355:
Rx PDO6 word 4
For other drives:
Rx PDO6 word 2
For ACS355:
Rx PDO21 word 1
For other drives:
Rx PDO6 word 3
For ACS355:
Rx PDO21 word 2
For other drives:
Rx PDO6 word 4
Start-up 53
1)
2)
No.
Name /Value
Description
Default
09
For ACS355:
See parameter 01 above.
0
Rx PDO21 word 3
For other drives:
Rx PDO21 word 1
10
11
For ACS355:
See parameter 01 above.
0
0
0
Rx PDO21 word 4
For other drives:
Rx PDO21 word 2
For ACS355:
N/A
For other drives:
Rx PDO21 word 3
See parameter 01 above.
Note: ACS355 has only ten FBA DATA OUT
parameters, indexes 1 to 10.
12
1)
For ACS355:
N/A
For other drives:
Rx PDO21 word 4
See parameter 01 above.
Note: ACS355 has only ten FBA DATA OUT
parameters, indexes 1 to 10.
The number of parameters in this group may vary by drive type and drive firmware.
2)
For more information, see chapter Communication protocol.
54 Start-up
FCAN-01 configuration parameters – group C (group 3)
Note: The actual parameter group number depends on the drive
type. Group C (group 3) corresponds to:
•
•
•
parameter group 54 in ACS355
group 52 in ACSM1 and ACS850
parameter group 52 in ACS880 if the adapter is installed as
fieldbus adapter A or group 55 if the adapter is installed as
fieldbus adapter B.
1)
2)
No.
01
Name /Value
Description
Default
For ACS355:
Data word 1 sent by the drive over the
0 = Not
Tx PDO1 word 2
CANopen network. From the drive's perspective used
For other drives: this corresponds to Tx PDO communication in
Tx PDO1 word 1
CANopen.
ACS355:
FBA DATA IN 1
CANopen
master
ABB drive
ACSM1:
FBA DATA IN1
ACS850/ACS880:
FBA data in1
FBA DATA IN
(Tx PDO)
Status word (SW)
Actual values
Content is defined by a decimal number in the
range of 0 to 9999 as follows:
0
Not used
1…99 Virtual address area of drive control
101… Parameter area of the drive
9999
See also Additional information on the virtual
address area allocation on page 57.
Note: The FCAN-01 configuration parameters
are 16-bit parameters. If the mapped parameter
is a 32-bit parameter, it automatically reserves
two consecutive parameters. For example,
mapping of a 32-bit parameter to parameter no.
1 also reserves parameter no. 2.
Note: In ACS355 drives, Tx PDO1 word 1 and
Tx PDO6 word 1 are fixed and always mapped
to object 6041h Status word. The first
configuration parameters have effect on the 2nd
words of these PDOs in ACS355 drives.
|