ABB FCAN-01 User Manual
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ABB FCAN-01 User Manual

ABB FCAN-01 User Manual

Canopen adapter module
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  • Page 1 ABB Drives User’s Manual CANopen Adapter Module FCAN-01...
  • Page 3 CANopen Adapter Module FCAN-01 User’s Manual 3AFE68615500 REV C EFFECTIVE: 2010-02-12 © 2010 ABB Oy. All Rights Reserved.

  • Page 5: Safety Instructions

    Safety instructions What this chapter contains This chapter states the general safety instructions that must be followed when installing and operating the FCAN-01 CANopen Adapter module. The material in this chapter must be studied before attempting any work on, or with, the unit.
  • Page 6 Safety instructions...

  • Page 7: Table Of Contents

    CANopen ........... 17 FCAN-01 CANopen Adapter module ......18 Compatibility .
  • Page 8 ABB Drives profile mode with parameter mapping ....25 Parameter setting examples - ACSM1 ......29 DSP 402 Profile Position mode .
  • Page 9 24 TPDO21-EV TIME ........57 FCAN-01 configuration parameters - group B (group 2) ... . . 58 1 FBA DATA OUT 1 .
  • Page 10 Control Word and Status Word of the DSP 402 profile ....77 ABB Drives communication profile ....... . 81 Control Word and Status Word .
  • Page 11 Initiate SDO Download Protocol ....... 107 Abort SDO Transfer ......... . 108 Abort SDO Transfer Protocol .
  • Page 12 Product training ..........145 Providing feedback on ABB Drives manuals ..... . . 145 Document library on the Internet .

  • Page 13: Introduction

    Overview contains a short description of the CANopen protocol and the FCAN-01 CANopen Adapter module, and a delivery checklist. Quick start-up guide contains a short description of how to set up the FCAN-01 CANopen Adapter module.
  • Page 14 Communication profiles describes the communication profiles used in the communication between the CANopen network, the FCAN-01 module, and the drive. Communication contains a description of how data is transmitted through the FCAN-01 module. Diagnostics explains how to trace faults with the status LEDs on the FCAN-01 module.

  • Page 15: Terms Used In This Manual

    47) are types of virtual data words. FCAN-01 CANopen Adapter module The FCAN-01 CANopen Adapter module is one of the optional fieldbus adapter modules available for ABB drives. The FCAN-01 is a device through which an ABB drive is connected to a CANopen network.
  • Page 16 Introduction...

  • Page 17: Overview

    Overview What this chapter contains This chapter contains a short description of the CANopen protocol and the FCAN-01 CANopen Adapter module, a delivery checklist and warranty information. CANopen CANopen is a higher layer protocol based on the CAN (Control Area Network) serial bus system and the CAL (CAN Application Layer).

  • Page 18: Fcan-01 Canopen Adapter Module

    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. With the FCAN-01 CANopen Adapter module, you can: •...
  • Page 19 ABB representative and the ABB Library (www.abb.com). CANopen ABB drive Other slave master device Diagnostic LEDs (See chapter Diagnostics page 129.) Bus connector X1 (See chapter Electrical installation page 41.) Figure 1. Construction of the CANopen link and the FCAN-01 Adapter module Overview...

  • Page 20: Compatibility

    Compatibility The FCAN-01 module is compatible with all master (client) stations that support the CANopen protocol. Delivery check The option package for the FCAN-01 CANopen Adapter module contains: • CANopen Adapter module, type FCAN-01 • this manual. Overview...

  • Page 21: Quick Start-Up Guide

    WARNING! Follow the safety instructions given in this manual and the hardware manual of the drive. Mechanical and electrical installation • Insert the FCAN-01 into its specified slot in the drive. • Fasten the screw. • Plug the fieldbus connector to the module and fasten the connection screws.
  • Page 22 • Parameter group 51 shows the status of the configuration parameters. • At minimum, set the required node address in parameter 51.02 NODE, the required bit rate in 51.03 BIT RATE and the communication profile in 51.05 PROFILE. Finally, validate the settings with 51.27 FBA PAR REFRESH.

  • Page 23: Parameter Setting Examples - Acs350 And Acs355

    51.01 FBA TYPE 32 = CANopen Communication module type 51.02 NODE ID (FBA FCAN-01 module node ID PAR 2) 51.03 BIT RATE Bit rate used on the CANopen (FBA PAR 3) network (3 = 125 kbit/s) 51.04 CONF LOC...
  • Page 24 Recommended Description Drive parameter setting for ACS350 and ACS355 51.27 FBA PAR 1 = REFRESH Fieldbus configuration parameter REFRESH settings activation Automatically detected Example The previous parameter setting example results in the following PDO configuration. Note: Rx PDO1 and Tx PDO1 are enabled by default. In ACS350 and ACS355, the first mapping entries of Rx and Tx PDO1 are fixed and always mapped to objects 6040h and 6041h.

  • Page 25: Abb Drives Profile Mode With Parameter Mapping

    ABB Drives profile mode with parameter mapping The ACS350 and ACS355 parameters and recommended parameter settings for the CANopen fieldbus communication are listed in the following table: Recommended Description Drive parameter setting for ACS350 and ACS355 98.02 COMM PROT 4 = EXT FBA...
  • Page 26 Recommended Description Drive parameter setting for ACS350 and ACS355 51.05 PROFILE ABB Drives profile mode (that is, communication profile used by (FBA PAR 5) the module) 51.07 RPDO1-COB- Rx PDO1 is enabled and configured to use the default COB-ID. (FBA PAR 7) 51.08 RPDO1-TR...
  • Page 27 Status word vl control Par. 01.06 effort * POWER * According to the ABB Drives profile mode Note: In ACS350 and ACS355, the first mapping entries of PDOs 1 and 6 are fixed. See Process Data Objects (PDO) on page 93.
  • Page 28 The start/stop commands and references are according to the ABB DRIVES profile. (For more information, see section Drives communication profile on page 81.) When reference 1 (REF1) is used, reference value ±20000 (decimal) corresponds to the reference set with parameter 11.05 REF1 MAX in the forward and reverse directions.

  • Page 29: Parameter Setting Examples - Acsm1

    51.01 FBA TYPE 32 = CANopen * Communication module type 51.02 NODE ID 3 ** FCAN-01 module node ID (FBA PAR 2) 51.03 BIT RATE 3 ** Bit rate used on the CANopen network (3 = 125 kbit/s)
  • Page 30 Drive parameter Recommended Description setting for ACSM1 51.04 CONF LOC PDO1 configuration is done with FCAN-01 configuration (FBA PAR 4) parameter group A (group 1), B (group 2) and C (group 3) (that is, ACSM1 parameter groups 51, 52 and 53).
  • Page 31 Drive parameter Recommended Description setting for ACSM1 53.03 FBA DATA OUT 3 0 (reserved) Parameters in groups 52 and 53 are 16-bit parameters. Mapping of 32-bit parameters automatically reserves also the following cell (that is, mapping of 12 to parameter 53.02 reserves also the parameter 53.03).
  • Page 32 The position set point (reference) and the position actual value are scaled as follows: Drive parameter Setting 60.05 POS UNIT (Position unit) 60.08 POS2INT SCALE 100** ** Example Quick start-up guide...

  • Page 33: Parameter Setting Examples - Acs850

    1 • • • 51.01 FBA type CANopen Communication module type 51.02 NODE ID FCAN-01 module node ID (FBA PAR 2) 51.03 BIT RATE Bit rate used on the CANopen network (3 = 125 kbit/s) (FBA PAR 3) 51.04 CONF LOC...
  • Page 34 Recommended Description Drive parameter setting for ACS850 51.05 PROFILE DSP 402 Velocity mode communication profile (that is, (FBA PAR 5) communication profile used by the module) • • • 52.01 FBA data in1 Status Word (16-bit) as mapping entry 1 in Tx PDO1 53.01 FBA data out1 Control Word (16-bit) as mapping entry 1 in Rx PDO1...

  • Page 35: Abb Drives Profile Mode With Parameter Mapping

    ABB Drives profile mode with parameter mapping The ACS850 parameters and recommended parameter settings for the CANopen fieldbus communication are listed in the following table: Recommended Description Drive parameter setting for ACS850 16.15 Menu set sel 2 = Load long Load long parameter list.
  • Page 36 A (group1), group B (group 2) and group C (group 3), that is, ACS850 parameter groups 51, 52 and 53. 51.05 PROFILE ABB Drives profile mode (that is, communication profile used by (FBA PAR 5) the module) • • •...
  • Page 37 CANopen objects 14xxh and 18xxh are valid only to the next boot-up unless stored to the non-volatile memory. The start/stop commands and references are according to the ABB DRIVES profile. (For more information, see section Drives communication profile on page 81.) Reference 1 (REF1) value ±20000 (decimal) corresponds to the...
  • Page 38 Quick start-up guide...

  • Page 39: Mechanical Installation

    WARNING! Follow the safety instructions given in this manual and the drive manuals. Mounting The FCAN-01 CANopen Adapter module is to be 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 earthing of the fieldbus cable shield connected to the module.
  • Page 40 Mechanical installation...

  • Page 41: Electrical Installation

    Electrical installation What this chapter contains This chapter contains: • general cabling instructions • bus termination instructions • instructions for connecting the 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.

  • Page 42: Canopen Connection

    CANopen connection The bus cable is connected to connector X1 on the FCAN-01. The connector pin allocation described below follows the CANopen Communication Profile, CiA DS 301. SUB-D9 (male) Description Not in use 2 CAN_L CAN_L bus line (dominant low)

  • Page 43: Bus Termination

    Bus termination Bus termination is required to prevent signal reflections from the bus cable ends. The FCAN-01 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.

  • Page 44: Ac And Dc Parameters For The Canopen Network

    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 cable Termination...
  • Page 45 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 = 1.5 V...
  • Page 46 Electrical installation...

  • Page 47: Drive Configuration

    Normally, a parameter must be adjusted to activate the communication (see the drive manuals). As communication between the drive and the FCAN-01 is established, several configuration parameters are copied to the drive. These parameters – shown below in Tables –...

  • Page 48: Fcan-01 Configuration Parameters - Group A (Group 1)

    FCAN-01 configuration parameters - group A (group 1) Table 1. FCAN-01 configuration parameters – group A (group 1) Par. Parameter Parameter Alternative settings Default name name in setting drive FBA TYPE FBA TYPE (Read-only) CANopen NODE ID FBA PAR 2 1…127...
  • Page 49 Par. Parameter Parameter Alternative settings Default name name in setting drive TPDO1-COB-ID FBA PAR 10 0 = Disabled 1 = Default (180h+Node-ID) 385…1407 (dec) = 181h to 57Fh TPDO1-TR FBA PAR 11 0…255 (dec) TYPE TPDO1-EV FBA PAR 12 0 = Not used TIME 1…65535 (ms) RPDO6-COB-ID FBA PAR 13...

  • Page 50: Fba Type

    Par. Parameter Parameter Alternative settings Default name name in setting drive RPDO21-EV FBA PAR 21 0 = Not used TIME 1…65535 (ms) TPDO21- COB- FBA PAR 22 0 = Disabled 1 = Default (380h+Node-ID) 385 to 1407 (dec) = 181h to 57Fh TPDO21-TR FBA PAR 23...

  • Page 51: 03 Bit Rate

    Note: 100 kbit/s is not recommended for a new installation. 04 CONF LOC Selects the source of the PDO configuration. PDOs can be configured either with CANopen objects or with FCAN-01 module configuration parameter groups 1, 2 and 3. Configuration with CANopen objects 1400h, 1600h,...

  • Page 52: 05 Profile

    05 PROFILE Selects the used communication profile by the FCAN-01: 0 = CANopen device profile DSP 402 1 = ABB Drives 2 = Transparent 16 3 = Transparent 32 For more information on the communication profiles, see chapter Communication profiles on page 69.

  • Page 53: 09 Rpdo1-Ev Time

    Defines the event time (time-out time) for the Rx PDO1 in the asynchronous transmission mode. In the case when the Rx PDO1 communication between the FCAN-01 and the bus master fails the FCAN-01 sets the communication between the module and the drive to OFF-LINE mode.

  • Page 54: 12 Tpdo1-Ev Time

    Defines the event time (time-out time) for the Rx PDO6 in the asynchronous transmission mode. In the case when the Rx PDO6 communication between the FCAN-01 and the bus master fails the FCAN-01 sets the communication between the module and the drive to OFF-LINE mode.

  • Page 55: 16 Tpdo6-Cob-Id

    The event timer (timeout timer) elapses as a multiple of 1 ms of the entry of this parameter. Note: Time-out supervision is activated upon a successful reception of an Rx PDO6. 16 TPDO6-COB-ID Defines the COB-ID for Tx PDO6. Tx PDO6 is not valid (disabled). The COB-ID is 80000280h+Node-ID.

  • Page 56: 19 Rpdo21-Cob-Id

    Defines the event time (time-out time) for the Rx PDO21 in the asynchronous transmission mode. In the case when the Rx PDO21 communication between the FCAN-01 and the bus master fails the FCAN-01 sets the communication between the module and the drive to OFF-LINE mode 0 = Timeout supervision disabled 1...65535 ms...

  • Page 57: 22 Tpdo21-Cob-Id

    22 TPDO21-COB-ID Defines the COB-ID for Tx PDO21. Tx PDO21 is not valid (disabled). The COB- ID is 80000380h+Node-ID. Tx PDO21 is valid and configured to use the default COB-ID (380h+Node-ID). 385…1407 Tx PDO21 is valid and configured to use a (181h…57Fh) = custom COB-ID defined with this parameter.

  • Page 58: Fcan-01 Configuration Parameters - Group B (Group 2)

    FCAN-01 configuration parameters - group B (group 2) Table 2. FCAN-01 configuration parameters – group B (group 2 )* Par. Parameter name Parameter Alternative settings Default name in setting ACS350 ACSM1 drive ACS355 ACS850 Rx PDO1 Rx PDO1 FBA DATA...
  • Page 59 Note: The FBA DATA OUT parameters select the data to be transferred from the CANopen master to the drive. From the drive's perspective this corresponds to Rx PDO communication in CANopen. CANopen ABB drive master FBA DATA IN Status Word (SW) Actual values...

  • Page 60: Fba Data Out 1

    Drive virtual address. See the table on page 61. 101...9999 Drive parameter 01.01...99.99 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 Par. no. 1 also reserves Par.
  • Page 61 The drive virtual address area is allocated as follows: Drive configuration...

  • Page 62: Fba Data Out 2 To 12

    2 to 12 FBA DATA OUT 2 to 12 See section 1 FBA DATA OUT 1 above. Note: ACS350 and ACS355 have only ten FBA DATA OUT parameters, indexes 1 to 10. Drive configuration...

  • Page 63: Fcan-01 Configuration Parameters - Group C (Group 3)

    FCAN-01 configuration parameters - group C (group 3) Table 3. FCAN-01 configuration parameters – group C (group 3) Par. Parameter name Parameter Alternative settings Default name in setting ACS350 ACSM1 the drive ACS355 ACS850 Tx PDO1 Tx PDO1 FBA DATA...

  • Page 64: Fba Data In 1

    CANopen network. For the contents, see configuration parameter group 2, parameter 1 (FBA DATA OUT 1) on page 59. 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 Par.

  • Page 65: Control Locations

    Note: ACS350 and ACS355 has only ten FBA DATA IN parameters, indexes 1 to 10. Control locations ABB drives can receive control information from multiple sources including digital inputs, analogue inputs, the drive control panel and a communication module (for example, FCAN-01). ABB...
  • Page 66 Drive configuration...

  • Page 67: Master Configuration

    Master configuration What this chapter contains This chapter gives information on configuring the CANopen master station for communication through the FCAN-01 CANopen Adapter module. Configuring the system After the adapter module has been mechanically and electrically installed according to the instructions in the previous chapters, and has been initialised by the drive, the master station must be prepared for communication with the module.
  • Page 68 Master configuration...

  • Page 69: Communication Profiles

    DSP 402 (Device Profile Drives and Motion Control) profile or the ABB Drives profile. Both are converted to the DCU/FBA profile (detailed in the drive manuals) by the FCAN-01 module. In addition, two Transparent profiles – for 16-bit and 32-bit words respectively –...
  • Page 70 60FF 606C Transparent 32 CANopen objects 2001h 2006h Control Word, reference, Status Word and actual values according to drive-specific 32-bit words DCU/FBA profile Selection with FCAN-01 configuration parameters (par. 5 PROFILE of group 1) Only with ACSM1 Communication profiles...
  • Page 71 The following sections describe the Control Word, the Status Word, references and actual values for the CANopen device profile DSP 402 and ABB Drives communication profiles. See the drive manuals for details on the DCU/FBA communication profile. Communication profiles...

  • Page 72: Canopen Device Profile Dsp 402

    CANopen device profile DSP 402 Device Control state machine Modes of operation Velocity Profile Inter- Profile Profile Homing mode Torque Polated Position Velocity Mode mode Position mode mode mode ACS350 and ACS355 support only vl. **) Not supported ACS850 supports vl and pt. ACSM1 supports hm, pp, pv, pt and vl.

  • Page 73: Modes Of Operation

    • Profile velocity mode • Profile torque mode • Velocity mode FCAN-01 supports minimal implementation of the operation modes. Operation mode support is drive-specific (see figure 1). Interpolated position mode is not supported. In this chapter scalings of the reference and actual values are described for each operation mode.

  • Page 74: Profile Position Mode

    Position actual value is scaled as position demand value (see above). Interpolated position mode Not supported with FCAN-01 CANopen adapter. Profile velocity mode The profile velocity mode is used to control the velocity of the drive with no special regard of the position.

  • Page 75: Target Velocity

    Target velocity Target velocity is the required velocity of the application. The target velocity is scaled as follows: Drive parameter Example setting 60.05 POS UNIT (Position unit) 60.10 POS SPEED UNIT unit/s 60.11 POS SPEED2INT 1000 / 100 = 10.00 m/s 60.10 POS SPEED UNIT Physical value 60.11 POS SPEED2INT...

  • Page 76: Velocity Mode

    Velocity mode Basic mode to control the velocity of the drive with limits and ramp functions. Target velocity of DSP 402 Velocity mode Target velocity is the required velocity of the application. The unit of the target velocity is interpreted as rpm. 1 = 1 rpm. Control effort of DSP 402 Velocity mode Control effort is the actual velocity of the application.

  • Page 77: Control Word And Status Word Of The Dsp 402 Profile

    Control Word and Status Word of the DSP 402 profile Control Word of DSP 402 Description Switch on Enable voltage Quick stop Enable operation 4...6 Operation-mode-specific Fault reset Halt (not used) 9...10 Reserved 11...15 Drive-specific bit Operation-mode-specific bits Velocity Profile Profile Profile Homing...
  • Page 78 Status Word of DSP 402 Description Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Switch on disabled Warning Drive-specific bit Remote Target reached Internal limit active 12...13 Operation-mode-specific 14...15 Drive-specific bit Operation-mode-specific bits Velocity Profile Profile Profile Homing...
  • Page 79 Device control commands are triggered by the Control Word bits as follows: Device control commands Control Word bit State Fault Enable Quick Enable Switch Command transitions * reset, operation, stop, voltage, (See bit 7 bit 3 bit 2 bit 1 bit 0 Figure Shut down...
  • Page 80 from any state CW: Control Word FAULT REACTION START SW: Status Word ACTIVE SW: xxxxxxxxx0xx1111 Power-on, Fault reaction State transition self-initialisation completed NOT READY FAULT TO SWITCH ON SW: xxxxxxxxx0xx0000 SW: xxxxxxxxx0xx1000 Initialised CW: xxxxxxxx1xxxxxxx (15) successfully SWITCH-ON DISABLED SW: xxxxxxxxx1xx0000 CW: xxxxxxxxxxxxx110 CW: xxxxxxxxxxxxx01x CW: xxxxxxxxxxxxxx0x...

  • Page 81: Abb Drives Communication Profile

    The contents of the Control Word and the Status Word are detailed section Control Word and Status Word of the ABB Drives profile on page 84. The drive states are presented in the ABB Drives profile state machine, Figure 3. Communication profiles...

  • Page 82: References

    ABB drives can receive control information from multiple sources including analogue and digital inputs, the drive control panel and a communication module (for example, FCAN-01). In order to have the drive controlled through the fieldbus, the module must be defined as the source for control information, for example, reference.

  • Page 83: Actual Values

    Actual values Actual values are 16-bit words containing information on the operation of the drive. The functions to be monitored are selected with a drive parameter. Scaling The actual values are scaled as shown below. Note: The values of REF1 MAX and REF2 MAX are set with drive parameters.

  • Page 84: Control Word And Status Word Of The Abb Drives Profile

    Control Word and Status Word of the ABB Drives profile The following table presents the Control Word of the ABB Drives communication profile. The upper case boldface text refers to the states shown in Figure 3. Control Word of ABB Drives profile...
  • Page 85 Control Word of ABB Drives profile Name Value STATE/Description RAMP_HOLD Enable ramp function; proceed to RAMP FUNCTION GENERATOR: ACCELERATOR ENABLED. Halt ramping (Ramp Function Generator output held). RAMP_IN_ Normal operation; proceed to OPERATING. ZERO Note: Effective only if the fieldbus interface is set as the source for this signal with drive parameters.
  • Page 86 The following table presents the Status Word of the ABB Drives communication profile. The upper case boldface text refers to the states shown in Figure 3. Status Word of the ABB Drives profile Name Value STATE/Description RDY_ON READY TO SWITCH ON...
  • Page 87 Status Word of the ABB Drives profile Name Value STATE/Description ABOVE_ Actual frequency or speed equals or exceeds LIMIT supervision limit (set with drive parameter). Valid in both directions of rotation. Actual frequency or speed within supervision limit EXT_CTRL_ External Control Location EXT2 selected...
  • Page 88 (CW Bit5=0) (CW=xxxx x1xx xxx1 1111) RFG: OUTPUT ENABLED (CW Bit6=0) (CW=xxxx x1xx xx11 1111) RFG: ACCELERATOR state ENABLED condition (CW=xxxx x1xx x111 1111) rising edge OPERATION the bit (SW Bit8=1) Figure 3. State machine, ABB Drives communication profile Communication profiles...

  • Page 89: Communication

    Communication What this chapter contains This chapter describes the communication on a CANopen network. Communication...

  • Page 90: Can Data Frame

    CAN data frame CAN employs data frames for transferring data between the host (controller) and the nodes on the bus. The following figure presents the structure of the data frame. Header ARBITRATION FIELD CONTROL FIELD REMOTE CYCLIC COMM. TRANS- ACKNOW- REDUNDANCY START OF DATA...

  • Page 91: Fcan-01 Boot-Up Sequence And Network Management (Nmt)

    Network Management Objects. FCAN-01 boot-up sequence and Network Management (NMT) The FCAN-01 supports the boot-up sequence of a “Minimum Capability Device”, as defined by the CANopen Communication Profile. The boot-up state diagram of the FCAN-01 is shown below. Initialisation (10)
  • Page 92 The NMT (Network Management) message is mapped to a single CAN frame with data length of 2 bytes. Its identifier is 0. The first byte contains the command specifier and the second contains the Node ID of the device, which must perform the command (if the node ID is 0, all nodes must perform the command).

  • Page 93: Process Data Objects (Pdo)

    PDO6 and Tx/Rx PDO21 disabled (not valid). PDO mapping defines which application objects (parameters) are transmitted within a PDO. PDO mappings of the FCAN-01 can be changed in the Pre-operational state (variable objects). Transmission of the enabled (valid) PDOs is possible only in the Operational state.

  • Page 94: Rx Pdo1

    Rx PDO1 Mapped Mapped Mapped Mapped obj 1 obj 2 obj 3 obj 4 Byte CANopen Object 1600h01 1600h02 1600h03 1600h04 for Mapping ACS350 FBA DATA FBA DATA FBA DATA Fixed * ACS355 OUT 1 OUT 2 OUT 3 Mapping parameter ** ACSM1 FBA DATA...

  • Page 95: Tx Pdo1

    Tx PDO1 Mapped Mapped Mapped Mapped obj 1 obj 2 obj 3 obj 4 Byte CANopen Object 1A00h01 1A00h02 1A00h03 1A00h04 for Mapping ACS350 FBA DATA FBA DATA FBA DATA Fixed * ACS355 IN 1 IN 2 IN 3 Mapping parameter ** ACSM1 FBA DATA...

  • Page 96: Rx Pdo6

    Rx PDO6 Mapped Mapped Mapped Mapped obj 1 obj 2 obj 3 obj 4 Byte CANopen Object 1605h01 1605h02 1605h03 1605h04 for Mapping ACS350 FBA DATA FBA DATA FBA DATA Fixed * ACS355 OUT 4 OUT 5 OUT 6 Mapping parameter ** ACSM1 FBA DATA...

  • Page 97: Tx Pdo6

    Tx PDO6 Mapped Mapped Mapped Mapped obj 1 obj 2 obj 3 obj 4 Byte CANopen Object 1A05h01 1A05h02 1A05h03 1A05h04 for Mapping ACS350 FBA DATA FBA DATA FBA DATA Fixed * ACS355 IN 4 IN 5 IN 6 Mapping parameter ** ACSM1 FBA DATA...

  • Page 98: Rx Pdo21

    Rx PDO21 Mapped Mapped Mapped Mapped obj 1 obj 2 obj 3 obj 4 Byte CANopen Object 1614h01 1614h02 1614h03 1614h04 for Mapping ACS350 FBA DATA FBA DATA FBA DATA FBA DATA ACS355 OUT 7 OUT 8 OUT 9 OUT 10 Mapping parameter ** ACSM1...

  • Page 99: Tx Pdo21

    Tx PDO21 Mapped Mapped Mapped Mapped obj 1 obj 2 obj 3 obj 4 Byte CANopen Object 1A14h01 1A14h02 1A14h03 1A14h04 for Mapping ACS350 FBA DATA FBA DATA FBA DATA FBA DATA ACS355 IN 7 IN 8 IN 9 IN 10 Mapping parameter ** ACSM1...

  • Page 100: Mapping Format

    (1...6 and 11...16) or drive parameter numbers (101...9999) can be set. FCAN-01 converts the values to CANopen objects. The length of the object is detected automatically. Note: The PDO mappings should be started from subindex 1h. If a PDO mapping entry is zero, the mapping for that subindex and from that subindex onwards is neglected.

  • Page 101: Pdo Configuration Via The Can Bus

    PDO configuration via the CAN bus This section gives an example of how to configure PDOs via the CAN bus from the CANopen master. In this example, the following PDO configuration is made: • Rx PDO1 (from master to drive): 6040h Control word and 6042h vl target velocity •...
  • Page 102 Write the CANopen objects via the CAN bus as shown in the following table. The FCAN-01 module must be in the Pre- operational state. Write Object Sub- Name value Description index index (hex) 1400 Rx PDO1 Parameter, 80000203 Disable Rx PDO1 *...
  • Page 103 Write Object Sub- Name value Description index index (hex) 1A00 Tx PDO1 Mapping, 60440010 6044h vl control effort Mapped object 2 (subindex 0, length 16 bits) 1A00 Tx PDO1 Mapping, 40011410 Par. 01.20 Mapped object 3 1A00 Tx PDO1 Mapping, 3 objects mapped ** Number of entries 1800...

  • Page 104: Service Data Objects (Sdo)

    Service Data Objects (SDO) Service Data Objects are mainly used for transferring non-time critical data, for example, parameter values. SDOs provide access to the entries in the device Object Dictionary. If 4 bytes (or less) of data is to be transmitted, an Expedited transfer SDO message can be used.

  • Page 105: Sdo Download

    SDO Download Through this service the client of an SDO downloads data to the server (owner of the Object Dictionary). The data, the multiplexor (index and subindex) of the data set that is downloaded and the data size are indicated to the server. The service is confirmed.

  • Page 106: Read Service (Sdo Upload)

    Read Service (SDO Upload) Initiate SDO Upload Protocol This protocol is used to implement the Initiate SDO Upload service. Client Initiate SDO Upload Protocol Server Indication 7...5 4...0 Request Reserved ccs = 2 Response Confirm 7...5 3...2 scs = 2 Client command specifier;...

  • Page 107: Write Service (Sdo Download)

    Write Service (SDO Download) Initiate SDO Download Protocol This protocol is used to implement the Initiate SDO Download service. Client Initiate SDO Download Protocol Server 7...5 3...2 Request Indication ccs = 1 Confirm 7...5 4...0 Response Reserved scs = 3 Client command specifier;...

  • Page 108: Abort Sdo Transfer

    Abort SDO Transfer Abort SDO Transfer Protocol This protocol is used to implement the Abort SDO Transfer Service. Client/Server Abort SDO Transfer Server/Client Request Indication 7...5 4...0 cs = 4 Command specifier; cs = 4: Abort transfer request. Not used. The value is always 0. Multiplexor;...

  • Page 109: Abort Code Description

    Abort code description Error Additional Error code Description class code 0000h Toggle bit not alternated 0000h SDO protocol timeout 0001h Client/Server command specifier not valid or unknown 0002h Invalid block size (block mode only) 0003h Invalid sequence number (block mode only) 0004h CRC error (block mode only) 0005h...
  • Page 110 Error Additional Error code Description class code 0011h Subindex does not exist. 0030h Parameter value range is exceeded (for write access parameters). 0031h Value of written parameter is too high. 0032h Value of written parameter is too low. 0036h Maximum value is less than minimum value. 0000h General error 0020h...

  • Page 111: Canopen Object Dictionary

    CANopen Object Dictionary Each object within the dictionary is addressed using a 16-bit index. Object Dictionary Structure The overall layout of the standardised Object Dictionary: Index (hex) Object 0000 Not used 0001...001F Static Data Types 0020...003F Complex Data Types 0040...005F Manufacturer-Specific Complex Data Types 0060...007F Device-Profile-Specific Static Data Types...

  • Page 112: Communication Profile Area (1000

    (hex) index bute 1000 Device Type Describes the type of the device. 1001 Error Register Error register for the FCAN-01. Bit encoded according to DS 301/401. Bit value 1 = error occurred. Description Generic error Current Voltage Temperature Communication error...
  • Page 113 CANopen error Error Field codes on page 133) and a 16-bit additional information field (0 with FCAN-01). The error code is contained in the lower 2 bytes (LSB), the additional information in the upper 2 bytes (MSB). Slave to master Byte Header 1...2...
  • Page 114 Name Type Information (hex) index bute 100A Manufacturer Visible Version of the FCAN-01 module Software string software; The constant string is x.x Version where x.x = version number, for example, 2.0. 100C Guard Time Guard Time (ms) × Life Time Factor =...
  • Page 115 Defines the cycle time of the heartbeat Heartbeat (multiple of 1 ms). Time 0 = Not used. 1018 Identity Object Number of entries Vendor ID; Default: B7h = ABB (Oy) Product code; For example, 1F600h = ACS350 Module revision Serial number Communication...
  • Page 116 Index Sub- Attri- Name Type Information (hex) index bute 1400 Receive Number of entries PDO1 Parameter COB ID Default: 200h + Node ID Transmission Default: 255 = FFh (asynchronous Type transmission) Inhibit time Event timer 0...65535 ms 0 = not used Default: 0 1600 Receive...
  • Page 117 Index Sub- Attri- Name Type Information (hex) index bute 1405 Receive Number of entries PDO6 Parameter COB ID Default: 80000300h + Node ID not valid, MSB set Transmission Default: 255 asynchronous Type Inhibit time Event timer 0...65535 ms 0 = not used Default: 0 1605 Receive...
  • Page 118 Index Sub- Attri- Name Type Information (hex) index bute 1414 Receive Number of entries PDO21 Parameter COB-ID Default: 80000400h + NODE ID ( PDO not valid) Transmission Default: 255 Type Inhibit time Event timer 0...65535 ms 0 = not used Default: 0 1614 Receive...
  • Page 119 Index Sub- Attri- Name Type Information (hex) index bute 1A00 Transmit Number of mapped objects PDO1 Default: 1 (high limit 4) Mapping Determines which mapped objects 1...4 are visible/used. Subindexes 0...4 are freely (*** programmable. Mapped Obj 1 6041h (60410010h) Status word (fixed with ACS350 and ACS355) Mapped Obj 2...
  • Page 120 Index Sub- Attri- Name Type Information (hex) index bute 1805 Transmit Number of entries PDO6 Parameter COB ID Default: 80000280h + NODE ID (= PDO not valid) Transmission Default: 255 (asynchronous Type transmission) Inhibit Time Event Timer 0...65535 ms. 0 = Not used. Default: 0 1A05 Transmit...
  • Page 121 Mapped Obj 2 Mapped Obj 3 Mapped Obj 4 WARNING: Drive default values are set immediately after the restore command. Without discrete reset command or power cycle, FCAN-01 loses connection to the drive. See chapter Dictionary structure and entries on page 131.

  • Page 122: Manufacturer-Specific Profile Area (2000

    Manufacturer-specific profile area (2000...5FFF) Manufacturer-specific profile objects Index Sub- Attri- Name Type Information (hex) index bute 2000 Virtual Address of Number of entries the drive control REF2 INT16 Reference 2 ACT2 INT16 Actual value 2 2001 Transparent 32 32-bit Transparent Control Control Word Word 2002...

  • Page 123: Drive Actual Signals And Parameters

    Drive actual signals and parameters The actual signals and parameters available depend on the drive type. See the appropriate drive firmware manual for signal and parameter listings. The Read service is used for reading actual signals and parameters from the drive. The Write service is used for writing parameter values to the drive.

  • Page 124: Standardised Device Profile Area Dsp 402 (6000

    Standardised device profile area DSP 402 (6000...9FFF) Index Access Type Name Information Support 603Fh Error code See chapter CANopen error codes on page 133. 6040h Control word See chapter Communication profiles 6041h Status word page 69. 6042h INT16 Target velocity 6043h INT16 Vl velocity demand...
  • Page 125 Index Access Type Name Information Support 6060h INT8 Modes of operation -128...-1 Manufacturer-specific 0 Reserved 1 Profile position mode 2 Velocity mode 3 Profile velocity mode 4 Profile torque mode 5 Reserved 6 Homing mode 7 Interpolated position mode 8...127 Reserved Note: If the value of parameter 50.04 FBA REF1 MODESEL and 50.05 FBA REF2 MODESEL of...
  • Page 126 Bit 5 Homing mode Bit 4 Reserved Bit 3 Profile torque mode Bit 2 Profile velocity mode Bit 1 Velocity mode Bit 0 Profile position mode 6504h Visi- Drive manufacturer Drive manufacturer name; The constant string is ABB Drives. string Communication...
  • Page 127 Index Access Type Name Information Support 6505h Visi- http drive catalog Constant string: www.abb.com address string * Not supported Communication...
  • Page 128 Communication...

  • Page 129: Diagnostics

    Diagnostics What this chapter contains This chapter explains how to trace faults with the status LEDs on the FCAN-01 module. LED indications The FCAN-01 module is equipped with three bicolour diagnostic LEDs. The LEDs are described below. Name Colour Function...
  • Page 130 Name Colour Function Green single flash Module is in stopped state. NETWORK Blinking green Module is in pre-operational state. (CANopen RUN) Green Module is in operational state. Diagnostics...

  • Page 131: Dictionary Structure And Entries

    Dictionary structure and entries What this chapter contains This chapter contains information about PDO transmission and mapping. Description of transmission type PDO transmission Transmission type Cyclic Acyclic Synchronous Asynchronous RTR only 1...240 241...251 Reserved The transmission of this PDO is initiated by an event device. The event is manufacturer-specific.

  • Page 132: Description Of Pdo Cob-Id Entry

    Description of PDO COB-ID entry Value Description PDO valid PDO not valid RTR allowed on this PDO No RTR allowed on this PDO 11 bit ID is used (CAN 2.0A). 29 bit ID is used (CAN 2.0B). 28...11 If 11 bit ID is used, bit 28...11 = 0. If 29 bit ID is used, bit 28...0 = COB ID.

  • Page 133: Canopen Error Codes

    CANopen error codes What this chapter contains This chapter contains the CANopen error codes. Error codes Error codes can be read from objects 1003h, 200Bh and 603Fh. Error codes between xx80h...xxFFh and between FF00h...FFFFh are manufacturer-specific. Description for these error codes can be found from the appropriate drive firmware manual and/or from the drive fault code parameter.
  • Page 134 Error Meaning code (hex) 2220 Continuous overcurrent 2221 Continuous overcurrent No. 1 2222 Continuous overcurrent No. 2 2230 Short circuit / Earth leakage 2240 Earth leakage 2250 Short circuit 2300 Current on device output side 2310 Continuous overcurrent 2311 Continuous overcurrent No. 1 2312 Continuous overcurrent No.
  • Page 135 Error Meaning code (hex) 3132 Phase failure L2 3133 Phase failure L3 3134 Phase sequence 3140 Mains frequency 3141 Mains frequency too great 3142 Mains frequency too small 3200 DC link voltage 3210 DC link overvoltage 3211 Overvoltage No. 1 3212 Overvoltage No.
  • Page 136 Error Meaning code (hex) 4220 Too low temperature device 4300 Temperature drive 4310 Excess temperature drive 4320 Too low temperature drive 4400 Temperature supply 4410 Excess temperature supply 4420 Too low temperature supply 5000 Device hardware 5100 Supply 5110 Supply low voltage 5111 U1 = supply +/-15 V 5112...
  • Page 137 Error Meaning code (hex) 5443 Contactor 3 = manufacturer-specific 5444 Contactor 4 = manufacturer-specific 5445 Contactor 5 = manufacturer-specific 5450 Fuses 5451 S1 = L1 5452 S2 = L2 5453 S3 = L3 5454 S4 = manufacturer-specific 5455 S5 = manufacturer-specific 5456 S6 = manufacturer-specific 5457...
  • Page 138 Error Meaning code (hex) 7111 Failure brake chopper 7112 Overcurrent brake chopper 7113 Protective circuit brake chopper 7120 Motor 7121 Motor blocked 7122 Motor error or communication malfunc. 7123 Motor tilted 7200 Measurement circuit 7300 Sensor 7301 Tacho fault 7302 Tacho wrong polarity 7303 Resolver 1 fault...
  • Page 139 Error Meaning code (hex) 8210 PDO not processed due to length error 8220 PDO length exceeded 8300 Torque control 8311 Excess torque 8312 Difficult start up 8313 Standstill torque 8321 Insufficient torque 8331 Torque fault 8400 Velocity speed controller 8500 Position controller 8600 Positioning controller...
  • Page 140 CANopen error codes...

  • Page 141: Definitions And Abbreviations

    Electronic Data Sheet; a node-specific ASCII-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 through your local ABB representative. Definitions and abbreviations...

  • Page 142: Lmt

    Layer Management; one of the service elements of the CAN Application Layer in the CAN Reference Model. It serves to configure parameters for each layer in the CAN Reference Model. Network Management; one of the service elements of the CAN Application Layer in the CAN Reference Model.

  • Page 143: Technical Data

    Technical data What this chapter contains This chapter contains the technical specifications of the FCAN-01 module. FCAN-01 Enclosure: Mounting: Into the option slot on the drive. Degree of protection: IP20 Ambient conditions: The applicable ambient conditions specified for the drive in its manuals are in effect.

  • Page 144: Canopen Link

    120 ohms (CANopen-approved cable recommended) • Termination: 120 ohms, or active termination circuitry at each end of trunk cable (termination not built in the FCAN-01 module) Transfer rate: 1 Mbit/s max. (1 Mbit/s; 500 kbit/s; 250 kbit/s; 125 kbit/s; 100 kbit/s; 50 kbit/s)

  • Page 145: Further Information

    Product and service inquiries Address any inquiries about the product to your local ABB representative, quoting the type designation and serial number of the unit in question. A listing of ABB sales, support and service contacts can be found by navigating to www.abb.com/drives selecting Sales, Support and Service network.
  • Page 146 ABB Oy ABB Inc. ABB Beijing Drive Systems Co. Ltd. Drives Automation Technologies No. 1, Block D, P.O. Box 184 Drives & Motors A-10 Jiuxianqiao Beilu FI-00381 HELSINKI 16250 West Glendale Drive Chaoyang District FINLAND New Berlin, WI 53151 USA Beijing, P.R.

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