En Fcan 01 Revb

8/13/2019 En Fcan 01 Revb

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ABB Drives

Users Manual

CANopen Adapter ModuleFCAN-01


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CANopen Adapter ModuleFCAN-01

Users Manual

3AFE68615500 REV B

EN

EFFECTIVE: 27.09.2007

2007 ABB Oy. All Rights Reserved.


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Safety instructions

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Table of contents

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Table of contents

Safety inst ruct ions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Table of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Introduct ion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Intended audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

What this manual contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Terms used in this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Communication Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Virtual data words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

FCAN-01 CANopen Adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Further information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17


CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

FCAN-01 CANopen Adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Delivery check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Warranty and liability information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Quick start-up guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23


Mechanical and electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23


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Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Parameter setting examples - ACS 350 . . . . . . . . . . . . . . . . . . . . . . . . . . 25

DSP 402 Velocity mode with default mapping . . . . . . . . . . . . . . . . . . . . 25

ABB Drives profile mode with parameter mapping . . . . . . . . . . . . . . . . 27Parameter setting examples - ACSM1 . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

DSP 402 Profile Position mode

(requires ACSM1 Motion Control Program) . . . . . . . . . . . . . . . . . . . . . . 30

Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33


Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35


General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

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

Bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

AC and DC parameters for the CANopen network . . . . . . . . . . . . . . . . . . . . 38

Bus cable and termination resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41


CANopen connection configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Data transfer rates supported . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

FCAN-01 configuration parameters - group 1 . . . . . . . . . . . . . . . . . . . . . . 42

01 FBA TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

02 NODE ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4403 BIT RATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

04 CONF LOC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

05 PROFILE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

06 T16 SCALE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

07 RPDO1-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

08 RPDO1-TR TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

09 RPDO1-EV TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

10 TPDO1-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46


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11 TPDO1-TR TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

12 TPDO1-EV TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

13 RPDO6-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

14 RPDO6-TR TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4815 RPDO6-EV TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

16 TPDO6-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

17 TPDO6-TR TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

18 TPDO6-EV TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

19 RPDO21-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

20 RPDO21-TR TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

21 RPDO21-EV TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

22 TPDO21-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

23 TPDO21-TR TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

24 TPDO21-EV TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

FCAN-01 configuration parameters - group 2 . . . . . . . . . . . . . . . . . . . . . 51

2 FBA DATA OUT 2 to 10 FBA DATA OUT 10 . . . . . . . . . . . . . . . . . . . 54

FCAN-01 configuration parameters - group 3 . . . . . . . . . . . . . . . . . . . . . 55

2 FBA DATA IN 2 to 10 FBA DATA IN 10 . . . . . . . . . . . . . . . . . . . . . . . 56

Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Master configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57


Configuring the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

EDS files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Communication prof iles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59


Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59The CANopen device profile DSP 402 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Device Control state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Modes of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Profile position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Position demand value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Position actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Interpolated position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64


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Profile velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Target velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Velocity actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Profile torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Target velocity of DSP 402 Velocity mode . . . . . . . . . . . . . . . . . . . . . . 66

Control effort of DSP 402 Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . 66

Control Word and Status Word of the DSP 402 profile . . . . . . . . . . . . . . . 67

The ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

The Control Word and the Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . 71

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Control Word and Status Word of the ABB Drives profile . . . . . . . . . . . . . 74

Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79


CAN data frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

FCAN-01 boot-up sequence and Network Management (NMT) . . . . . . . . 81Process Data Objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

PDO1 Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

PDO1 Tx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

PDO6 Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

PDO6 Tx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

PDO21 Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

PDO21 Tx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Mapping format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Service Data Objects (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91SDO Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

SDO Upload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Read Service (SDO Upload) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Initiate SDO Upload Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Write Service (SDO Download) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Initiate SDO Download Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Abort SDO Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Abort SDO Transfer Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95


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Abort code description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

CANopen Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Object Dictionary Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Communication profile area (1000...1FFF) . . . . . . . . . . . . . . . . . . . . . . . . 99Manufacturer specific profile area (2000...5FFF) . . . . . . . . . . . . . . . . . . 108

Manufacturer specific profile objects . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Drive actual signals and parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Standardised device profile area DSP 402 (6000...9FFF) . . . . . . . . . . . 110

Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Dictionary structure and entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115


Description of transmission type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Description of PDO COB-ID entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

PDO mapping entry structure - example . . . . . . . . . . . . . . . . . . . . . . . . . . 116

CANopen error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117


Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Definit ions and abbreviat ions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125


CANopen definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

CiA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

CMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

COB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

DBT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

EDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

LMT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

NMT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126


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Object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

OSI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

PDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

RO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126RW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127


FCAN-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

CANopen link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128


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Introduction

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Introduction

What this chapter contains

This chapter includes a description of the contents of the manual.

Intended audience

The manual is intended for the people who are responsible for

commissioning and using an FCAN-01 CANopen Adapter module.

The reader is expected to have a basic knowledge of electricalfundamentals, electrical wiring practices and how to operate the

drive.

Before you start

It is assumed that the drive is installed and ready to operate before

starting the installation of the extension module.

In addition to conventional installation tools, have the drive

manuals available during the installation as they contain importantinformation not included in this manual. The drive manuals are

referred to at various points of this manual.

What this manual contains

This manual contains information on the wiring, configuration and

use of the FCAN-01 CANopen Adapter module.

Safety instructionsare featured in the first few pages of this

manual.

Overviewcontains a short description of the CANopen protocol

and the FCAN-01 CANopen Adapter module, and a delivery

checklist.

Quick start-up guidecontains a short description of how to set

up the FCAN-01 CANopen Adapter module.

Mechanical installationcontains placing and mounting

instructions for the module.


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Electrical installationcontains wiring and bus termination

instructions.

Drive configurationexplains how to program the drive before thecommunication through the adapter module can be started.

Master configurationexplains how to program the CANopen

master before the communication through the adapter module can

be started.

Communication profilesdescribes the communication profiles

used in the communication between the CANopen network, the

FCAN-01 module, and the drive.

Communicationcontains a description of how data is transmittedthrough the FCAN-01 module.

Diagnosticsexplains how to trace faults with the status LEDs on

the FCAN-01 module.

Dictionary structure and entriescontains information about

PDO transmission and mapping.

CANopen error codescontains reference tables for decoding

CANopen error messages.Definitions and abbreviationsexplains definitions and

abbreviations concerning the CANopen protocol family.

Technical datacontains information on physical dimensions,

configurable settings and connectors of the module and the

specification of the CANopen link.


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Introduction

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Overview

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The physical medium of CANopen is a differentially driven

two wire bus line with common return according to ISO 11898. The

maximum length of the bus is limited by the communication speed

as follows:

The maximum theoretical number of nodes is 127. However, in

practice, the maximum number depends on the capabilities of the

used CAN transceivers.

Further information is available from the CAN in Automation

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

FCAN-01 CANopen Adapter module

The FCAN-01 CANopen Adapter module is an optional device for

ABB drives which enables the connection of the drive to

a CANopen network. The drive is considered as a slave (server)

on the CANopen network. Through the FCAN-01 CANopen

Adapter module, it is possible to:

give control commands to the drive

(Start, Stop, Run enable, etc.)

feed a motor speed, torque or position reference to the drive give a process actual value or a process reference to the PID

controller of the drive

read status information and actual values from the drive

change drive parameter values

reset a drive fault.

Bit rate Max. bus length Bit rate Max. bus length

1 Mbit/s 25 m 125 kbit/s 500 m

800 kbit/s * 50 m 50 kbit/s 1000 m

500 kbit/s 100 m 20 kbit/s * 2500 m

250 kbit/s 250 m 10 kbit/s * 5000 m

* Not supported by FCAN-01
http://www.can-cia.org/http://www.can-cia.org/


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Overview

19

The CANopen commands and services supported by the

FCAN-01 CANopen Adapter module are discussed in chapter

Communicationon page 79. Please refer to the drive manuals as

to which commands are supported by the drive.

The adapter module is mounted into an option slot on the motor

control board of the drive. See the drive manuals for module

placement options.

EDS (Electronic Data Sheet) configuration files for ABB Drives are

available through your local ABB representative and the ABB

Library (www.abb.com).

Figure 1. Construction of the CANopen link and the FCAN-01Adapter module

Bus connector X1 (See chapter

Electrical installationon

page 35.)

Diagnostic LEDs

(See chapter Diagnosticsonpage113.)

CANopen

master

ABB drive Other slave

device
http://www.abb.com/http://www.abb.com/


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Overview

20

Compatibility

The FCAN-01 module is compatible with all master (client)

stations that support the CANopen protocol.

Delivery check

The option package for the FCAN-01 CANopen Adapter module

contains:

CANopen Adapter module, type FCAN-01

this manual.


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Overview

21

Warranty and liability information

The manufacturer warrants the equipment supplied against

defects in design, materials and workmanship for a period oftwelve (12) months after installation or twenty-four (24) months

from date of manufacturing, whichever first occurs. The local ABB

office or distributor may grant a warranty period different to the

above and refer to local terms of liability as defined in the supply

contract.

The manufacturer is not responsible for

any costs resulting from a failure if the installation,

commissioning, repair, alternation, or ambient conditions of theunit do not fulfil the requirements specified in the documentation

delivered with the unit and other relevant documentation

units subjected to misuse, negligence or accident

units comprised of materials provided or designs stipulated by

the purchaser.

In no event shall the manufacturer, its suppliers or subcontractors

be liable for special, indirect, incidental or consequential damages,

losses or penalties.

This is the sole and exclusive warranty given by the manufacturer

with respect to the equipment and is in lieu of and excludes all

other warranties, express or implied, arising by operation of law or

otherwise, including, but not limited to, any implied warranties of

merchantability or fitness for a particular purpose.

If you have any questions concerning your ABB drive, please

contact the local distributor or ABB office. The technical data,

information and specifications are valid at the time of printing.The manufacturer reserves the right to modifications without prior

notice.


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Overview

22


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Quick start-up guide

23



This chapter presents the steps to take during the start-up of the

FCAN-01 CANopen Adapter Module with an ACS350 or ACSM1

drive. For more detailed information, see chapters Mechanical

installationon page 33, Electrical installationon page 35and Drive

configurationon page 41.

WARNING!Follow the safety instructions given in this manual andthe hardware manual of the drive.

Mechanical and electrical installation

Insert the FCAN-01 into its specified slot in the drive.

Fasten the screw.

Plug the fieldbus connector to the module and fasten the

connection screws. See section Bus terminationon page 37.

Drive configuration

Power up the drive.

The detailed procedure of activating the drive for

communication with the module is dependent on the drive type.

Normally, a parameter must be adjusted to activate the

communication. Refer to the drive documentation for

information on the communication settings. With an ACS350drive, set parameter 9802 COMM PROT SEL to EXT FBA; with

an ACSM1 drive, set parameter 5001 FBA ENABLE to

ENABLE.

Parameter group 51 shows the status of the FPBA configuration

parameters.

At minimum, set the required node address at parameter 5102

NODE ADDRESS, the required bit rate at 5103 BIT RATE and


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24

the communication profile at 5105 PROFILE. Finally, validate

the settings with 5127 FBA PAR REFRESH.


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25

Parameter setting examples - ACS 350

DSP 402 Velocity mode with default mapping

ACS350 parameters and recommended parameter settings for theCANopen fieldbus communication are listed in the following table.

Drive

parameter

Recommended

setting for ACS350

Description

9802 COMM

PROT SEL

EXT FBA Communication (fieldbus) module

activation

1001 EXT1

COMMANDS

COMM Communication module as the source for

the start, stop and direction commands

1103 REF1

SELECT

AI1 Analogue input as the source for

reference 1

1601 RUN

ENABLE


the run enable signal

1604 FAULT

RESET SEL


the fault reset signal

5101 FBA TYPE CANopen(1

Communication module type

5102 NODE ID

(FBA PAR 2)

3 (2 FCAN-01 module node ID

5103 BIT RATE

(FBA PAR 3)

3 (2 Bit rate used on the CANopen network.

(3 = 125 kbit/s)

5104 CONF

LOC (FBA

PAR 4)

0 CANopen objects (14xxh, 16xxh, 18xxh

and 1Axxh) as the source for the PDO

settings

5105 PROFILE

(FBA PAR 5)

0 DSP 402 Velocity mode communication

profile (i.e. communication profile used by

the module)

5127 FBA PAR

REFRESH

REFRESH Fieldbus configuration parameter settings

activation

(1Automatically detected(2Example


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26

With default mapping only PDO1 Rx and PDO1 Tx are used in the

cyclical communication.

Note:PDO1 Tx default transmission type is 255 (acyclic) andevent time is 0. The event time should be changed with CANopen

object 1800h05 if the default transmission type is used.

PDO Control Word * PDO length

PDO1 Rx 6040h 16 bits

PDO Status Word *

PDO1 Tx 6041h 16 bits

* According to the DSP 402 Velocity mode


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27

ABB Drives profile mode with parameter mapping

ACS350 parameters and recommended parameter settings for the

CANopen fieldbus communication are listed in the following table:

Drive parameterRecommended

setting for ACS350

Description

9802 COMM PROT

SEL

EXT FBA Communication (fieldbus)

module activation

1001 EXT1

COMMANDS

COMM Communication module as the

source for the start, stop and

direction commands

1103 REF1 SELECT COMM Communication module as the

source for reference 1

1601 RUN ENABLE COMM Communication module as the

source for the Run enable signal

1604 FAULT RESET

SEL

COMM Communication module as the

source for the fault reset signal

5101 FBA TYPE CANopen (1 Communication module type

5102 NODE ID (FBA

PAR 2)

3 (2 FCAN-01 module node ID

5103 BIT RATE (FBA

PAR 3)

2 (2 Bit rate used on the CANopen

network (2 = 250 kbit/s)

5104 CONF LOC

(FBA PAR 4)

1 Fieldbus configuration

parameters as the source for the

PDO settings

5105 PROFILE (FBAPAR 5)

1 ABB Drives profile mode(i.e. communication profile used

by the module)

5107 RPDO1-COB-

ID TYPE (FBA

PAR 7)

1 RPDO1 is enabled and

configured to use the default

COB-ID.

5108 RPDO1-TR

TYPE (FBA PAR 8)

255 (2 Asynchronous transmission

mode is used by PDO1 Rx.


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28

5110 TPDO1-COB-ID

(FBA PAR 10)

1 TPDO1 is enabled and

configured to use the default

COB-ID.

5111 TPDO1-TR

TYPE (FBA PAR 11)

255 Asynchronous transmission

mode is used by PDO1 Tx.

Transmission is triggered by the

event time.

5112 TPDO1-EV

TIME (FBA PAR 12)

100 (2 Event time, i.e. event time

elapses every 100 ms.

5401 DATA IN 1 5 (2 Actual value 1 as mapping

entry 2 in PDO1 Tx

5402 DATA IN 2 6 (2 Actual value 2 as mapping

entry 3 in PDO1 Tx

5403 DATA IN 3 106 (2 Signal 106 POWER as mapping

entry 4 in PDO1 Tx

5501 DATA OUT 1 2(2

Reference 1 as mapping entry 2in PDO1 Rx

5502 DATA OUT 2 3 (2 Reference 2 as mapping entry 3

in PDO1 Rx

5503 DATA OUT 3 135 (2 Signal 135 COMM VALUE 1 as

mapping entry 4 in PDO1 Rx

5127 FBA PARREFRESH

REFRESH Fieldbus configuration parametersettings activation

(1Automatically detected(2Example


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29

With parameter mapping only PDO1 Rx and PDO1 Tx are used in

the cyclical communication.

Note:The settings of the PDOs can be changed with CANopen

objects 14xxh, 16xxh, 18xxh and 1Axxh. Communication

parameter settings (if not stored to the non-volatile memory) of the

CANopen objects 14xxh and 18xxh are valid only to next boot-up.

The start/stop commands and reference are according to the ABB

DRIVES profile. (For more information, see section The ABB

Drives communication profileon page 71.)When reference 1 (REF1) is used, a reference value of 20000

(decimal) corresponds to the reference set by parameter 1105

REF1 MAX in the forward and reverse directions.

When reference 2 (REF2) is used, a reference value of 10000

(decimal) corresponds to the reference set by parameter 1108

REF2 MAX in the forward and reverse directions.

The minimum and maximum 16-bit integer values that can be

given through the fieldbus are -32768 and 32767 respectively.

PDO ControlWord *

Targetvelocity *

Reference 2 * Signal 135COMM VALUE 1

PDOlength

PDO1 Rx 6040h 6042h 2000h03 4001h23 64 bits

PDO Status

Word *

Velocity

control effort *

Ac tual value 2 * Signal 106

POWER

PDO

length

PDO1 Tx 6041h 6044h 2000h06 4001h26 64 bits

* According to the ABB Drives profile mode


30/130


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31

51.04 CONF LOC (FBA

PAR 4)

1 PDO1 configuration is done via

FCAN-01 configuration

parameter groups 1, 2 and 3

(i.e. ACSM1 parameter groups

51, 52 and 53)

51.05 PROFILE (FBA

PAR 5)

0 DSP 402 communication

profile (i.e. communication

profile used by the module)

...

5108 RPDO1-TR TYPE

(FBA PAR 8)

255 (2 Asynchronous transmission

mode is used by PDO1 Rx.

52.01 4 Status Word (16-bit)

52.02 15 Position Actual Value (32-bit)

52.03 0 (reserved) Parameters in groups 52 and

53 are 16-bit parameters.

Mapping of 32-bit parameters

automatically reserves also the

following cell (i.e. mapping of

15 to parameter 52.02reserves also the parameter

52.03)

53.01 1 Control Word (16-bit)

53.02 12 Position Reference (32-bit)

53.03 0 (reserved) Parameters in groups 52 and

53 are 16-bit parameters.

Mapping of 32-bit parameters

automatically reserves also thefollowing cell (i.e. mapping of

12 to parameter 53.02

reserves also the parameter

53.03)

51.27 FBA PAR

REFRESH

REFRESH Fieldbus configuration

parameter settings activation


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Mechanical installation

34


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Electrical installation

38

AC and DC parameters for the CANopen network

Bus cable and termination resistors

The cables, connectors, and termination resistors used in

CANopen networks must meet the requirements specified in

ISO 11898.

The table below lists the standard values for DC parameters for

CANopen networks with less than 64 nodes:

With drop cables the recommended cable cross-section is

0.25...0.34 mm2.

Bus

length

[m]

Bus cable (1 Termination

resistance

[ohm]

Baudrate

[kbit/s]Length-relatedresistance [mohm/m] Cross-section[mm2]

0...40 70 0.25...0.34 124 1000 at 40 m

40...300 < 60 0.34...0.6 150...300 > 500 at 100 m

300...600 < 40 0.5...0.6 150...300 > 100 at 500 m

600...1000 < 26 0.75...0.8 150...300 > 50 at 1 km

(1Recommended cable for AC parameters: 120 ohm impedance and 5 ns/m line

delay.


39/130

Electrical installation

39

In addition to the cable resistance, the real resistance of the

connectors should be taken into account in voltage drop

calculation. The transmission resistance of one connector should

be 2.5...10 mohm.

The following table lists the maximum bus cable length for

different node numbers (n), when

minimum dominant value Vdiff.out.min= 1.5 V

minimum differential input resistance Rdiff.min= 20 kohm

requested differential input voltage Vth.max= 1.0 V

minimum termination resistance RT.min= 118 ohm.

Wire cross-section

[mm2]

Maximum length [m] (1 Maximum length [m] (2

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

0.25 200 170 150 230 200 170

0.5 360 310 270 420 360 320

0.75 550 470 410 640 550 480

(1Safety margin of 0.2(2

Safety margin of 0.1


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Drive configuration

41

Drive configuration


This chapter gives information on configuring the drive for

communication through the FCAN-01 CANopen Adapter module.

CANopen connection configuration

After the FCAN-01 CANopen Adapter module has been

mechanically and electrically installed according to the instructionsin previous chapters, the drive must be prepared for

communication with the module.

The detailed procedure of activating the module for CANopen

communication with the drive is dependent on the drive type.

Normally, a parameter must be adjusted to activate the

communication (see the drive manuals).

As communication between the drive and the FCAN-01 is

established, several configuration parameters are copied to thedrive. These parameters shown below in Tables 2to 4 must be

checked first and adjusted when necessary. The alternative

selections for these parameters are discussed in more detail

below the tables.

Note:The new settings take effect only when the module is

powered up the next time or when a Fieldbus Adapter parameter

refresh command is given (see the drive manuals).

Data transfer rates supported

The FCAN-01 supports the following CANopen communication

speeds: 50 kbit/s, 100 kbit/s *, 125 kbit/s, 250 kbit/s, 500 kbit/s and

1 Mbit/s.

* Note:Not recommended for a new installation.


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Drive configuration

42

FCAN-01 configuration parameters - group 1

Table 2. FCAN-01 configuration parameters group 1 (1

Par.

no.

Parameter name Parameter

name in drive

Al ternat ive sett ings Default

setting

1 FBA TYPE FBA TYPE (Read-only) CANopen

2 NODE ID FBA PAR 2 1 to 127 3

3 BIT RATE FBA PAR 3 (0)1 Mbit/s;

(1) 500 kbit/s;

(2) 250 kbit/s;

(3) 125 kbit/s;

(4) 100 kbit/s;

(5) 50 kbit/s

3

4 CONF LOC FBA PAR 4 (0)PDO configuration

from CANopen objects

(NETWORK);

(1)PDO configuration

from configurationparameters

(PARAMETERS)

0

5 PROFILE FBA PAR 5 (0)DSP 402;

(1)ABB Drives;

(2) Transparent 16;

(3) Transparent 32

1

6 T16 SCALE FBA PAR 6 1 to 65535 100

7 RPDO1-COB-ID FBA PAR 7 0 = Not valid;1 = Valid, default COB

ID; (3

358 to 1407 (dec) =

Valid, custom COB ID

1

8 RPDO1-TR TYPE FBA PAR 8 0 to 255 (dec) (2 255

9 RPDO1-EV TIME FBA PAR 9 0 to 65535 (ms)

0 = Not used

0


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Drive configuration

43

10 TPDO1-COB-ID FBA PAR 10 0 = Not valid;

1 = Valid, default COB; (3

ID358 to 1407 (dec) =Valid, custom COB ID

1

11 TPDO1-TR TYPE FBA PAR 11 0 to 255 (dec) (2 255

12 TPDO1-EV TIME FBA PAR 12 0 to 65535 (ms)

0 = Not used

0

13 RPDO6-COB-ID FBA PAR 13 0 = Not valid;

1 = Valid, default COB

ID; (3

358 to 1407 (dec) =


0

14 RPDO6-TR TYPE FBA PAR 14 0 to 255 (dec) (2 255


0 = Not used

255

16 TPDO6- COB-ID FBA PAR 16 0 = Not valid;


ID;(3

358 to 1407 (dec) =


0

17 TPDO6-TR TYPE FBA PAR 17 0 to 255 (dec) (2 255

18 TPDO6-EV TIME FBA PAR 18 0 to 65535 (ms)

0 = Not used.

0

19 RPDO21- COB-ID FBA PAR 19 0 = Not valid;1 = Valid,

default COB ID; (3

358 to 1407 (dec) =


0

20 RPDO21-TR TYPE FBA PAR 20 0 to 255 (dec)(2 255


0 = Not used.

0


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Drive configuration

44

01 FBA TYPE

Shows the fieldbus adapter type as detected by the drive. The

value cannot be adjusted by the user.

If this parameter is undefined, the communication between the

drive and the module has not been established.

02 NODE ID

Selects the node address of the module.

1...127

Each device on the CANopen network must have a unique node

identifier. This parameter is used to define a node identifier for the

drive it is connected to.

03 BIT RATE

Sets the bit rate for the CANopen interface. This is user

selectable, but must be the same on every node on the CANopen

network.

1 Mbit/s (0), 500 kbit/s (1), 250 kbit/s (2), 125 kbit/s (3),100 kbit/s (4)and 50 kbit/s (5).

Note: 100kbit/s is not recommended for a new installation.

22 TPDO21- COB-ID FBA PAR 22 0 = Not valid;


ID;

(3

358 to 1407 (dec) =


0

(1Actual parameter group number in the drive depends on the drive type. E.g. for

ACS350 and ACSM1 group 1 is parameter group 51 of the drive.(2See section Description of transmission typeon page 115.(3 Valid with the default value (e.g. RxPDO1 0x200 + Node ID)


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Drive configuration

45

04 CONF LOC

Selects the source of the PDO configuration. PDOs can be

configured either via CANopen objects or via FCAN-01 moduleconfiguration parameter groups 1, 2 and 3.

0 = Configuration via CANopen objects 1400h, 1600h, 1405h,

1605h, 1414h, 1614h, 1800h, 1A00h, 1805h, 1A05h, 1814h and

1A14h only.

1 = Configuration via FCAN-01 module configuration parameter

groups 1, 2 and 3 (default values).

Note: The first mapping entries of the Tx/RxPDO1 andTx/RxPDO6 is fixed in the ACS350.

Note:Make sure that the PLC does not overwrite the selected

configuration during the initialization phase when the configuration

is taken from the configuration parameter groups.

05 PROFILE

Selects the used communication profile by the FCAN-01.

CANopen device profile DSP 402 (0), ABB Drives (1), Transparent

16 (2) and Transparent 32 (3) profiles. For more information on the

communication profiles, see chapter Communication profileson

page 59.

06 T16 SCALE

Defines the reference multiplier / actual value divisor for the

FCAN-01. The parameter is effective only when Transparent 16

profile is selected and the drive is using the DCU communication

profile.

For example, if T16 SCALE has a value of 100 and a reference of

1,000 given by the PLC, the reference will be multiplied by 100

and forwarded to the drive as 100,000. According to the DCU

profile, this value is interpreted as a reference of 100 rpm in the

ACS350.


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Drive configuration

46

07 RPDO1-COB-ID

Defines the COB-ID for RxPDO1.

0 = RxPDO1 is not valid (disabled). The COB-ID is80000200h+Node-ID.

1 = RxPDO1 is valid and configured to use the default COB-ID

(200h+Node-ID).

3581407 (181h57Fh) = RxPDO1 is valid and configured to

use a custom COB-ID defined with this parameter. The COB-ID

must be within the allowed PDO COB-ID range (181h - 57Fh).

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

08 RPDO1-TR TYPE

Defines the RxPDO1 transmission type. See chapterDictionary

structure and entrieson page 115.

09 RPDO1-EV TIME

Defines the event time (timeout time) for the RxPDO1 in the

asynchronous transmission mode. In the case when the RxPDO1communication between the FCAN-01 and the bus master fails

the FCAN-01 sets the communication between the module and

the drive to OFF-LINE mode.

0 = timeout supervision is disabled.

1...65535 ms

The event timer (timeout timer) elapses as a multiple of 1 ms of

the entry of this parameter.

Note: Timeout supervision is activated upon a successful

reception of an RxPDO1.

10 TPDO1-COB-ID

Defines the COB-ID for TxPDO1.


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Drive configuration

47

0 = TxPDO1 is not valid (disabled). The COB-ID is

80000180h+Node-ID.

1 = TxPDO1 is valid and configured to use the default COB-ID(180h+Node-ID).

3581407 (181h57Fh) = TxPDO1 is valid and configured to



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

11 TPDO1-TR TYPE

Defines the PDO1 transmission type. See chapterDictionary


12 TPDO1-EV TIME

Defines the event time for the TxPDO1 asynchronous

transmission mode.

0 = Not used.

1...65535 msThe event timer elapses as a multiple of 1 ms of the entry of this

parameter.

13 RPDO6-COB-ID


0 = RxPDO6 is not valid (disabled). The COB-ID is

80000300h+Node-ID.

1 = RxPDO6 is valid and configured to use the default COB-ID(300h+Node-ID).






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Drive configuration

48

14 RPDO6-TR TYPE

Defines the RxPDO6 transmission type. See chapter Dictionary

structure and entrieson page 115.15 RPDO6-EV TIME


asynchronous transmission mode. In the case when the RxPDO6

communication between the FCAN-01 and the bus master fails

the FCAN-01 sets the communication between the module and

the drive to OFF-LINE mode.


1...65535 ms

The event timer (timeout timer) elapses as a multiple of 1 ms of

the entry of this parameter.

Note: Timeout supervision is activated upon a successful

reception of an RxPDO6.

16 TPDO6-COB-ID

Defines the COB-ID for TxPDO6.

0 = TxPDO6 is not valid (disabled). The COB-ID is

80000280h+Node-ID.

1 = TxPDO6 is valid and configured to use the default COB-ID

(280h+Node-ID).

3581407 (181h57Fh) = TxPDO6 is valid and configured to




17 TPDO6-TR TYPE

Defines the TxPDO6 transmission type. See chapterDictionary



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Drive configuration

49

18 TPDO6-EV TIME

Defines the event time for the TxPDO6 asynchronous

transmission mode.0 = Not used.

1...65535 ms

The event timer elapses as a multiple of 1 ms of the entry of this

parameter.

19 RPDO21-COB-ID


0 = RxPDO21 is not valid (disabled). The COB-ID is

80000400h+Node-ID.

1 = RxPDO21 is valid and configured to use the default COB-ID

(400h+Node-ID).




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

20 RPDO21-TR TYPE

Defines the RxPDO21 transmission type. See chapterDictionary


21 RPDO21-EV TIME


asynchronous transmission mode. In the case when theRxPDO21 communication between the FCAN-01 and the bus

master fails the FCAN-01 sets the communication between the

module and the drive to OFF-LINE mode


1...65535 ms


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Drive configuration

51

FCAN-01 configuration parameters - group 2

Table 3. FCAN-01 configuration parameters group 2 (1

Par.no.

Parameter name (2 Parametername in

drive (2

Al ternative sett ings Defaultsetting

ACS350 ACSM1

1 PDO1 Rx

WORD 2

PDO1 Rx

WORD 1

FBA DATA

OUT 1

(master to

drive)

0 to 9999

Format: xxyy, where

xx = parameter group

and yy = parameter

index.

0

2 PDO1 RxWORD 3

PDO1 RxWORD 2

FBA DATAOUT 2

See FBA DATA OUT 1above.

0

3 PDO1 Rx

WORD 4

PDO1 Rx

WORD 3

FBA DATA

OUT 3

See FBA DATA OUT 1

above.

0

4 PDO6 Rx

WORD 2

PDO1 Rx

WORD 4

FBA DATA

OUT 4

See FBA DATA OUT 1

above.

0

5 PDO6 Rx

WORD 3

PDO6 Rx

WORD 1

FBA DATA

OUT 5

See FBA DATA OUT 1

above.

0

6 PDO6 Rx

WORD 4

PDO6 Rx

WORD 2

FBA DATA

OUT 6

See FBA DATA OUT 1

above.

0

7 PDO21 Rx

WORD 1

PDO6 Rx

WORD 3

FBA DATA

OUT 7

See FBA DATA OUT 1

above.

0

8 PDO21 Rx

WORD 2

PDO6 Rx

WORD 4

FBA DATA

OUT 8

See FBA DATA OUT 1

above.

0

9 PDO21 Rx

WORD 3

PD21 Rx

WORD 1

FBA DATA

OUT 9

See FBA DATA OUT 1

above.

0

10 PDO21 Rx

WORD 4

PD21 Rx

WORD 2

FBA DATA

OUT 10

See FBA DATA OUT 1

above.

0

11 PD21 Rx

WORD 3

FBA DATA

OUT 11

See FBA DATA OUT 1

above.

0

12 PD21 Rx

WORD 4

FBA DATA

OUT 12

See FBA DATA OUT 1

above.

0


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Drive configuration

52

Note: the FCAN-01 configuration parameters are 16-bit

parameters. If the mapped parameter is a 32-bit parameter, it

automatically reserves two consecutive parameters. E.g. mapping

of a 32-bit parameter to Par. no. 1 also reserves Par. no. 2.

1 FBA DATA OUT 1

This parameter represents data word 1 received by the drive over

the CANopen network. The content is defined by a decimal

number in the range of 0 to 9999 as follows:

(1 Actual parameter group number in the drive depends on the drive type. E.g., for

ACS350 group 2 is the parameter group 55 of the drive and for the ACSM1 group 2

is parameter group 53 of the drive.

(2 For more information, see chapter Communicationon page 79.

0 Not used

1...99 Virtual address area of the drive control

101...9999 Parameter area of the drive


53/130

Drive configuration

53

The virtual address area of the drive control is allocated as

follows:

Profile

Transparent3

2

- - - - - - - 2001h

2002h

2003h

2004h

2005h

2006h

-

Transparent16

6040h

6042h

2000h03

6041h

6044h

2000h06

- - - - - - - -

ABB

Drives

6040h

6042h

2000h03

6041h

6044h

2000h06

- - - - - - - -

DSP402

vl

6040h

6042h

- 6041h

6044h

- - - - - - - - -

pt

6040h

6071h

- 6041h

6077h

- - - - - - - - -

p

v

60

40h

- - 60

41h

- - - - 60

FF

- - 60

6C

- -

ip

pp

6040h

- - 6041h

- - - - 607Ah

- - 6064h

- -

hm

6040h

- - 6041h

- - - - - - - - - -

D

ata

len

gth

16-bit

16-bit

16-bit

16-bit

16-bit

16-bit

n/a 32-bit

32-bit

32-bit

32-bit

32-bit

32-bit

n/a

Description

ControlWord

Reference1

Reference2

StatusWord

ActualValue1

ActualValue2

Reserved

ControlWord

Reference1

Reference2

StatusWord

ActualValue1

ActualValue2

Reserved

Virtual

address

1 2 3 4 5 6 7...10

11

12

13

14

15

16


54/130

Drive configuration

54

hm homing mode

pp profile position mode

ip inter-polated position mode

pv profile velocity mode

pt profile torque mode

vl velocity mode

The parameter area is allocated as follows:

Parameter number with format xxyy, where xx is the parameter

group number (1 to 99) and yy is the parameter number index

within that group (01 to 99).

2 FBA DATA OUT 2 to 10 FBA DATA OUT 10

See section 1 FBA DATA OUT 1above.


55/130


56/130

Drive configuration

56

1 FBA DATA IN 1

This parameter represents data word 1 sent by the drive over the

CANopen network. For the contents, see configuration parameter

group 2, parameter 1 (FBA DATA OUT 1) on page 52.

2 FBA DATA IN 2 to 10 FBA DATA IN 10

See section 1 FBA DATA IN 1above.

Control locations

ABB drives can receive control information from multiple sources

including digital inputs, analogue inputs, the drive control panel

and a communication module (e.g. FCAN-01). ABB drives allow

the user to separately determine the source for each type of

control information (Start, Stop, Direction, Reference, Fault Reset,

etc.). In order to give the fieldbus master station the most

complete control over the drive, the communication module must

be selected as source for this information. See the drive manuals

for information on the selection parameters.

(1Actual parameter group number in the drive depends on the drive type. E.g. for

ACS350 group 3 is parameter group 54 of the drive and for ACSM1 group is

parameter group 52 of the drive.(2For more information, see chapter Communicationon page 79.


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Master configuration

57



This chapter gives information on configuring the CANopen

master station for communication through the FCAN-01 CANopen

Adapter module.

Configuring the system

After the FCAN-01 CANopen Adapter module has beenmechanically and electrically installed according to the instructions

in previous chapters, and has been initialised by the drive, the

master station must be prepared for communication with the

module.

Please refer to the master station documentation for more

information.

EDS files

Electronic Data Sheet (EDS) files specify the device properties for

the CANopen master (client). EDS files for the FCAN-01

CANopen Adapter module contain information on the supported

communication objects. EDS files for ABB Drives are available

through your local ABB representative.


58/130


58


59/130

Communication profiles

59



This chapter describes the communication profiles used in the

communication between the CANopen network, the FCAN-01

module, and the drive.


Communication profiles are ways of conveying control commands(Control Word, Status Word, references and actual values)

between the master station and the drive.

With the FCAN-01 module, the CANopen network may employ

DSP 402 (Device Profile Drives and Motion Control) profile or the

ABB Drives profile. Both are converted to the DCU profile (detailed

in the drive manuals) by the FCAN-01 module. In addition, two

Transparent profiles for 16-bit and 32-bit words respectively

are available. With the Transparent modes, no data conversion

takes place.

Note: The DSP 402 operation mode support is drive-specific. See

The CANopen device profile DSP 402on page 62for more

details.

The profile is selected from the drive with parameter 5 PROFILE

of the fieldbus configuration group 1. E.g. if parameter 5 PROFILE

is set to 0, the Control Word of the drive is set according to theDSP 402 Standard (Device Profile Drives and Motion Control).


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60

Dataconversion

DSP 402

FCAN-01

ABB Drives

Transparent 16

Transparent 32

Drive

Optionalreference,

actual valuescaling

(1

(1

CANopenobjects2001h

...2006h

CANopenobjects6040h6042h6041h

6044h2000h032000h06607Ah (*6064h (*6071h (*6077h (*60FF (*606C (*

Control Word, reference, Status Wordand actual values according to

CANopen device profile DSP 402,ABB Drives profile or

drive-specific 16-bit words

Dataconversion

Select

(2

Control Word, reference, StatusWord and actual values according

to drive-specific 32-bit words

Select

(2

(1DCU profile(2 Selection via FCAN-01 configuration parameters(par. 5 PROFILE of group 1)(* Only with ACSM1


61/130


61

The following sections describe the Control Word, the Status

Word, references and actual values for the CANopen device

profile DSP 402 and ABB Drives communication profiles. See the

drive manuals for details on the DCU communication profile.


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62

The CANopen device profile DSP 402

Device Control state machine

The start and stop of the drive and several mode specific

commands are executed by the Device Control state machine.

This is described in Figure 5.

The Control Word is the principal means for controlling the drive

from a fieldbus system. It is sent by the fieldbus master station to

the drive through the adapter module. The drive switches between

its states according to the bit-coded instructions in the ControlWord, and returns status information to the master in the Status

Word.

The contents of the Control Word and the Status Word are

detailed section Control Word and Status Word of the DSP 402

profileon page 67.

Device Control state machine

Modes of operation

Homing

Mode

*)

Profile

Position

mode*)

Inter-

Polated

Positionmode

**)

Profile

Velocity

mode*)

Profile

Torque

mode*)

Velocity

mode

*) Supported with ACSM1 only

**) Not supported


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63

Modes of operation

The operation mode defines the behavior of the drive. DSP 402

defines following operation modes: Homing mode

Profile position mode

Interpolated position mode

Profile velocity mode

Profile torque mode

Velocity mode

FCAN-01 supports minimal implementation of the operation

modes. Operation mode support is drive-specific (see figure 1).

Interpolated position mode is not supported.

In this chapter scalings of the reference and actual values are

described for each operation mode. Operation mode specific

objects are defined in the CANopen Object Dictionaryon page 98.

In ACSM1, the mode of operation is automatically selected

according to the control mode configured with parameter 3403EXT1 CTRL MODE, 3404 EXT1 CTRL MODE2 or 3405 EXT2

CTRL MODE1 (depending on the current control location). The

correct reference scaling must be selected with par. 5004 FBA

REF1 MODESEL.

Homing mode

Homing mode describes various methods of finding a home

position, or zero point. Either limit switches at the ends of travel or

a home switch in mid travel are used. Most of the methods also

use the index (zero) pulse from an incremental encoder. For more

information on the homing mode and descriptions of the various

homing methods, see the drive manual.

Profile position mode

This mode enables the positioning of the drive to be controlled.


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64

Position demand value

Position demand value defines the position setpoint. The position

setpoint is scaled as follows:

Position actual value

Position actual value defines the actual position of the application.Position actual value is scaled as position demand value (see

above).

Interpolated position mode

Not supported with FCAN-01 CANopen adapter.

Profile velocity mode

The profile velocity mode is used to control the velocity of the drivewith no special regard of the position.

Drive parameter Setting

60.05 POS UNIT (Position unit) m**

60.08 POS2INT SCALE 100**

**Example

1000 / 100 = 10.00 m60.05 POS UNITPhysical value60.08 POS2INT SCALESetpoint value


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65

Target velocity

Target velocity is the required velocity of the application. The

target velocity is scaled as follows:

Velocity actual value

Velocity actual value defines the actual velocity of the application.

Velocity actual value is scaled as target velocity (see above).

Profile torque mode

Profile torque mode enables the drive torque to be controlled

directly.

Target torque

Target torque is the required torque of the application. The value is

given per thousand of the rated torque, i.e. 10 = 1 %.

Torque actual value

Torque actual value corresponds to the instantaneous torque in

the drive motor. The value is given per thousand of the rated

torque, i.e. 10 = 1 %.

Drive parameter Example setting

60.05 POS UNIT (Position unit) m

60.10 POS SPEED UNIT unit/s

60.11 POS SPEED2INT 100

1000 / 100 = 10.00 m/s

60.10 POS SPEED UNITPhysical value60.11 POS SPEED2INTSetpoint value


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66

Velocity mode

Basic mode to control the velocity of the drive with limits and ramp

functions.Target velocity of DSP 402 Velocity mode

Target velocity is the required velocity of the application. The unit

of the target velocity is interpreted as rpm. 1 = 1 rpm.

Control effort of DSP 402 Velocity mode

Control effort is the actual velocity of the application. The unit of

the control effort is interpreted as rpm. 1 = 1 rpm.


67/130


68/130


68

Status Word of DSP 402

Bit Description

0 Ready to switch on

1 Switched on

2 Operation enabled

3 Fault

4 Voltage disabled

5 Quick stop

6 Switch on disabled

7 Warning

8 Drive-specific bit

9 Remote

10 Target reached

11 Internal limit active

12...13 Operation mode specific

14...15 Drive-specific bit

Operation mode specif ic bits

Bit Velocity

mode

Profile

positionmode*

Profile

velocitymode*

Profile

torquemode*

Homing

mode*

Interpolation

positionmode**

12 Reserved Setpoint

acknowledge

Speed Reserved Homing

attained

IP mode

active

13 Reserved Following

error

Max

slippage

error

Reserved Homing

error

Reserved


69/130


70/130


70

Figure 5. The CANopen state machine

CW: xxxxxxxx1xxxxxxx

from any state

FAULT REACTIONACTIVE

SW: xxxxxxxxx0xx1111

Fault reactioncompleted

FAULT

SW: xxxxxxxxx0xx1000

START

Power-on,self-initialisation

NOT READY

SW: xxxxxxxxx0xx0000TO SWITCH ON

Initialisedsuccessfully

CW: xxxxxxxxxxxxx01x

CW: xxxxxxxxxxxxx110



CW: xxxxxxxxxxxxx01xor

CW: xxxxxxxxxxxxxx0x

CW: xxxxxxxxxxxx0111

CW: xxxxxxxxxxxx1111


Quick stopcompleted

CW: xxxxxxxxxxxxx01xCW: xxxxxxxxxxxxxx0x

CW: Control WordSW: Status Word

SWITCH-ON

SW: xxxxxxxxx1xx0000DISABLED

SWITCHED ON

SW: xxxxxxxxx01x0011

READY TOSW: xxxxxxxxx01x0001

SWITCH ON

OPERATION

SW: xxxxxxxxx01x0111ENABLED

QUICK STOP

SW: xxxxxxxxx0xx0111ACTIVE

orCW: xxxxxxxxxxxxxx0x

orCW: xxxxxxxxxxxxxx0x

State transition(0)

(1) (15)

(2)

(7)

(3)

(6)

(10)

(12)

(9)

(8)

(5)

(4)

(11)


71/130


71

The ABB Drives communication profile

The Control Word and the Status Word

The Control Word is the principal means for controlling the drive

from a fieldbus system. It is sent by the fieldbus master station to

the drive through the adapter module. The drive switches between

its states according to the bit-coded instructions in the Control

Word, and returns status information to the master in the Status

Word.

The contents of the Control Word and the Status Word are

detailed section Control Word and Status Word of the ABB Drives

profileon page 74. The drive states are presented in the ABB

Drives profile state machine, Figure 6.


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72

References

References are 16-bit words containing a sign bit and a 15-bit

integer. A negative reference (indicating reversed direction ofrotation) is formed by calculating the twos complement from the

corresponding positive reference.

ABB drives can receive control information from multiple sources

including analogue and digital inputs, the drive control panel and

a communication module (e.g. FCAN-01). In order to have the

drive controlled through the fieldbus, the module must be defined

as the source for control information, e.g. reference.

ScalingReferences are scaled as shown below.

Note:The values of REF1 MAX and REF2 MAX are set by drive

parameters. See the drive manuals for further information.

REFx MIN

-(REFx MIN)

REFx MAX

-(REFx MAX)

0

REF2: -10000REF1: -20000

REF2: 10000REF1: 20000

DriveFieldbus


73/130


74/130


74

Control Word and Status Word of the ABB Drives profile

The following table presents the Control Word of the ABB Drives

communication profile. The upper case boldface text refers to thestates shown in Figure 6.

Control Word of ABB Drives profile

Bit Name Value STATE/Description

0 OFF1_

CONTROL

1 Proceed to READY TO OPERATE.

0 Stop along currently active deceleration ramp.

Proceed to OFF1 ACTIVE; proceed to READY TO

SWITCH ONunless other interlocks (OFF2, OFF3)

are active.

1 OFF2_

CONTROL

1 Continue operation (OFF2 inactive).

0 Emergency OFF, coast to stop.

Proceed to OFF2 ACTIVE, proceed to SWITCH-ON

INHIBITED.

2 OFF3_

CONTROL

1 Continue operation (OFF3 inactive).

0 Emergency stop, stop within time defined by drive

parameter. Proceed to OFF3 ACTIVE; proceed toSWITCH-ON INHIBITED.

Warning:Ensure motor and driven machine can be

stopped using this stop mode.

3 INHIBIT_

OPERATION

1 Proceed to OPERATION ENABLED.

Note:Run enable signal must be active; see the

drive manuals. If the drive is set to receive the Run

enable signal from the fieldbus, this bit activates the

signal.

0 Inhibit operation. Proceed to OPERATION

INHIBITED.

4 RAMP_OUT_

ZERO

1 Normal operation. Proceed to RAMP FUNCTION

GENERATOR: OUTPUT ENABLED.

0 Force Ramp Function Generator output to zero.

Drive ramps to stop (current and DC voltage limits in

force).


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75

5 RAMP_HOLD 1 Enable ramp function.

Proceed to RAMP FUNCTION GENERATOR:

ACCELERATOR ENABLED.

0 Halt ramping (Ramp Function Generator output

held).

6 RAMP_IN_

ZERO

1 Normal operation. Proceed to OPERATING.

Note:Effective only if the fieldbus interface is set as

the source for this signal by drive parameters.

0 Force Ramp Function Generator input to zero.

7 RESET 0=>1 Fault reset if an active fault exists. Proceed to

SWITCH-ON INHIBITED.

Note:Effective only if the fieldbus interface is set as

the source for this signal by drive parameters.

0 Continue normal operation.

8 to 9 Reserved.

10 REMOTE_

CMD

1 Fieldbus control enabled

0 Control Word 0 or Reference 0: Retain last

Control Word and Reference.

Control Word = 0 and Reference = 0: Fieldbus

control enabled. Reference and deceleration/

acceleration ramp are locked.

11 EXT_CTRL_

LOC

1 Select External Control Location EXT2. Effective if

control location is parameterised to be selected from

fieldbus.

0 Select External Control Location EXT1. Effective if

control location is parameterised to be selected from

fieldbus.

12 to

15

Reserved

Control Word of ABB Drives profile



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76

The following table presents the Status Word of the ABB Drives

communication profile. The upper case boldface text refers to the

states shown in Figure 6.

Status Word of the ABB Drives prof ile


0 RDY_ON 1 READY TO SWITCH ON

0 NOT READY TO SWITCH ON

1 RDY_RUN 1 READY TO OPERATE

0 OFF1 ACTIVE

2 RDY_REF 1 OPERATION ENABLED

0 OPERATION INHIBITED

3 TRIPPED 1 FAULT

0 No fault

4 OFF_2_STA 1 OFF2 inactive

0 OFF2 ACTIVE

5 OFF_3_STA 1 OFF3 inactive

0 OFF3 ACTIVE

6 SWC_ON_

INHIB

1 SWITCH-ON INHIBITED

0

7 ALARM 1 Warning/Alarm

0 No warning/alarm

8 AT_

SETPOINT

1 OPERATING. Actual value equals reference = is

within tolerance limits, i.e. in speed control, speederror is 10% max. of the nominal motor speed.

0 Actual value differs from reference = is outside

tolerance limits.

9 REMOTE 1 Drive control location: REMOTE (EXT1 or EXT2)

0 Drive control location: LOCAL


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77

10 ABOVE_LIMIT

1 Actual frequency or speed equals or exceedssupervision limit (set by drive parameter). Valid in

both directions of rotation.

0 Actual frequency or speed within supervision limit

11 EXT_CTRL_

LOC

1 External Control Location EXT2 selected

0 External Control Location EXT1 selected

12 EXT_RUN_E

NABLE

1 External Run Enable signal received

0 No External Run Enable signal received

13 to

14

Reserved

15 1 Communication error detected by fieldbus adapter

module

0 Fieldbus adapter communication OK

Status Word of the ABB Drives prof ile



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78

Figure 6. State machine, ABB Drives communication profile

MAINS OFF

Power ON (CW Bit0=0)(SW Bit6=1)

(SW Bit0=0)

from any state

(CW=xxxx x1xx xxxx x110)

(SW Bit1=1)

n(f)=0 / I=0

(SW Bit2=0)

A B C D

(CW Bit3=0)

operationinhibited

OFF1(CW Bit0=0)

(SW Bit1=0)

(SW Bit0=1)

(CW Bit3=1and

SW Bit12=1)

C D

(CW Bit5=0)

(SW Bit2=1)

(SW Bit5=0)

from any state from any state

Emergency StopOFF3(CW Bit2=0)

n(f)=0 / I=0

Emergency OFFOFF2(CW Bit1=0)

(SW Bit4=0)

B

B C D

(CW Bit4=0)

(CW=xxxx x1xx xxx1 1111)

(CW=xxxx x1xx xx11 1111)

D

(CW Bit6=0)

A

C

(CW=xxxx x1xx x111 1111)

(SW Bit8=1)

D

from any state

Fault

(SW Bit3=1)

(CW Bit7=1)

(CW=xxxx x1xx xxxx x111)

(CW=xxxx x1xx xxxx 1111and SW Bit12=1)

CW = Control Word

SW = Status Word

n = Speed

I = Input Current

RFG= Ramp Function

Generator

f = Frequency

ABB Drives

Communication

Profile

SWITCH-ON

INHIBITED

NOT READY TO

SWITCH ON

READY TO

SWITCH ON

READY TO

OPERATE

OPERATION

INHIBITED

OFF1

ACTIVE

OPERATION

ENABLED

RFG: OUTPUT

ENABLED

RFG: ACCELERATOR

ENABLED

OPERATION

OFF2

ACTIVE

FAULT

OFF3

ACTIVE

state

condition

rising edgethe bitof


79/130

Communication

79

Communication


This chapter describes the communication on a CANopen

network.


80/130

Communication

80

CAN data frame

CAN employs data frames for transferring data between the host

(controller) and the nodes on the bus. The following figurepresents the structure of the data frame.

START OFFRAME

1 BIT

ARBITRATION FIELD

COMM.

11 BITS

REMOTETRANS-MISSION

REQUEST

1 BIT

CONTROLFIELD

6 BITS

DATAFIELD

0 TO 8

CYCLICALREDUNDANCY

CHECK

16 BITS

ACKNOW-LEDGEFIELD

2 BITS

END OFFRAME

7 BITS

FUNCTION CODE NODE ID

10 9 8 7 6 5 4 3 2 1 0

Communication

object

Function code

(Binary)

COB ID

(Hex)

COB ID

(Dec)

NMT 0000 00h 0

SYNC 0001 80h 128

TIME STAMP 0010 100h 256EMERGENCY 0001 81hFFh 129255

PDO1 (Tx) 0011 181h...1FFh 385...511

PDO1 (Rx) 0100 201h...27Fh 513...639

PDO6 (Tx) 0101 281h...2FFh 641...767

PDO6 (Rx) 0110 301h...37Fh 769...895

PDO21 (Tx) 0111 381h...3FFh 897...1023

PDO21 (Rx) 1000 401h...47Fh 1025...1151

SDO (Tx) 1011 581h5FFh 14091535

SDO (Rx) 1100 601h67Fh 15371663

NODEGUARD 1110 701h77Fh 17931919

OBJECT ID(COB ID)

BYTES

(CRC)(RTR)

(OR 29 BITS)

1 2 3

Header

1 = IDE bit = Extended format / standard format (1 bit)

2 = ro = reserved (1 bit)

3 = DLC = Data Length Code (4 bits)


81/130


82/130

Communication

82

The NMT (Network Management) message is mapped to a single

CAN frame with data length of 2 bytes. Its identifier is 0. The first

byte contains the command specifier and the second contains the

Node ID of the device, which must perform the command (if thenode ID is 0, all nodes must perform the command). The NMT

message transmitted by the NMT master forces the nodes to

transit to another NMT state. The CANopen state machine

specifies states: Initialisation, Pre-Operational, Operational and

Stopped. After power-on, each CANopen device is first in the

Initialization state and then the state transits automatically to the

Pre-Operational state.

The NMT commands used for controlling the node are:

Note:If Node ID is 0, all NMT slaves are addressed.

The node state indications are as follows:

Command Name

001 Start_Remote_Node

002 Stop_Remote_Node

128 Enter_Pre-Operational_State

129 Reset_Node

130 Reset_Communication

HeaderByte

1 2

NMT Command Node ID

Indication State

0 Boot-up

4 Stopped

5 Operational

127 Pre-operational

00000000000000010


83/130


84/130

Communication

84

PDO1 Rx

Note: The mapping entries of the PDO1 Rx can be configured

through CANopen object 1600h or from the drive through fieldbus

configuration parameter group 2.

The default COB ID for PDO1 Rx is 200h + Node ID, the default

transmission type is 255 and the event time is 0. These values can

be changed only with CANopen object 1400h or from the drive

with parameters 7, 8 and 9 of the fieldbus configuration group 1.

Mapped

obj 1

Mapped

obj 2

Mapped

obj 3

Mapped

obj 4

Byte 1 2 3 4 5 6 7 8

Object

6040h

(Control

Word)

Fixed *

- - -

CANopen Object

for Mapping1600h01 1600h02 1600h03 1600h04

Mapping

parameter **

ACS350 Not usedFBA DATA

OUT 1

FBA DATA

OUT 2

FBA DATA

OUT 3

ACSM1FBA DATA

OUT 1

FBA DATA

OUT 2

FBA DATA

OUT 3

FBA DATA

OUT 4

* With the ACS350, the first mapping entry is fixed and the others are configurable.

With the ACSM1 all mapping entries are configurable.

** Configuration group 2


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Communication

85

PDO1 Tx

Note: The mapping entries of the PDO1 Tx can be configured

through CANopen object 1A00h or from the drive through fieldbus


The default COB ID for PDO1 Tx is 180h + Node ID, the default

transmission type is 255 and the event time is 0. These values can

be changed with CANopen object 1600h or from the drive with

parameters 10, 11 and 12 of the fieldbus configuration group 1.

Mapped

obj 1

Mapped

obj 2

Mapped

obj 3

Mapped

obj 4

Byte 1 2 3 4 5 6 7 8

Object

6041h

(Status

Word)

Fixed*

- - -

CANopen Object

for Mapping1A00h01 1A00h02 1A00h03 1A00h04

Mapping

parameter **


IN 1

FBA DATA

IN 2

FBA DATA

IN 3

ACSM1FBA DATA

IN 1

FBA DATA

IN 2

FBA DATA

IN 3

FBA DATA

IN 4





86/130

Communication

86

PDO6 Rx




The default COB ID for PDO6 Rx is 80000300h + Node ID, the

default transmission type is 255 and the event time is 0. These

values can be changed with CANopen object 1405h or from the

drive with parameters 13, 14 and 15 of the fieldbus configuration

group 1.

Mapped

obj 1

Mapped

obj 2

Mapped

obj 3

Mapped

obj 4

Byte 1 2 3 4 5 6 7 8

Object

6040h

(Control

Word)

Fixed *

- - -

CANopen Object

for Mapping1605h01 1605h02 1605h03 1605h04

Mapping

parameter **


OUT 4

FBA DATA

OUT 5

FBA DATA

OUT 6

ACSM1FBA DATA

OUT 5

FBA DATA

OUT 6

FBA DATA

OUT 7

FBA DATA

OUT 8





87/130

Communication

87

PDO6 Tx




The default COB ID for PDO6 Tx is 80000280h + Node ID, the

default transmission type is 255 and the event time is 0. These

values can be changed with CANopen object 1605h or from the


group 1.

Mapped

obj 1

Mapped

obj 2

Mapped

obj 3

Mapped

obj 4

Byte 1 2 3 4 5 6 7 8

Object

6041h

(Status

Word)

Fixed *

- - -

CANopen Object


Mapping

parameter **


IN 4

FBA DATA

IN 5

FBA DATA

IN 6

ACSM1FBA DATA

IN 5

FBA DATA

IN 6

FBA DATA

IN 7

FBA DATA

IN 8





88/130

Communication

88

PDO21 Rx




The default COB ID for PDO21 Rx is 80000400h + Node ID, the

default transmission type is 255 and the event time is 0. Thesevalues can be changed with CANopen object 1414h or from the


group 1.

Mapped

obj 1

Mapped

obj 2

Mapped

obj 3

Mapped

obj 4

Byte 1 2 3 4 5 6 7 8

Object - - - -

CANopen Object

for Mapping1614h01 1614h02 1614h03 1614h04

Mapping

parameter **

ACS350FBA DATA

OUT 7

FBA DATA

OUT 8

FBA DATA

OUT 9

FBA DATA

OUT 10

ACSM1 FBA DATAOUT 9

FBA DATAOUT 10

FBA DATAOUT 11

FBA DATAOUT 12



89/130

Communication

89

PDO21 Tx




The default COB ID for PDO21 Tx is 80000380h + Node ID and

the default transmission type is 255 and the event time is 0. Thesevalues can be changed with CANopen object 1614h or from the


group 1.

Mapped

obj 1

Mapped

obj 2

Mapped

obj 3

Mapped

obj 4

Byte 1 2 3 4 5 6 7 8

Object - - - -

CANopen Object


Mapping

parameter **

ACS350FBA DATA

IN 7

FBA DATA

IN 8

FBA DATA

IN 9

FBA DATA

IN 10

ACSM1 FBA DATAIN 9

FBA DATAIN 10

FBA DATAIN 11

FBA DATAIN 12



90/130

Communication

90

Mapping format

Note:Subindex 0h contains the number of valid entries within the

mapping record. This number is also the number of the application

variables (parameters), which shall be transmitted/received with

the corresponding PDO. The subindexes from 1h to the number of

objects contain information about the mapped application

variables.

The mapping values in the CANopen object are hexadecimal

coded. The following table presents an example of the PDO

mapping entry structure:

If the PDO mappings are configured through fieldbus configuration

parameters groups 2 and 3, only objects belonging to the virtualaddress area of the drive control and to the drive parameter area

can be mapped, i.e. objects 6040h, 6042h, 6041h, 6044h, 6064h

60FF, 606C, 607Ah, 6077h, 6071h, 2001h, 2002h, 2003h, 2004h,

2005h, 2006h, 2000h03, 2000h06 and objects 4000h4063h.

The mapping values are in decimal format and only virtual

addresses of the drive control (1...6 and 11...16) or drive

parameter numbers (101...9999) can be set. FCAN-01 converts

the values to CANopen objects. The length of the object is

detected automatically.

Note:The PDO mappings should be started from subindex 1h. If a

PDO mapping entry is zero, the mapping for that subindex and

from that subindex onwards is neglected. I.e. if there are zeros in

the PDO mapping, only objects from subindex 1h to the first zero

are taken into account.

Type MSB LSB

UINT32 31 16 15 8 7 0

Description

Index

e.g. 1400h drive par.12.02

(16 bits)

Documents

En Fcan 01 Revb