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ABB FCAN-01 User Manual

Canopen adapter module
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OPTION FOR ABB DRIVES, CONVERTERS AND INVERTERS
FCAN-01 CANopen adapter module
User's manual

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Summary of Contents for ABB FCAN-01

  • Page 1 — OPTION FOR ABB DRIVES, CONVERTERS AND INVERTERS FCAN-01 CANopen adapter module User’s manual...
  • Page 2 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. The code below opens an online listing of the manuals applicable to the...

  • Page 3: Effective: 2018

    User’s manual FCAN-01 CANopen adapter module Table of contents 1. Safety instructions 4. Mechanical installation 5. Electrical installation 6. Start-up 3AFE68615500 Rev F  2018 ABB Oy All Rights Reserved. EFFECTIVE: 2018-03-16...

  • Page 5: Table Of Contents

    Topology of the CANopen link ......24 FCAN-01 CANopen adapter module ..... 25 Layout of the adapter module .
  • Page 6 Data transfer rates supported..... 38 FCAN-01 configuration parameters – group A (group 1) 39 FCAN-01 configuration parameters – group B (group 2) 51 FCAN-01 configuration parameters –...
  • Page 7 EDS files ........78 Configuring an ABB AC500 PLC ..... 79 7.
  • Page 8 CAN data frame ........109 FCAN-01 boot-up sequence and Network Management (NMT) .
  • Page 9 FCAN-01 ........

  • Page 10: Table Of Contents

    10 Table of contents...

  • Page 11: Safety Instructions

    Safety instructions 11 Safety instructions What this chapter contains The chapter presents the warning symbols used in this manual and the safety instructions which you must obey when you install or connect an optional module to a drive, converter or inverter. If you ignore the safety instructions, injury, death or damage can occur.

  • Page 12: Use Of Warnings

    12 Safety instructions Use of warnings Warnings caution you about conditions which can cause injury or death and, or damage to the equipment. They also tell you how to prevent the danger. The manual uses these warning symbols: Electricity warning tells you about hazards from electricity which can cause injury or death, or damage to the equipment.

  • Page 13: Safety In Installation

    Safety instructions 13 Safety in installation These instructions are for all who install or connect an optional module to a drive, converter or inverter and need to open its front cover or door to do the work. WARNING! Obey these instructions. If you ignore them, injury or death, or damage to the equipment can occur.
  • Page 14 14 Safety instructions...

  • Page 15: About The Manual

    What this chapter contains This chapter introduces this manual. Purpose of the manual The manual provides information on installing, commissioning and using the FCAN-01 CANopen adapter module. Applicability This manual applies to the FCAN-01 CANopen adapter module (+K457), SW version 1.046 or later.

  • Page 16: Compatibility

    16 About the manual Compatibility The FCAN-01 CANopen adapter module is compatible with the following drives: • ACS355 • ACSM1 • ACS380 • ACH580 • ACQ580 • ACS580 • ACS850 • ACS880. Note: The adapter module is compatible with more drives that may not be listed here.

  • Page 17: Related Manuals

    About the manual 17 Related manuals The related manuals are listed below. Drive user’s manuals Code (EN/Multilingual) ACS355 drives (0.37…22 kW, 0.5…30 hp) 3AUA0000066143 user’s manual Drive hardware manuals and guides ACSM1 manuals 00578051 ACS380-04 manuals 9AAK10103A6193 ACH580-01 manuals 9AKK10103A0587 ACH580-04 manuals 9AKK106930A9059 ACH580-07 manuals...

  • Page 18: Contents

    • 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 to install the adapter module.

  • Page 19: Cybersecurity Disclaimer

    ABB and its affiliates are not liable for damages and/or losses related to such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or information.

  • Page 20: Terms And Abbreviations Used In This Manual

    Command word) FCAN-01 CANopen One of the optional fieldbus adapter modules adapter module available for ABB drives. FCAN-01 is a device through which an ABB drive is connected to a CANopen network. Object dictionary Local storage of all Communication Objects...

  • Page 21: Canopen Abbreviations

    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). Layer Management; one of the service elements of the CAN Application Layer in the CAN Reference Model.
  • Page 22 22 About the manual Abbreviation Explanation Denotes read-only access. Denotes read/write access. Service Data Object; a type of COB. Used for transmitting non-time-critical data, such as parameters.

  • Page 23: Overview Of The Canopen Protocol And The Fcan-01

    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.

  • Page 24: Topology Of The Canopen Link

    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.

  • Page 25: Fcan-01 Canopen Adapter Module

    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.

  • Page 26: Layout Of The Adapter Module

    26 Overview of the CANopen protocol and the FCAN-01 adapter module Layout of the adapter module The following figure describes the layout of the adapter module. Description See chapter Lock Mechanical installation Mounting screw Mechanical installation Bus connector X1 Electrical installation...

  • Page 27: Mechanical Installation

    This chapter contains a delivery checklist and instructions to install the adapter module. Necessary tools and instructions You will need a Torx TX10 screwdriver to secure the FCAN-01 adapter module to the drive. See also, the applicable drive hardware manual.

  • Page 28: Installing The Adapter Module

    28 Mechanical installation Installing the adapter module WARNING! Obey the safety instructions. See chapter Safety instructions on page 11. If you ignore the safety instructions, injury or death can occur. The adapter module has a specific position in the drive. Plastic pins, a lock and one screw hold the adapter module in place.
  • Page 29 Mechanical installation 29 2. Put the adapter module carefully into its position on the drive. 3. Push in the lock. 4. Tighten the screw to torque 0.8 N·m using a Torx TX10 screwdriver. Note: A too high torque may break the screws. It is necessary to tighten the screw properly to fulfill the EMC requirements and to ensure the proper operation of the module.
  • Page 30 30 Mechanical installation...

  • Page 31: Electrical Installation

    Electrical installation 31 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! Obey the safety instructions. See chapter Safety instructions on page 11.

  • Page 32: General Cabling Instructions

    Not in use CAN_L CAN_L bus line (dominant low) CAN_GND CAN ground Not in use CAN_SHLD Optional CAN shield 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.

  • Page 33: Bus Termination

    Electrical installation 33 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.

  • Page 34: Ac And Dc Parameters For The Canopen Network

    34 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 Bus cable...
  • Page 35 Electrical installation 35 Wire Maximum length [m] Maximum length [m] cross- n = 32 n = 64 n = 100 n = 32 n = 64 n = 100 section 0.25 0.75 Safety margin of 0.2 Safety margin of 0.1...
  • Page 36 36 Electrical installation...

  • Page 37: Start-Up

    Start-up 37 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.

  • Page 38: Drive Configuration

    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.

  • Page 39: Fcan-01 Configuration Parameters - Group A (Group 1)

    Start-up 39 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.
  • Page 40 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 = Network PDO configuration via CAN bus: CANopen objects 1400h, 1600h, 1405h, 1605h, 1414h, 1614h, 1800h, 1A00h, 1805h, 1A05h, 1814h and 1A14h only.
  • Page 41 Start-up 41 Name/Value Description Default setting T16 scale 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.
  • Page 42 42 Start-up Name/Value Description Default setting RPDO1-COB-ID Defines the COB-ID for Rx PDO1. Note: It is recommended to use the default 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).
  • Page 43 Start-up 43 Name/Value Description Default setting RPDO1-EV time Defines the event time (time-out time) for the Rx PDO1 in the asynchronous transmission Disable 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.
  • Page 44 44 Start-up Name/Value Description Default setting TPDO1-TR type Defines the PDO1 transmission type. See chapter Appendix A – Dictionary structure and entries on page 161. 0…255 (dec) PDO1 transmission type. See section Description of transmission type on page 162. TPDO1-EV time Defines the event time for the Tx PDO1 asynchronous transmission mode.
  • Page 45 Start-up 45 Name/Value Description Default setting TPDO6-COB-ID Defines the COB-ID for Tx PDO6. Disable Note: It is recommended to use the default 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).
  • Page 46 46 Start-up Name/Value Description Default setting RPDO21-EV time Defines the event time (time-out time) for the Rx PDO21 in the asynchronous transmission Disable 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.
  • Page 47 Start-up 47 Name/Value Description Default setting TPDO21-COB-ID Defines the COB-ID for Tx PDO21. Disable Note: It is recommended to use the default 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).
  • Page 48 1 = ABB Compatibility mode with previous implementation that have existed in previous FCAN-01 versions. Means that in vl mode, the CiA 402 SW “target reached” bit indicates that the target velocity has been reached. CiA 402 standard requires that the bit be always 0 in vl mode.
  • Page 49 Start-up 49 Name/Value Description Default setting Drive type code 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 Mapping file ver Read-only.
  • Page 50 50 Start-up Name/Value Description Default setting D2FBA comm sta Read-only. Displays the status of the fieldbus 0 = Idle adapter module communication. Note: The value names may vary by drive. 4 = Off- line 0 = Idle Adapter is not configured. 1 = Exec.init Adapter is initializing.

  • Page 51: Fcan-01 Configuration Parameters - Group B (Group 2)

    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 •...
  • Page 52 52 Start-up Name /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...
  • Page 53 Start-up 53 Name /Value Description Default For ACS355: See parameter above. Rx PDO21 word 3 For other drives: Rx PDO21 word 1 For ACS355: See parameter above. Rx PDO21 word 4 For other drives: Rx PDO21 word 2 For ACS355: See parameter above.

  • Page 54: Fcan-01 Configuration Parameters - Group C (Group 3)

    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 •...
  • Page 55 Start-up 55 Name /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)
  • Page 56 56 Start-up Name /Value Description Default For ACS355: See parameter above. Tx PDO21 word 3 For other drives: Tx PDO21 word 1 For ACS355: See parameter above. Tx PDO21 word 4 For other drives: Tx PDO21 word 2 For ACS355: See parameter above.

  • Page 57: Additional Information On The Virtual Address Area Allocation

    Start-up 57 Additional information on the virtual address area allocation The drive virtual address area is allocated as follows: Profile CiA 402 Control 16-bit 6040h 6040h 6040h 6040h 6040h 6040h 6040h word Refer- 16-bit 6042h 6042h 6042h ence 1 Refer- 16-bit 6071h 2000h03...

  • Page 58: Control Locations

    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.).

  • Page 59: Parameter Setting Examples - Acs355

    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...
  • Page 60 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 Description drives 9802 COMM PROT SEL 4 = EXT FBA Activates the communication (fieldbus) module. 5101 FBA TYPE 32 (= CANopen) Communication module type...

  • Page 61: Speed And Torque Control Using Abb Drives

    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.
  • Page 62 Word 1 Word 2 Word 3 Word 4 Length 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.
  • Page 63 Start-up 63 Drive parameter Setting for ACS355 Description drives 5108 FBA PAR 8 Asynchronous transmission (RPDO1-TR TYPE) mode is used by Rx PDO1. 5110 FBA PAR 10 1 (= Default) Tx PDO1 is enabled and (TPDO1-COB-ID) configured to use the default COB-ID.

  • Page 64: Starting Up Acsm1 Drives

    64 Start-up Drive parameter Setting for ACS355 Description drives 1102 EXT1/EXT2 SEL 8 = COMM Communication module as the source for the control location selection 1103 REF1 SELECT 8 = COMM Communication module as the source for reference 1 1106 REF2 SELECT 8 = COMM Communication module as the source for reference 2...
  • Page 65 50.04…50.11. Examples of appropriate values are shown in the tables below. 6. Set the FCAN-01 configuration parameters in parameter group 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...

  • Page 66: Parameter Setting Examples - Acsm1

    66 Start-up  Parameter setting examples – ACSM1 Using position control with the CiA 402 Profile Position mode This example shows how to configure a basic positioning application for an ACSM1 motion control drive. The start/stop commands and reference are according to the CiA 402 Profile Position mode.
  • Page 67 51.04 FBA PAR4 (CONF 1 (= Parameters) PDO configuration is done with LOC) FCAN-01 configuration parameter group A (group 1), B (group 2) and C (group 3) (that is, ACSM1 parameter groups 51, 52 and 53). 51.05 FBA PAR5...
  • Page 68 68 Start-up Drive parameter Setting for ACSM1 Description drives 52.03 FBA DATA IN3 0 (reserved) Parameters in groups 52 and 53 are 16-bit parameters. Mapping of 32-bit parameters automatically reserves also the following cell (that is, the mapping of 15 to parameter 52.02 reserves also the parameter 52.03).

  • Page 69: Starting Up Acs850 Drives

    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...

  • Page 70: Parameter Setting Examples - Acs850

    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.
  • Page 71 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 Description drives 50.01 FBA enable Enable Activates the communication (fieldbus) module. 50.02 Comm loss func Fault Enables fieldbus communication fault monitoring.

  • Page 72: Abb Drives Communication Profile With Parameter- Configured Pdo Mapping

    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.)
  • Page 73 B (group 2) and group C (group 3), that is, ACS850 parameter groups 51, 52 and 51.05 FBA par5 1 (= ABB Drives) ABB Drives profile mode (that is, (PROFILE) communication profile used by the module) 51.07 FBA par7 1 (= Default) Rx PDO1 is enabled.
  • Page 74 74 Start-up Drive parameter Setting for ACS850 Description drives 51.11 FBA par11 Asynchronous transmission (TPDO1-TR TYPE) mode is used by Tx PDO1. 52.01 FBA data in1 4 (= SW 16bit) 16-bit Status word as mapping entry 1 in Tx PDO1 52.02 FBA data in2 5 (= Act1 16bit) 16-bit actual value as mapping...

  • Page 75: Starting Up Acs880 Drives

    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...

  • Page 76: Parameter Setting Examples - Acs880

    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.
  • Page 77 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 Description drives 50.01 FBA A enable 1 = Enable Enables communication between the drive and the fieldbus adapter module.

  • Page 78: Configuring The Master Station

    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...

  • Page 79: Configuring An Abb Ac500 Plc

    Before you start, make sure that you have downloaded the FCAN- 01 EDS description file from the Document library. 1. Start the ABB Control Builder software. 2. On the Tools menu, select Device Repository. 3. In the opening window, click Install and browse for the EDS...
  • Page 80 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.
  • Page 81 Start-up 81...
  • Page 82 82 Start-up 8. Configure the FCAN-01 properties: • Select the node boot up sequence.
  • Page 83 Start-up 83 • On the CANopen Remote Device tab, • select the node ID for the device • select Enable Expert Settings to configure the process data mapping, node guarding and emergency settings for the drive.
  • Page 84 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.
  • Page 85 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.
  • Page 86 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.

  • Page 87: Communication Profiles

    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.
  • Page 88 Only with ACSM1 drives 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.

  • Page 89: Canopen Device Profile Cia 402

    Communication profiles 89 CANopen device profile CiA 402  Device Control state machine The start and stop of the drive and several mode-specific commands are executed by the Device Control state machine. This is described in figure below. Device Control state machine Modes of operation Velocity Inter-...

  • Page 90: Modes Of Operation

    • 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.

  • Page 91: Profile Position Mode

    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...

  • Page 92: Target Velocity

    92 Communication profiles Target velocity Target velocity is the required velocity of the application. The target velocity is scaled as follows: Drive parameter (ACSM1) 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 93: Velocity Mode

    Communication profiles 93  Velocity mode Basic mode to control the velocity of the drive with limits and ramp functions. Target velocity of CiA 402 Velocity mode Target velocity is the required velocity of the application. The unit of the target velocity is interpreted as rpm. 1 = 1 rpm. Control effort of CiA 402 Velocity mode Control effort is the actual velocity of the application.
  • Page 94 94 Communication profiles Operation-mode-specific bits Bit Velocity Profile Profile Profile Homing Interpo- mode position velocity torque mode lated mode mode mode position mode Reserved Reserved Homing Enable enable setpoint operation ipmode start rfg unlock Change Reserved Reserved Reserved Reserved immedi- ately rfg use abs / rel...
  • Page 95 Communication profiles 95 Status word of CiA 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 Bit Velocity Profile Profile...
  • Page 96 96 Communication profiles Device control commands are triggered by the Control word bits as follows: Device control commands Command Control word bit Fault Enable Quick Enable Switch State reset, operation, stop, voltage, transi- bit 7 bit 3 bit 2 bit 1 bit 0 tions* Shut down...
  • Page 97 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 Coast stop Halt Ramp stop (configurable with CANopen object 605Dh) Fault Fault reaction specified by the drive.
  • Page 98 98 Communication profiles Mode Description Halt option codes Profile Position Dynamic limiter ramp Interpolated Position Dynamic limiter ramp Profile Velocity Dynamic limiter ramp Profile Torque Sets the torque reference to 0. Ramp depends on drive parameters. Homing Dynamic limiter ramp Velocity Halt mode 1: Ramp input is 1, 2, 3, 4...

  • Page 99: State Machine

    Communication profiles 99 State machine The following figure describes the CANopen state machine. From any state CW: Control word FAULT REACTION START ACTIVE SW: Status word SW: xxxxxxxxx0xx1111 Power-on, Fault reaction State transition self-initialization completed NOT READY FAULT TO SWITCH ON SW: xxxxxxxxx0xx0000 SW: xxxxxxxxx0xx1000 Initialized...

  • Page 100: Abb Drives Communication Profile

    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.
  • Page 101 Communication profiles 101 Control word of ABB Drives profile Name Value STATE/Description OFF3_ Continue operation (OFF3 inactive). CONTROL Emergency stop; stop within time defined with the drive parameter. Proceed to OFF3 ACTIVE; proceed to SWITCH-ON INHIBITED. Warning: Ensure motor and driven machine can be stopped using this stop mode.
  • Page 102 102 Communication profiles Control word of ABB Drives profile Name Value STATE/Description RESET 0 →1 Fault reset if an active fault exists. Proceed to SWITCH-ON INHIBITED. Note: Effective only if the fieldbus interface is set as the source for this signal with drive parameters.

  • Page 103: Status Word Contents

    Communication profiles 103 Status word contents The following table presents the Status word of the ABB Drives communication profile. The upper case boldface text refers to the states shown in the ABB Drives profile state machine figure on page 105.
  • Page 104 104 Communication profiles Status word of ABB Drives profile Name Value STATE/Description ABOVE_ Actual frequency or speed equals or LIMIT exceeds the supervision limit (set with the drive parameter). Valid in both directions of rotation. Actual frequency or speed within...

  • Page 105: State Machine

    Communication profiles 105 State machine The following figure describes the state machine of the ABB Drives communication profile. SWITCH-ON ABB Drives MAINS OFF INHIBITED (SW Bit6=1) Communication Power ON (CW Bit0=0) Profile NOT READY TO SWITCH ON (SW Bit0=0) = Control word...

  • Page 106: 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). To have the drive controlled through the fieldbus, the module must be defined as the source for control information, for example, reference.

  • Page 107: Actual Values

    Communication profiles 107  Actual values Actual values are 16-bit signed two's complement integers containing information on the operation of the drive. A negative reference indicates a reverse direction of rotation. The functions to be monitored are selected with a drive parameter. Scaling The actual values are scaled as shown below.
  • Page 108 108 Communication profiles...

  • Page 109: Communication Protocol

    Communication protocol 109 Communication protocol What this chapter contains This chapter describes the communication on a CANopen network. CAN data frame CAN employs data frames for transferring data between the host (controller) and the nodes on the bus. The following figure presents the structure of the data frame.
  • Page 110 110 Communication protocol Header ARBITRATION FIELD CONTROL FIELD REMOTE CYCLIC COMM. TRANS- ACKNOW- START OF DATA REDUNDANCY END OF MISSION OBJECT ID LEDGE FRAME FIELD CHECK FRAME REQUEST (COB ID) FIELD (CRC) (RTR) 1 BIT 11 BITS 1 BIT 6 BITS 0 TO 8 16 BITS 2 BITS...

  • Page 111: Fcan-01 Boot-Up Sequence And Network Management (Nmt)

    Communication protocol 111 In addition, there are Special Function Objects and Network Management Objects.  FCAN-01 boot-up sequence and Network Management (NMT) The adapter module supports the boot-up sequence of a “Minimum Capability Device”, as defined by the CANopen Communication Profile.
  • Page 112 112 Communication protocol is at first in the Initialization state and then the state transits automatically to the Pre-Operational state. The NMT commands used for controlling the node are: Command (dec) Name Start_Remote_Node Stop_Remote_Node Enter_Pre-Operational_State Reset_Node Reset_Communication Header (bin) Payload data byte 0000 0000000 0 0 0 0010 NMT Command Node ID...

  • Page 113: Process Data Objects (Pdo)

    Communication protocol 113 Process Data Objects (PDO) Process Data Object (PDO) is used for time critical process data exchange. PDO transmissions can be controlled by an internal timer, by remote requests or by the received Sync message. For each PDO the transmission mode of the PDO as well as the default mappings of the application objects are described in the Object Dictionary.

  • Page 114: Rx Pdo1

    114 Communication protocol Rx PDO1 Mapped Mapped Mapped Mapped obj 1 obj 2 obj 3 obj 4 Byte CANopen object for 1600h01 1600h02 1600h03 1600h04 mapping ACS355 Fixed FBA DATA FBA DATA FBA DATA OUT 1 OUT 2 OUT 3 Mapping ACSM1 FBA DATA...

  • Page 115: Tx Pdo1

    Communication protocol 115 Tx PDO1 Mapped Mapped Mapped Mapped obj 1 obj 2 obj 3 obj 4 Byte CANopen object for 1A00h01 1A00h02 1A00h03 1A00h04 mapping ACS355 Fixed DATA IN 1 DATA IN 2 DATA IN 3 Mapping ACSM1 parameter ACS850 DATA IN 1 DATA IN 2...

  • Page 116: Rx Pdo6

    116 Communication protocol Rx PDO6 Mapped Mapped Mapped Mapped obj 1 obj 2 obj 3 obj 4 Byte CANopen object for 1605h01 1605h02 1605h03 1605h04 mapping ACS355 Fixed FBA DATA FBA DATA FBA DATA OUT 4 OUT 5 OUT 6 Mapping ACSM1 FBA DATA...

  • Page 117: Tx Pdo6

    Communication protocol 117 Tx PDO6 Mapped Mapped Mapped Mapped obj 1 obj 2 obj 3 obj 4 Byte CANopen object for 1A05h01 1A05h02 1A05h03 1A05h04 mapping ACS355 Fixed FBA DATA FBA DATA FBA DATA IN 4 IN 5 IN 6 Mapping ACSM1 FBA DATA...

  • Page 118: Rx Pdo21

    118 Communication protocol Rx PDO21 Mapped Mapped Mapped Mapped obj 2 obj 3 obj 4 Byte CANopen object for 1614h01 1614h02 1614h03 1614h04 mapping ACS355 FBA DATA FBA DATA FBA DATA FBA DATA OUT 7 OUT 8 OUT 9 OUT 10 Mapping ACSM1 FBA DATA...

  • Page 119: Tx Pdo21

    Communication protocol 119 Tx PDO21 Mapped Mapped Mapped Mapped obj 1 obj 2 obj 3 obj 4 Byte CANopen object for 1A14h01 1A14h02 1A14h03 1A14h04 mapping ACS355 FBA DATA FBA DATA FBA DATA FBA DATA IN 7 IN 8 IN 9 IN 10 Mapping ACSM1...

  • Page 120: Mapping Format

    120 Communication protocol Mapping format Note: Subindex 0 contains the number of valid entries within the mapping record. This number is also the number of the application variables (parameters), which shall be transmitted/received with the corresponding PDO. The subindexes from 1 to the number of objects contain information about the mapped application variables.

  • Page 121: Pdo Configuration Via The Can Bus

    Communication protocol 121 PDO configuration via the CAN bus This section gives an example of how to configure PDOs via the CAN bus from the CANopen master. In this example, the following PDO configuration is made: • Rx PDO1 (from master to drive): 6040h Control word and 6042h vl target velocity •...
  • Page 122 122 Communication protocol Write the CANopen objects via the CAN bus as shown in the following table. The adapter module must be in the Pre-operational state. Object Sub- Name Write Description index index value (hex) 1400 Rx PDO1 80000203 Disable Rx PDO1 Parameter, COB-ID 1400 Rx PDO1...
  • Page 123 Communication protocol 123 Object Sub- Name Write Description index index value (hex) 1A00 Tx PDO1 Mapping, 60440010 6044h vl control effort Mapped object 2 (subindex 0, length 16 bits) 1A00 Tx PDO1 Mapping, 40011410 Parameter 01.20 Mapped object 3 (length 16 bits) 1A00 Tx PDO1 Mapping, 3 objects mapped...

  • Page 124: Service Data Objects (Sdo)

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

  • Page 125: Sdo Upload

    Communication protocol 125  SDO Upload Through this service the client of an SDO requests the server to prepare to upload data to the client. The multiplexor (index and subindex) of the data set to be uploaded is indicated to the server. The service is confirmed. The remote result parameter will indicate the success of the request.

  • Page 126: Read Service (Sdo Upload)

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

  • Page 127: Write Service (Sdo Download)

    Communication protocol 127 Write Service (SDO Download)  Initiate SDO Download Protocol This protocol is used to implement the Initiate SDO Download service. Client Initiate SDO Download Protocol Server 7...5 3...2 Request ccs = 1 Indication 7...5 4...0 Confirm Response Reserved scs = 3 Client command specifier;...

  • Page 128: Abort Sdo Transfer

    128 Communication protocol Abort SDO Transfer  Abort SDO Transfer Protocol This protocol is used to implement the Abort SDO Transfer Service. Client/Server Abort SDO Transfer Server/Client Request Indication 7...5 4...0 cs = 4 Command specifier; cs = 4: Aborts the transfer request. Not used.

  • Page 129: Abort Code Description

    Communication protocol 129 Abort code description Error Error Additional Description class code code 0000h Toggle bit not alternated 0000h SDO protocol time-out 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 130 130 Communication protocol Error Error Additional Description class code code 0011h Subindex does not exist. 0030h Parameter value range is exceeded (for write access parameters). 0031h Value of the written parameter is too high. 0032h Value of the written parameter is too low. 0036h Maximum value is less than the minimum value.

  • Page 131: Canopen Object Dictionary

    Communication protocol 131 CANopen Object Dictionary Each object within the dictionary is addressed using a 16-bit index.  Object Dictionary Structure The overall layout of the standardized Object Dictionary: Index (hex) Object 0000 Not used 0001...001F Static Data Types 0020...003F Complex Data Types 0040...005F Manufacturer-Specific Complex Data Types...

  • Page 132: Communication Profile Area (1000

    132 Communication protocol  Communication profile area (1000...1FFF) Index Sub- Name Type Attri- Information (hex) index bute 1000 Device Describes the type of the Type device. 1001 Error Bit value 1 = error occurred Register Bit Description Generic error Current Voltage Temperature Communication error...
  • Page 133 Appendix B – Error CANopen error codes) and a Field 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...
  • Page 134 Sub- Name Type Attri- Information (hex) index bute 1008 Manufac- Visible Device name. The constant turer string string is FCAN-01 with <drive Device type>. Name 1009 Manufac- Visible Adapter module hardware turer string version, eg, V.1.00 Hard- ware Version 100A...
  • Page 135 (6000h...9FFFh). Note: Some of the application parameters are associated with drive parameters. After application parameters have been saved, FCAN-01 overwrites these drive parameters when it is powerd up or fieldbus parameter are refreshed. This can be reversed by setting the...
  • Page 136 136 Communication protocol Index Sub- Name Type Attri- Information (hex) index bute 1011 Restore Largest supported subindex. Default Default values can be Parame- restored by writing ters 64616F6Ch ("daol") to the appropriate subindex. Restores default values to all parameters. Restores default values to communication parameters (1000h...1FFFh).
  • Page 137 Attri- Information (hex) index bute 1018 Identity Number of entries Object Vendor Vendor ID; Value: B7h = ABB Product Drive dependent, eg, 21C00h code = ACS850 Module Adapter module firmware revision version, eg, 102Bh Serial Serial number of the adapter...
  • Page 138 138 Communication protocol Index Sub- Name Type Attri- Information (hex) index bute 1405 Receive Number of entries PDO6 Parame- COB ID Default: 80000300h + Node ID (= PDO not valid) Trans- Default: 255 asynchronous mission Type Inhibit Not used for Rx PDO time Event 0...65535 ms...
  • Page 139 Communication protocol 139 Index Sub- Name Type Attri- Information (hex) index bute 1414 Receive Number of entries PDO21 Parame- COB ID Default: 80000400h + Node ID (= PDO not valid) Trans- Default: 255 mission Type Inhibit Not used for Rx PDO time Event 0...65535 ms...
  • Page 140 140 Communication protocol Index Sub- Name Type Attri- Information (hex) index bute 1800 Transmit Number of entries PDO1 Parame- COB ID Default: 180h + Node ID Trans- Default: 255 (asynchronous mission transmission) Type Inhibit Minimum interval for PDO Time transmission (= value x 100 microseconds) Event 0...65535 ms...
  • Page 141 Communication protocol 141 Index Sub- Name Type Attri- Information (hex) index bute 1805 Transmit Number of entries PDO6 Parame- COB ID Default: 80000280h + Node ID (= PDO not valid) Trans- Default: 255 (asynchronous mission transmission) Type Inhibit Minimum interval for PDO Time transmission (= value x 100 microseconds)
  • Page 142 142 Communication protocol Index Sub- Name Type Attri- Information (hex) index bute 1814 Transmit Number of entries PDO21 Parame- COB ID Default: 80000380h + Node ID (= not valid) Trans- mission Type Inhibit Minimum interval for PDO Time transmission (= value x 100 microseconds) Event 0...65535 ms...

  • Page 143: Manufacturer-Specific Profile Area (2000

    Communication protocol 143  Manufacturer-specific profile area (2000...5FFF) Manufacturer-specific profile objects Index Sub- Name Type Attri- Information (hex) index bute 2000 Virtual Number of entries Address of the drive control REF2 INT16 Reference value 2 ACT2 INT16 Actual value 2 2001 Transparent 32-bit Transparent Control...

  • Page 144: Drive Actual Signals And Parameters

    144 Communication protocol Index Sub- Name Type Attri- Information (hex) index bute 2100 Number of entries Alarm code 1 (latest) Alarm code Alarm code Alarm code Alarm code 5 (oldest) Uxx = unsigned xx INTxx = signed xx Drive actual signals and parameters The actual signals and parameters available depend on the drive type.
  • Page 145 Communication protocol 145 Index Sub- Name Type Attribute Information (hex) index 4001 Drive signal 1.01 Drive signal 1.02 • • • • • • • • • • • • • • • • • • 4002 Drive signal 2.01 •...

  • Page 146: Standardized Device Profile Area (6000

    146 Communication protocol  Standardized device profile area (6000...9FFF) Index Access Type Name Information Sup- (hex) port 603F Error Appendix B – CANopen error code codes. 6040 Control Communication protocol. word 6041 Status word 6042 INT16 Target velocity 6043 INT16 Vl velocity Instantaneous velocity provided by the demand...
  • Page 147 Communication protocol 147 Index Access Type Name Information Sup- (hex) port 6049 Vl velocity Slope of the deceleration ramp = delta decelera- speed / delta time. If delta time = 0, the tion function follows the set point (=target velocity) value. Number of entries Delta...
  • Page 148 148 Communication protocol Index Access Type Name Information Sup- (hex) port 6060 INT8 Modes of Operation mode request operation Mode -128…-1 Manufacturer-specific Reserved Profile position mode Velocity mode Profile velocity mode Profile torque mode Reserved Homing mode Note: If the value of parameter 50.04 FBA REF1 MODESEL and 50.05 FBA REF2 MODESEL of ACSM1 is (5) AUTO, it is possible to set the mode of...
  • Page 149 Communication protocol 149 Index Access Type Name Information Sup- (hex) port 6073 UINT16 Max cur- Unit 0.1% rent Current 1000 Value Nominal current Supported with ACS850 and ACQ810. 6077 INT16 Torque See chapter Communication profiles actual on page 87. value 607A INT32 Target...
  • Page 150 150 Communication protocol Index Access Type Name Information Sup- (hex) port 6402 Motor type Value Type (hex) 0000 Non-standard motor 0001 Phase-modulated DC motor 0002 Frequency-controlled DC motor 0003 PM synchronous motor 0004 FC synchronous motor 0005 Switched reluctance motor 0006 Wound rotor induction motor 0007...
  • Page 151 Communication protocol 151 Index Access Type Name Information Sup- (hex) port 6504 Visible Drive ABB Drives string manufac- turer 6505 Visible http drive www.abb.com/drives string catalog address...
  • Page 152 152 Communication protocol...

  • Page 153: Diagnostics

    Diagnostics 153 Diagnostics What this chapter contains This chapter explains how to trace faults with the status LEDs on the adapter module.

  • Page 154: Led Indications

    Communication to the host lost Flashing orange, Internal file system error. The error may alternating with the be cleared by cycling drive power. If the MODULE flashing error persists, contact your local ABB orange representative. MODULE Module status OK (CANopen...
  • Page 155 Diagnostics 155 Name Color Function NETWORK Green single flash Module is in the stopped state. (CANopen Blinking green Module is in the pre-operational state. RUN) Green Module is in the operational state.
  • Page 156 156 Diagnostics...

  • Page 157: Technical Data

    Technical data 157 Technical data What this chapter contains This chapter contains the technical specifications of the adapter module and the CANopen link.

  • Page 158: Fcan-01

    158 Technical data FCAN-01 The following figure describes the enclosure of the adapter module from the front and side. Mounting Into the option slot on the drive Degree of protection IP20 Ambient conditions Applicable ambient conditions specified for the drive in its manuals are in effect.

  • Page 159: Canopen Link

    Technical data 159 CANopen link Compatible devices All CANopen-compliant devices Medium Shielded twisted pair with nominal impedance of 120 ohms (CANopen-approved cable recommended) • Termination: 120 ohms, or active termination circuitry at each end of the trunk cable (termination not built in the adapter module) Transfer rate 1 Mbit/s max.
  • Page 160 160 Technical data...

  • Page 161: Appendix A - Dictionary Structure And Entries

    Appendix A – Dictionary structure and entries 161 Appendix A – Dictionary structure and entries What this chapter contains This chapter contains information about PDO transmission and mapping.

  • Page 162: Description Of Transmission Type

    162 Appendix A – Dictionary structure and entries Description of transmission type Trans- PDO transmission mission Cyclic Acyclic Synchro- Asyn- RTR only type nous chronous 1...240 241...251 Reserved The transmission of the PDO is initiated by a manufacturer-specific event on the device.

  • Page 163: Pdo Mapping Entry Structure - Example

    Appendix A – Dictionary structure and entries 163 PDO mapping entry structure – example Type UINT32 16 15 Description Index Subindex Object length in bits eg, 6048h eg, 01 eg, 20h (= 32 bits) (16 bits) (8 bits) (8 bits)
  • Page 164 164 Appendix A – Dictionary structure and entries...

  • Page 165: Appendix B - Canopen Error Codes

    Appendix B – CANopen error codes 165 Appendix B – CANopen error codes What this chapter contains This chapter contains the CANopen error codes. Error codes Error codes can be read from objects 1003h and 603Fh. Error codes between xx80h...xxFFh and between FF00h...FFFFh are manufacturer-specific.
  • Page 166 166 Appendix B – CANopen error codes Error Meaning code (hex) 2123 Earth leakage phase L3 2130 Short circuit 2131 Short circuit phases L1-L2 2132 Short circuit phases L2-L3 2133 Short circuit phases L3-L1 2200 Internal current 2211 Internal current No. 1 2212 Internal current No.
  • Page 167 Appendix B – CANopen error codes 167 Error Meaning code (hex) 2342 Short circuit phases V-W 2343 Short circuit phases W-U 3000 Voltage 3100 Mains voltage 3110 Mains overvoltage 3111 Mains overvoltage phase L1 3112 Mains overvoltage phase L2 3113 Mains overvoltage phase L3 3120 Mains undervoltage...
  • Page 168 168 Appendix B – CANopen error codes Error Meaning code (hex) 3230 Load error 3300 Output voltage 3310 Output overvoltage 3311 Output overvoltage phase U 3312 Output overvoltage phase V 3313 Output overvoltage phase W 3320 Armature circuit 3321 Armature circuit interrupted 3330 Field circuit 3331...
  • Page 169 Appendix B – CANopen error codes 169 Error Meaning code (hex) 5110 Supply low voltage 5111 U1 = supply +/-15 V 5112 U2 = supply +24 V 5113 U3 = supply +5 V 5114 U4 = manufacturer-specific 5115 U5 = manufacturer-specific 5116 U6 = manufacturer-specific 5117...
  • Page 170 170 Appendix B – CANopen error codes Error Meaning code (hex) 5452 Output stages 5453 Chopper 5454 Input stages 5455 Contactors 5456 Contactor 1 = manufacturer-specific 5457 Contactor 2 = manufacturer-specific 5458 Control 5459 Measurement circuit 5500 Computing circuit 5510 Operating unit 5520 Power section...
  • Page 171 Appendix B – CANopen error codes 171 Error Meaning code (hex) 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...
  • Page 172 172 Appendix B – CANopen error codes Error Meaning code (hex) 8140 Recovered from bus-off 8150 Transmit COB-ID 8200 Protocol error 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...
  • Page 173 Appendix B – CANopen error codes 173 Error Meaning code (hex) FFFF Manufacturer-specific...
  • Page 174 174 Appendix B – CANopen error codes...

  • Page 175: Further Information

    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 abb.com/searchchannels. Product training For information on ABB product training, navigate to new.abb.com/service/training.
  • Page 176 3AFE68615500F © Copyright 2018 ABB. All rights reserved. Specifications subject to change without notice.

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