RCAN-01 3AFE64504231 PDO21 RX-PDO21-COB-ID TX-PDO21-COB-ID PDO22 PDO23 ACS550 - Datasheet Archive

 

User's Manual CANopen Adapter Module RCAN-01 CANopen Adapter Module RCAN-01 User's Manual 3AFE64504231 REV B EN EFFECTIVE:

 

ABB Drives User's Manual CANopen Adapter Module RCAN-01 RCAN-01 CANopen Adapter Module RCAN-01 RCAN-01 User's Manual 3AFE64504231 3AFE64504231 REV B EN EFFECTIVE: 16.12.2008 © 2008 ABB Oy. All Rights Reserved. 5 Safety instructions What this chapter contains This chapter states the general safety instructions that must be followed when installing and operating the RCAN-01 RCAN-01 CANopen Adapter module. The material in this chapter must be studied before attempting any work on the unit. In addition to the safety instructions given below, read the complete safety instructions of the specific drive you are working on. General safety instructions WARNING! All electrical installation and maintenance work on the drive should be carried out by qualified electricians. The drive and adjoining equipment must be properly earthed. Do not attempt any work on a powered drive. After switching off the mains, always allow the intermediate circuit capacitors 5 minutes to discharge before working on the frequency converter, the motor or the motor cable. It is good practice to check (with a voltage indicating instrument) that the drive is in fact discharged before beginning work. The motor cable terminals of the drive are at a dangerously high voltage when mains power is applied, regardless of motor operation. There can be dangerous voltages inside the drive from external control circuits even when the drive mains power is shut off. Exercise appropriate care when working on the unit. Neglecting these instructions can cause physical injury or death. Safety instructions 6 Safety instructions 7 Table of contents Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Table of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Intended audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . What this manual contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Terms used in this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Communication module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Data sets and data words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RCAN-01 RCAN-01 CANopen Adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . 11 11 11 12 12 12 12 13 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RCAN-01 RCAN-01 CANopen Adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Delivery check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Warranty and liability information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 15 16 17 17 18 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Baud rate selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Node address selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 19 20 21 Table of contents 8 CANopen connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 CANopen bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Configuring the CAN controller and network . . . . . . . . . . . . . . . . . . . . . . . . . EDS Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Configuring the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 01 MODULE TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 02 Node ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 03 BAUD RATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 04 PDO21 PDO21 Configuration Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 05 RX-PDO21-COB-ID RX-PDO21-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 06 RX-PDO21-TxType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 07 RX-PDO21-1stObj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 08 RX-PDO21-1stSub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 09 RX-PDO21-2ndObj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 RX-PDO21-2ndSub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 RX-PDO21-3rdObj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 RX-PDO21-3rdSub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 RX-PDO21-4thObj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 RX-PDO21-4thSub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 TX-PDO21-COB-ID TX-PDO21-COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 TX-PDO21-TxType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 TX-PDO21-EvTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 TX-PDO21-1stObj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 TX-PDO21-1stSub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 TX-PDO21-2ndObj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 TX-PDO21-2ndSub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 TX-PDO21-3rdObj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 TX-PDO21-3rdSub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 TX-PDO21-4thObj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Table of contents 27 27 27 27 29 29 30 30 30 31 31 31 31 31 31 31 31 31 32 32 32 32 32 33 33 33 33 33 9 25 TX-PDO21-4thSub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 26 Transparent/Profi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CAN data frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RCAN-01 RCAN-01 boot-up sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Process Data Objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PDO1 Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PDO1 Tx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PDO6 Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PDO6 Tx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PDO21 PDO21 Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PDO21 PDO21 Tx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PDO22 PDO22 Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PDO22 PDO22 Tx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PDO23 PDO23 Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PDO23 PDO23 Tx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CANopen state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service Data Objects (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CANopen Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Communication profile area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Manufacturer specific profile objects . . . . . . . . . . . . . . . . . . . . . . . . . . . Manufacturer specific profile area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Drive actual signals and parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . Standardised device profile area DSP 402 . . . . . . . . . . . . . . . . . . . . . . . . 35 35 36 38 39 41 43 44 45 46 47 47 48 48 49 50 52 52 64 65 65 66 69 Fault tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 CANopen error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Table of contents 10 Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Definitions and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 CANopen definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CiA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . COB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DBT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . EDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . LMT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . NMT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . OSI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 81 81 81 81 81 81 81 82 82 82 82 82 82 82 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 RCAN-01 RCAN-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 CANopen network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 Dictionary structure and entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Description of transmission type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Description of PDO COB-ID entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Structure of PDO mapping entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Table of contents 11 Introduction What this chapter contains This chapter contains a description of the User's manual for the RCAN-01 RCAN-01 CANopen Adapter module. Intended audience The manual is intended for people responsible for installing, commissioning and using the RCAN-01 RCAN-01 CANopen Adapter module. The reader is expected to have a basic knowledge of electrical fundamentals, electrical wiring practices and how to operate the drive. What this manual contains This manual contains information on the wiring, configuration and the use of the RCAN-01 RCAN-01 CANopen Adapter module. It is assumed that the drive is installed and ready to operate before starting the installation of the adapter module. For more information on the installation and start-up procedures of the drive, see the appropriate drive manuals. Safety instructions are featured in the first few pages of this manual. Overview contains a short description of the CANopen protocol and the RCAN-01 RCAN-01 module, a delivery checklist, and information on the manufacturer's warranty. Mechanical installation contains placing and mounting instructions for the module. Electrical installation contains wiring, bus termination and earthing instructions. Programming explains how to program the master station and the drive before the communication through the RCAN-01 RCAN-01 module can be started. Introduction 12 Communication contains a description of how data is transmitted through the RCAN-01 RCAN-01 module. Fault tracing explains how to trace faults with the status LED indications of the RCAN-01 RCAN-01 module. CANopen error codes contains reference tables for decoding CANopen error messages. Definitions and abbreviations explains definitions and abbreviations concerning the CANopen protocol. Technical data contains information on physical dimensions, configurable settings and connectors and CANopen network. Dictionary structure and entries contains PDO transmission and mapping tables. Terms used in this manual Communication module Communication module (often abbreviated COMM. MODULE or COMM.) is a parameter name / parameter selection name for a device (e.g. a fieldbus adapter) through which the drive is connected to an external serial communication network. The communication with the communication module is activated with a drive parameter (see the appropriate drive firmware manual). Data sets and data words Each data set consists of three 16-bit words, i.e. data words. The Control Word (sometimes called the Command Word) and the Status Word, References and Actual Values (see chapter Communication) are types of data words; the contents of some data words are user-definable. Parameter A parameter is an operating instruction for the drive. Parameters can be read and programmed with the drive control panel, or through the RCAN-01 RCAN-01 module. Introduction 13 RCAN-01 RCAN-01 CANopen Adapter module The RCAN-01 RCAN-01 CANopen Adapter module is one of the optional fieldbus adapter modules available for ABB drives. The RCAN-01 RCAN-01 module is a device through which the drive is connected to a CANopen serial communication bus. Introduction 14 Introduction 15 Overview What this chapter contains This chapter contains a short description of the CANopen protocol and the RCAN-01 RCAN-01 CANopen Adapter module, a delivery checklist and warranty information. CANopen CANopen is a higher layer protocol based on the CAN (Control Area Network) serial bus system and the CAL (CAN Application Layer). CANopen assumes that the hardware of the connected device has a CAN transceiver and a CAN controller as specified in ISO 11898. The CANopen Communication Profile, CiA DS 301, includes both cyclic and event driven communication, which makes it possible to reduce the bus load to minimum while still maintaining extremely short reaction times. High communication performance can be achieved at relatively low baud rates, thus reducing EMC problems and cable costs. CANopen device profiles define both direct access to drive parameter and time critical process data communication. The RCAN-01 RCAN-01 module fulfils CiA (CAN in Automation) standard DSP 402 (Drives and Motion Control). 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: Overview 16 Baud rate Max. bus length Baud rate 1 Mbit/s 25 m 125 kbit/s Max. bus length 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 The maximum theoretical number of nodes is 127. However, in practice, the maximum number depends on the capabilities of the CAN transceivers used. Further information can be obtained from the CAN in Automation International Users and Manufacturers Group (www.can-cia.org). RCAN-01 RCAN-01 CANopen Adapter module The RCAN-01 RCAN-01 CANopen Adapter module is an optional device for ABB drives which enables the connection of the drive to a CANopen system. Through the RCAN-01 RCAN-01 module it is possible to · give control commands to the drive (Start, Stop, Run enable, etc.) · feed a motor speed or torque reference to the drive · give a process actual value or a process reference to the PID controller of the drive · read status information and actual values from the drive · change drive parameter values · reset a drive fault. The communication objects and functions supported by the RCAN-01 RCAN-01 module are discussed in chapter Communication. The adapter module is mounted into an option slot of the motor control board of the drive. See the appropriate drive hardware manual for module placement options. Overview 17 The construction of the CANopen network and the layout of the RCAN-01 RCAN-01 module is presented in the following figure: Bus connector (see chapter Electrical installation) CAN nodes Frame X1 10x ABB Drive (GND) Rotary switch for baud rate selection 1x ABB Drive Rotary switches for node address selection Diagnostic LEDs (See chapter Fault tracing) Compatibility The RCAN-01 RCAN-01 module is compatible with all master stations that support the CANopen protocol. Delivery check The option package for the RCAN-01 RCAN-01 CANopen Adapter module contains: · CANopen Adapter module, type RCAN-01 RCAN-01 · two screws (M3x10) · this manual. Overview 18 Warranty and liability information The manufacturer warrants the equipment supplied against defects in design, materials and workmanship for a period of twelve (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 the unit 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. Overview 19 Electrical installation What this chapter contains This chapter contains · general cabling instructions · instructions for setting the module node address number and communication speed (baud rate) · instructions for connecting the module to the CANopen network. WARNING! Before installation, switch off the drive power supply. Wait 5 minutes to ensure that the capacitor bank of the drive is discharged. Switch off all dangerous voltages connected from external control circuits to the inputs and outputs of the drive. General cabling instructions Arrange the bus cables as far away from the motor cables as possible. Avoid parallel runs. Use bushings at cable entries. Electrical installation 20 Baud rate selection The baud rate is selected with the rotary switch next to the bus connector. The table below shows the meaning of switch the positions. Switch setting Baud rate 0 Baud rate is defined by parameter 3 in the fieldbus parameter group of the drive. 1 10 kbit/s 2 20 kbit/s 3 50 kbit/s 4 125 kbit/s 5 250 kbit/s 6 500 kbit/s 7 800 kbit/s 8 1 Mbit/s 9 N/A Note: Changing the baud rate selection during operation has no effect. New settings take effect only after a re-initialisation of the module. Electrical installation 21 Node address selection Use the rotary node address selection switches on the module to choose the node address number. The node address number is a decimal number ranging from 00 to 99. The left switch represents the first digit and the right switch the second digit. The node address can be changed during operation, but the module must be re-initialised for the changes to take effect. Node selection 10x 1x 78 23 23 78 901 45 6 901 45 6 Note: When 00 is selected the node address is defined by parameter 2 in the fieldbus parameter group of the drive. Note: Node address numbers from 100 to 127 can only be set with parameter 2 in the fieldbus parameter group of the drive. Electrical installation 22 CANopen connection The bus cable is connected to connector X1 on the RCAN-01 RCAN-01 module. The connector pin allocation described below follows the CANopen Communication Profile, CiA DS 301. 1 5 X1 (male) 6 9 X1 Description 1 - Not in use 2 CAN_L CAN_L bus line (dominant low) 3 CAN_GND CAN ground 4 - 5 CAN_SHLD Optional CAN shield 6 GND Optional ground 7 CAN_H CAN_H bus line (dominant high) 8 - Not in use 9 CAN_V+ Optional CAN external power supply. Not supported by the module. Electrical installation Not in use 23 CANopen bus termination The CANopen bus line must be terminated with 120 ohm resistors connected between the CAN_L and CAN_H wires at each end as shown below. Node 1 Node n · · · CAN_H 120 ohm 1% 1/4 W 120 ohm 1% 1/4 W CAN_L Standard 5 pin miniature connector Male miniature connector 3 4 2 5 1 2 1 5 4 3 Optional supply positive Optional CAN screen 9 CAN_SHLD CAN_L CAN_H GND RCAN-01 RCAN-01 X1 1 5 5 2 7 6 6 9 Standard open style connector 1 2 3 4 5 Optional supply positive CAN_SHLD CAN_L CAN_H GND Optional CAN ground 9 5 2 7 6 RCAN-01 RCAN-01 X1 1 5 6 9 Electrical installation 24 Electrical installation 25 Mechanical installation What this chapter contains This chapter contains placing and mounting instructions for the module. WARNING! Follow the safety instructions given in this manual and in the appropriate drive hardware manual. Mounting The RCAN-01 RCAN-01 module is to be inserted into its specific position in the drive. The module is held in place with plastic retaining clips and two screws. The screws also provide the earthing of the I/O cable shield connected to the module, and interconnect the GND signals of the module and the control board of the drive. On installation of the module, the signal and power connection to the drive is automatically made through a 34-pin connector. Mounting procedure: · Insert the module carefully into its position inside the drive until the retaining clips lock the module into position. · Fasten the two screws (included) to the stand-offs. Note: Correct installation of the screws is essential for fulfilling the EMC requirements and for proper operation of the module. Mechanical installation 26 Mechanical installation 27 Programming What this chapter contains This chapter gives information on configuring the drive for operation with the RCAN-01 RCAN-01 CANopen Adapter module. Configuring the CAN controller and network After the RCAN-01 RCAN-01 module has been mechanically and electrically installed according to the instructions in the previous chapters, the CAN network and the drive must be prepared for communication and operation with the RCAN-01 RCAN-01 module. The RCAN-01 RCAN-01 module cannot communicate with the CANopen controller before it is configured for the CAN network. The CAN network is configured using a network installation tool. See the installation tool manual. EDS Files EDS (Electronic Data Sheet) configuration files for ABB Drives are available through your local ABB representative and the ABB Library (ww.abb.com). Configuring the drive The detailed procedure of activating the module for communication with the drive is dependent on the drive type. (Normally, a parameter must be adjusted to activate the communication. See the appropriate drive firmware manual.) As communication between the drive and the RCAN-01 RCAN-01 module is established, several configuration parameters are copied to the drive. These parameters ­ shown below ­ must be checked first and adjusted if necessary. The alternative selections for these parameters are discussed in more detail below the table. Programming 28 Note: The new settings take effect only when the module is powered up the next time or when the module receives a `Fieldbus Adapter parameter refresh' (typically fieldbus parameter no. 27) command from the drive. The RCAN-01 RCAN-01 module configuration parameters are listed in the following table: Fieldbus par. no. Parameter name Alternative settings Default settings 1 MODULE TYPE Read-only CANopen 2 Node ID 1 to 127 1 3 Baudrate (1) 10 kbit/s (2) 20 kbit/s (3) 50 kbit/s (4) 125 kbit/s (5) 250 kbit/s (6) 500 kbit/s (7) 800 kbit/s (8) 1 Mbit/s 8 4 PDO21 PDO21 Cfg. Loc. (0) Configuration from fieldbus (1) Configuration from bus configuration parameters 0 5 RX-PDO21-Enable 0 to 1 0 6 RX-PDO21-TxType 0 to 255 (dec) 0 7 RX-PDO21-1stObj 0 to 32767 (dec) 0 8 RX-PDO21-1stSub 0 to 255 (dec) 0 9 RX-PDO21-2ndObj 0 to 32767 (dec) 0 10 RX-PDO21-2ndSub 0 to 255 (dec) 0 11 RX-PDO21-3rdObj 0 to 32767 (dec) 0 12 RX-PDO21-3rdSub 0 to 255 (dec) 0 13 RX-PDO21-4thObj 0 to 32767 (dec) 0 Programming 29 14 RX-PDO21-4thSub 0 to 255 (dec) 0 15 TX-PDO21-Enable 0 to 1 0 16 TX-PDO21-TxType 0 to 255 (dec) 0 17 TX-PDO21-EvTime 0 to 32767 (dec) 0 18 TX-PDO21-1stObj 0 to 32767 (dec) 0 19 TX-PDO21-1stSub 0 to 255 (dec) 0 20 TX-PDO21-2ndObj 0 to 32767 (dec) 0 21 TX-PDO21-2ndSub 0 to 255 (dec) 0 22 TX-PDO21-3rdObj 0 to 32767 (dec) 0 23 TX-PDO21-3rdSub 0 to 255 (dec) 0 24 TX-PDO21-4thObj 0 to 32767 (dec) 0 25 TX-PDO21-4thSub 0 to 255 (dec) 0 26 Transparent/Profi (0) Profile mode DSP 402 (1) Transparent (2) Selection via CANopen object 2 01 MODULE TYPE Shows the connected communication option module type. 02 Node ID Selects the node address of the module. 0.127 Each device on the CAN link must have a unique node number (Node ID). This parameter is used for defining a station number for the drive it is connected to. Note: If the node address is set via rotary switches, this parameter is read-only. See chapter Electrical installation. Programming 30 03 BAUD RATE Sets the baud rate for the CANopen interface. This is user selectable, but must be the same on every node on the CANopen network. 10 kbit/s; 20 kbit/s; 50 kbit/s; 125 kbit/s; 250 kbit/s; 500 kbit/s; 800 kbit/s; 1 Mbit/s Note: If the baud rate is set via rotary switch, this parameter is read-only. See chapter Electrical installation. 04 PDO21 PDO21 Configuration Location PDO21 PDO21 can be configured either via CANopen objects or via RCAN-01 RCAN-01 module configuration parameters. 0 = Configuration via CANopen objects 1414h, 1614h, 1814h and 1A14h 1 = Configuration via RCAN-01 RCAN-01 module configuration parameters. If PDO21 PDO21 is configured via RCAN-01 RCAN-01 parameters, PDO21 PDO21 configuration is read from the configuration parameters 5.25 during the power up and parameter refresh. Note: If Rx-PDO21 and Tx-PDO21 are set through drive parameters: Rx-PDO21 default COB-ID is set to 500h + Node ID. Tx-PDO21 default COB-ID is set to 480h + Node ID. 05 RX-PDO21-COB-ID RX-PDO21-COB-ID Enables the PDO21 PDO21 Rx and sets the PDO21 PDO21 Rx COB-ID. 0 = PDO21 PDO21 Rx is disabled. 1 = PDO21 PDO21 Rx is enabled and the default COB-ID (480h + Node ID) is used. As of RCAN-01 RCAN-01 revision C (software version 1.09), if this parameter is set to a value other than those given above, the PDO21 PDO21 Rx is enabled and the value is used as its COB-ID. Programming 31 06 RX-PDO21-TxType Defines the PDO21 PDO21 transmission type. See chapter Dictionary structure and entries on page 85. 07 RX-PDO21-1stObj Defines the index of the CANopen object, which is transferred as the first word of the PDO21 PDO21. If the transferred data is written to a drive parameter, index value is drive parameter group index no. + 16384 (4000h). See example in section 08 RX-PDO21-1stSub. 08 RX-PDO21-1stSub Defines the subindex of the CANopen object, which is transferred as the first word of the PDO21 PDO21. If transferred data is written to a drive parameter, subindex value is drive parameter index no. Example: PDO21 PDO21 data is written to drive parameter 30.19 (group 30, index 19). Group 30 = 30 (dec) + 16384 (dec) = 16414 (dec) (401Eh) Index 19 = 19 (dec) (13h) 09 RX-PDO21-2ndObj See section 07 RX-PDO21-1stObj. 10 RX-PDO21-2ndSub See section 08 RX-PDO21-1stSub. 11 RX-PDO21-3rdObj See section 07 RX-PDO21-1stObj. 12 RX-PDO21-3rdSub See section 08 RX-PDO21-1stSub. 13 RX-PDO21-4thObj See section 07 RX-PDO21-1stObj. 14 RX-PDO21-4thSub See section 08 RX-PDO21-1stSub. Programming 32 15 TX-PDO21-COB-ID TX-PDO21-COB-ID Enables the PDO21 PDO21 Tx and sets the PDO21 PDO21 Tx COB-ID. 0 = PDO21 PDO21 Tx is disabled. 1 = PDO21 PDO21 Tx is enabled and the default COB-ID (500h + Node ID) is used. As of RCAN-01 RCAN-01 revision C (software version 1.09), if this parameter is set to other values than those given above, the PDO21 PDO21 Tx is enabled and the value is used as its COB-ID. 16 TX-PDO21-TxType Defines the PDO21 PDO21 transmission type. See chapter Dictionary structure and entries on page 85. 17 TX-PDO21-EvTime In transmission type 254/255 an event time can be used for PDO21 PDO21 Tx. If an event timer exists (value is 0) the elapsed timer is considered to be an event. The event timer elapses as a multiple of 1 ms of the entry of this parameter. 18 TX-PDO21-1stObj Defines the index of the CANopen object, which is transferred as the first word of the PDO21 PDO21. If the transferred data is read from a drive parameter, index value is drive parameter group index no. + 16384 (4000h). See example in section 19 TX-PDO21-1stSub. 19 TX-PDO21-1stSub Defines the subindex of the CANopen object, which is transferred as the first word of the PDO21 PDO21. If transferred data is read from a drive parameter, subindex value is drive parameter index no. Example: PDO21 PDO21 data is read from drive parameter 30.19 (group 30, index 19). Group 30 = 30 (dec) + 16384 (dec) = 16414 (dec) (401Eh) Index 19 = 19 (dec) (13h) Programming 33 20 TX-PDO21-2ndObj See section 18 TX-PDO21-1stObj. 21 TX-PDO21-2ndSub See section 19 TX-PDO21-1stSub. 22 TX-PDO21-3rdObj See section 18 TX-PDO21-1stObj. 23 TX-PDO21-3rdSub See section 19 TX-PDO21-1stSub. 24 TX-PDO21-4thObj See section 18 TX-PDO21-1stObj. 25 TX-PDO21-4thSub See section 19 TX-PDO21-1stSub. 26 Transparent/Profi Selects the communication profile used between the RCAN-01 RCAN-01 module and the drive. 0 = DS 402 1 = Transparent 2 = Selection via CANopen objects 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. RCAN-01 RCAN-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 appropriate drive firmware manual for information on the selection parameters. Programming 34 Programming 35 Communication 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. ARBITRATION FIELD START OF FRAME COMM. OBJECT ID (COB ID) 1 BIT REMOTE TRANSMISSION CONTROL FIELD REQUEST (RTR) 11 OR 29 BITS 6 BITS 1 BIT FUNCTION CODE 10 9 8 7 DATA FIELD CYCLICAL REDUNDANCY ACKNOWLEDGE CHECK FIELD (CRC) 0 TO 8 BYTES 16 BITS 2 BITS END OF FRAME 7 BITS NODE ID 6 5 4 3 2 1 0 Communication object Function code (Binary) COB ID (Hex) COB ID (Dec) NMT SYNC TIME STAMP EMERGENCY For the PDOs SDO (Tx) SDO (Rx) NODEGUARD 0000 0001 0010 0001 0011.1010 1011 1100 1110 00h 80h 100h 81h.FFh 181h.57Fh 581h.5FFh 601h.67Fh 701h.77Fh 0 128 256 129.255 385.1407 1409.1535 1537.1663 1793.1919 Communication 36 Inside the CANopen data frame, different types of Communication Objects are used to convey the data. Process Data Objects (PDO) are used for transmitting time critical process data (references, control commands, status information); Service Data Objects (SDO) are used for less time critical data, e.g. parameters. In addition, there are Special Function Objects and Network Management Objects. RCAN-01 RCAN-01 boot-up sequence The RCAN-01 RCAN-01 supports the boot-up sequence of a "Minimum Capability Device", as defined by the CANopen Communication Profile. The boot-up state diagram of the RCAN-01 RCAN-01 is shown below. Initialisation (10) Reset application (13) (11) Reset communication (14) Power on Init (12) (6) Start_Remote_Node indication (7) Stop_Remote_Node indication (8) Enter_Pre-Operational_State indication (10) Reset_Node indication (11) Reset_Communication indication (12) After Initialisation is finished Pre-operational (13) (14) After Reset is performed (8) (7) (6) (8) Prepared (7) (6) Operational Communication 37 The NMT commands used for controlling the node are: Command Name 001 Start_Remote_Node 002 Stop_Remote_Node 128 Enter_Pre-Operational_State 129 Reset_Node 130 Reset_Communication Byte Header 0000000000000010 1 2 NMT Command Node ID Note: If Node ID equals 0, all NMT slaves are addressed. The node state indications are as follows: Indication State 4 Prepared 5 Operational 127 Pre-operational Communication 38 Process Data Objects (PDO) Process Data Objects contain time critical process data. RCAN-01 RCAN-01 supports PDO1, PDO6, PDO21 PDO21, PDO22 PDO22 and PDO23 PDO23. As of RCAN-01 RCAN-01 revision C (software version 1.09) all the PDOs can be used regardless of the operating mode (Transparent mode/DSP 402 Profile mode), and the length (0.4) and the mappings of the PDOs can be freely changed. The recommended COB IDs for PDO1 are: · PDO1 Rx (Master to Slave): 200h + Node ID · PDO1 Tx (Slave to Master): 180h + Node ID. Note: As default these COB IDs are reserved for PDO1. PDO1 must be disabled if these COB IDs are used for another PDO. If PDO21 PDO21 is configured via RCAN-01 RCAN-01 module configuration parameters, the default COB IDs for PDO21 PDO21 are: · PDO21 PDO21 Rx (Master to Slave): 500h + Node ID · PDO21 PDO21 Tx (Slave to Master): 480h + Node ID. PDO mapping change is possible only in the Pre-operational state. See chapter Dictionary structure and entries on page 85. Communication 39 PDO1 Rx The default contents of PDO1 Rx is as follows: Master to slave Header zzzzxxxxxxxryyyy Byte 1 2 3 4 5 6 7 8 Control Word (6040h) zzzz = COB ID Function code xxxxxxx = Node ID r = RTR (Remote Transmit Request) bit yyyy = Data length Note: If the Transparent mode is selected with fieldbus parameter 26 (Transparent/Profi) or CANopen object 2004h, the object 2005h (Transparent control word) is mapped to PDO1 Rx by default instead. See the appropriate drive firmware manual for how to select the drive control mode. Some drives recognize the control mode used automatically (for example, ACS550 ACS550). Communication 40 Control Word of DSP 402 Bit Description 0 Switch on 1 Enable voltage 2 Quick stop (active low) 3 Enable operation 4 Ramp function generator enable 5 Ramp function generator unlock 6 Ramp function generator use ref 7 Reset fault 8 Halt (not used) 9 (reserved) 10 (reserved) 11.15 - Communication 41 PDO1 Tx The default contents of PDO1 Tx are as follows: Slave to master Header zzzzxxxxxxxryyyy Byte 1 2 3 4 5 6 7 8 Control Word (6041h) zzzz = COB ID Function code xxxxxxx = Node ID r = RTR (Remote Transmit Request) bit yyyy = Data length Note: If Transparent mode is selected with fieldbus parameter 26 (Transparent/Profi) or CANopen object 2004h, the object 2007h (Transparent Status Word) is mapped to PDO1 Tx by default instead. See the appropriate firmware manual for how to select the drive control mode. Some drives recognize the control mode used automatically (for example, ACS550 ACS550). Communication 42 Status Word of DSP 402 Bit Description 0 Ready to switch on 1 Switched on 2 Operation enabled 3 Fault 4 Voltage disabled (active low) 5 Quick stop (active low) 6 Switch on disabled 7 Warning 8 Drive specific bit * 9 Remote 10 Target reached 11 Internal limit active 12.13 Reserved 14 15 * Communication Drive specific bit (drive status word bit 13) * Drive specific bit (drive status word bit 14) * See the appropriate drive firmware manual. 43 PDO6 Rx The default contents of PDO6 Rx are as follows: Master to slave Header zzzzxxxxxxxryyyy Byte 1 2 3 Control Word (6040h) 4 5 6 7 8 Target Velocity in RPM (6044h) zzzz = COB ID Function code xxxxxxx = Node ID r = RTR (Remote Transmit Request) bit yyyy = Data length Note: In the Transparent mode, the objects 2005h (Transparent Control Word) and 2006h (Transparent Reference Speed) are mapped to PDO6 Rx by default instead. Communication 44 PDO6 Tx The default contents of PDO6 Tx are as follows: Slave to master Header zzzzxxxxxxxryyyy Byte 1 2 DS 402 Status Word (6041h) 3 4 5 6 7 8 Control Effort in RPM (6044h) zzzz = COB ID Function code xxxxxxx = Node ID r = RTR (Remote Transmit Request) bit yyyy = Data length Note: In the Transparent mode, the objects 2007h (Transparent Status Word) and 2008h (Transparent Actual Speed) are mapped to PDO6 Tx by default instead. Communication 45 PDO21 PDO21 Rx The contents of PDO21 PDO21 Rx is as follows: Master to Slave Header Byte 1 2 3 4 5 6 7 8 Mapped obj1 (1614h, 1) zzzzxxxxxxxryyyy Mapped obj2 (1614h, 2) Mapped Mapped obj3 obj4 (1614h, 3) (1614h, 4) E.g. Transparent Control Word (2005h) E.g. Transparent reference speed (2006h) E.g. Const speed 1 (400Ch, 2) zzzz = COB ID Function code xxxxxxx = Node ID r = RTR bit yyyy = Data length Length of the PDO21 PDO21 Rx depends on the settings of the fieldbus parameters or CANopen object 1614h. Communication 46 PDO21 PDO21 Tx The contents of PDO21 PDO21 Tx is as follows: Master to Slave Header Byte 1 2 Mapped obj1 (1A14h, 1) 3 4 Mapped obj2 (1A14h, 2) E.g. E.g. Transparent Status Word (2007h) zzzzxxxxxxxryyyy Transparent actual speed (2008h) 5 6 Mapped obj3 (1A14h, 3) E.g. Frequency (4001h, 3) 7 8 Mapped obj4 (1A14h, 4) E.g. Current (4001h, 4) zzzz = COB ID Function code xxxxxxx = Node ID r = RTR bit yyyy = Data length Length of the PDO21 PDO21 Tx depends on the settings of the fieldbus parameters or CANopen object 1A14h. Communication 47 PDO22 PDO22 Rx The contents of PDO22 PDO22 Rx is as follows: Master to Slave Header zzzzxxxxxxxryyyy Byte 1 2 Mapped obj1 (1615h, 1) 3 4 Mapped obj2 (1615h, 2) 5 6 Mapped obj3 (1615h, 3) 7 8 Mapped obj4 (1615h, 4) zzzz = COB ID Function code xxxxxxx = Node ID r = RTR bit yyyy = Data length Length of the PDO22 PDO22 Rx depends on the settings of the fieldbus parameters or CANopen object 1615h. PDO22 PDO22 Tx The contents of PDO22 PDO22 Tx is as follows: Master to Slave Header zzzzxxxxxxxryyyy Byte 1 2 3 4 5 6 7 8 Mapped Mapped Mapped Mapped obj1 obj2 obj3 obj4 (1A15h, 1) (1A15h, 2) (1Á15h, 3) (1A15h, 4) zzzz = COB ID Function code xxxxxxx = Node ID r = RTR bit yyyy = Data length Length of the PDO22 PDO22 Tx depends on the settings of the fieldbus parameters or CANopen object 1A15h. Communication 48 PDO23 PDO23 Rx The contents of PDO23 PDO23 Rx is as follows: Master to Slave Header zzzzxxxxxxxryyyy Byte 1 2 Mapped obj1 (1616h, 1) 3 4 5 Mapped obj2 (1616h, 2) 6 Mapped obj3 (1616h, 3) 7 8 Mapped obj4 (1616h, 4) zzzz = COB ID Function code xxxxxxx = Node ID r = RTR bit yyyy = Data length Length of the PDO23 PDO23 Rx depends on the settings of the fieldbus parameters or CANopen object 1616h. PDO23 PDO23 Tx The contents of PDO23 PDO23 Tx is as follows: Master to Slave Header zzzzxxxxxxxryyyy Byte 1 2 3 4 5 6 7 8 Mapped Mapped Mapped Mapped obj1 obj2 obj3 obj4 (1A16h, 1) (1A16h, 2) (1A16h, 3) (1A16h, 4) zzzz = COB ID Function code xxxxxxx = Node ID r = RTR bit yyyy = Data length Length of the PDO23 PDO23 Tx depends on the settings of the fieldbus parameters or CANopen object 1A16h. Communication 49 CANopen state machine from any state CW: Control Word SW: Status Word FAULT REACTION ACTIVE SW: xxxxxxxxx0xx1111 START Power-on, self-initialisation Fault reaction completed NOT READY FAULT TO SWITCH ON SW: xxxxxxxxx0xx0000 SW: xxxxxxxxx0xx1000 Initialised successfully CW: xxxxxxxx1xxxxxxx SWITCH-ON DISABLED SW: xxxxxxxxx1xx0000 CW: xxxxxxxxxxxxx110 CW: xxxxxxxxxxxxx01x READY TO SWITCH ON SW: xxxxxxxxx01x0001 CW: xxxxxxxxxxxxx111 CW: xxxxxxxxxxxxx01x or CW: xxxxxxxxxxxxxx0x CW: xxxxxxxxxxxxx110 CW: xxxxxxxxxxxxx110 SWITCHED ON SW: xxxxxxxxx01x0011 CW: xxxxxxxxxxxx1111 CW: xxxxxxxxxxxx0111 OPERATION ENABLED SW: xxxxxxxxx01x0111 CW: xxxxxxxxxxxxxx0x Quick stop completed QUICK STOP ACTIVE SW: xxxxxxxxx0xx0111 CW: xxxxxxxxxxxxx01x Communication 50 Service Data Objects (SDO) Service Data Objects are mainly used for transferring non time critical data, e.g. parameter values. SDOs provide access to the entries in the device Object Dictionary. If 4 bytes or less data is to be transmitted, an `expedited' SDO message can be used. Larger quantities of data can be segmented, i.e. split between several CAN messages. The COB IDs for SDO communication are: · Master to Slave: 600h + Node ID · Slave to Master: 580h + Node ID. Read: Master to Slave Header 1100xxxxxxxryyyy xxxxxxx = Node ID r = RTR bit yyyy = Data length Communication Byte 1 Command 2 3 Object index 4 Subindex 5 6 7 Reserved 8 51 Write: Master to Slave (`Expedited' message with max. 4 bytes of data) Byte Header 1100xxxxxxxryyyy 1 Command 2 3 Object index 4 5 Subindex 6 7 8 Data xxxxxxx = Node ID r = RTR bit yyyy = Data length Master to Slave (Segmented message with over 4 bytes of data) 1st Frame Byte Header 1100xxxxxxxryyyy 1 Command 2 3 Object index 4 5 Subindex 6 7 8 Length xxxxxxx = Node ID r = RTR bit yyyy = Data length All subsequent frames Header 1100xxxxxxxryyyy Byte 1 Command 2 3 4 5 6 7 8 Data xxxxxxx = Node ID r = RTR bit yyyy = Data length Communication 52 CANopen Object Dictionary The RCAN Object Dictionary contains all Communication Objects. A listing of the Object Dictionary is given below. The serial communication properties of the drive, as well as drive parameters, are detailed further in the appropriate drive firmware manual. Communication profile area Index Sub(hex) index Name Type Attribute Information 1000 0 Device Type U32 RO Describes the type of the device. Composed of two 16-bit fields (one for device profile, the other for additional information). The object value of the RCAN-01 RCAN-01 is 01192h, which corresponds to drive profile DSP 402 (192h), and to additional information Frequency Converter (01h). 1001 0 Error Register U8 RO Error register for the RCAN-01 RCAN-01. Bit encoded according to DS 301/401. Bit value 1 = error occurred. Bit Generic error 1 Current 2 Voltage 3 Temperature 4 Communication error 5 Device profile specific 6 Reserved 7 Communication Description 0 Manufacturer specific 53 Index Sub(hex) index 1003 Name Type Attribute Information 0 Pre-defined Error Field U8 RW Number of errors occurred and listed at subindexes 1 to 5. Writing a zero here deletes the list. 1 Pre-defined Error Field U32 RO ··· ··· U32 RO List of errors. The most recent error is at subindex 1. When a new error occurs, previous errors move down the list. Error numbers comprise a 16 bit error code (see the appropriate drive firmware manual) and a 16 bit additional information field (0 with RCAN-01 RCAN-01). The error code is contained in the lower 2 bytes (LSB), the additional information in the upper 2 bytes (MSB). ··· 5 ··· Pre-defined Error Field Slave to Master Header 0001xxxxxx01000 Byte 1-2 3 Error Error code register 4-7 8 Additional Unused error info 1005 0 COB ID SYNC Message U32 RW Identifier of the SYNC message. The SYNC message controls the actions of PDOs that have the transmission type Synchronous. 1008 0 Manufacturer Visible RO Device Name string Module name. The constant string is RCAN-01 RCAN-01 and ACxxxx. 1009 0 Manufacturer Visible RO Hardware string Version Version of module hardware. The constant string is x.xx, e.g. 1.00. Communication 54 Index Sub(hex) index 100A 0 Name Type Attribute Manufacturer Visible RO Software string Version Version of the RCAN-01 RCAN-01 module software. The constant string is x.x where x.x = version number, e.g. 2.0. Guard Time (ms) × Life Time Factor = Life time for the Node Guarding Protocol 100C 0 Guard Time U16 RW 100D 0 Life Time Factor U8 RW 1010 0 1 Information U32 Store Parameters RO Largest supported subindex U32 RW Saves all parameters. (65766173h) EVAS 2 U32 RW Saves communication parameters. 3 U32 RW Saves application parameters. U32 RW Saves drive parameters. U32 RO Largest supported subindex 1 U32 RW Restore all default parameters. 64616F6Ch (DAOL) 2 U32 RW Restore communication default parameters. 3 U32 RW Restore application default parameters. 4 U32 RW Restore drive default parameters. 4 1011 0 Restore Default Parameters 1014 0 COB ID Emergency Message U32 RW Defines the COB ID of the Emergency Object (EMCY). Default: 80h + Node ID 1016 0 Consumer Heartbeat Time U32 RO Number of entries U32 RW Consumer heartbeat time 1 Communication 55 Index Sub(hex) index 1018 Attribute U16 RW Identity Object Information U8 RO Number of entries 1 U32 RO Vendor ID. Default: B7h = ABB (Oy) 2 1400 0 Type Producer Heartbeat Time 1017 Name U32 RO Product code. E.g. 0101h ACS800 ACS800 std application, 0201h ACS550 ACS550 Number of entries Receive PDO1 Parameter U8 RO 1 COB ID U32 RW Default: 200h + Node ID 2 Transmission Type U8 RW 255 = FFh (asynchronous transmission) 3 Inhibit Time U16 RW 5 1600 0 Event Timer U16 RW 0 Receive PDO1 Mapping U8 RO Number of mapped application objects. Default: 1 = only control word mapping 1 PDO Mapping Entry U32 RO 6040h DS 402 Control Word Communication 56 Index Sub(hex) index 1405 Name Type Attribute Information Receive PDO6 Parameter U8 RO Number of entries 1 COB ID U32 RW Default: 800006E0h = PDO not valid, MSB set. See chapter Dictionary structure and entries on page 86. 2 Transmission Type U8 RW Default: 255 asynchronous. See chapter Dictionary structure and entries on page 85. 3 Inhibit Time U16 RW Default: 0 5 Event Timer U16 RW Default: 0 0 Receive PDO6 Mapping U8 RO Number of entries. Default: 2 = DS 402 Control Word and Target velocity mapping 1 Mapping Entry 1 U32 RO Constant: 6040h DS 402 Control Word 2 1605 0 Mapping Entry 2 U32 RO Constant: 6042h DS 402 Target velocity Communication 57 Index Sub(hex) index 1414 Name Type Attribute Information Receive PDO21 PDO21 Parameter U8 RO Number of entries = PDO not valid 1 COB-ID U32 RW Default: 800006E0h. See chapter Dictionary structure and entries on page 86. 2 Transmission Type U8 RW Default: FEh. See chapter Dictionary structure and entries on page 85. 3 Inhibit Time U16 RW Default: 0 5 1614 0 Event Timer U16 RW Default: 0 0 Receive PDO21 PDO21 Mapping U8 RW Number of entries Default: 0 (high limit 4) Determines which mapped objects 1.4 are visible. Subindexes 0.4 are freely programmable. 1 Mapped Obj 1 U32 RW E.g. 20050010h = Transparent Control Word. See section PDO21 PDO21 Rx. See chapter Dictionary structure and entries on page 86. 2 Mapped Obj 2 U32 RW 3 Mapped Obj 3 U32 RW 4 Mapped Obj 4 U32 RW Communication 58 Index Sub(hex) index 1415 Name Type Attribute Information Receive PDO22 PDO22 Parameter U8 RO Number of entries 1 COB-ID U32 RW Default: 800006E0h. See chapter Dictionary structure and entries on page 86. 2 Transmission Type U8 RW Default: FEh. See chapter Dictionary structure and entries on page 85. 3 Inhibit Time U16 RW Default: 0 5 Event Timer U16 RW Default: 0 0 Receive PDO22 PDO22 Mapping U8 RW Number of entries Default: 0 (high limit 4) Determines which mapped objects 1.4 are visible. Subindexes 0.4 are freely programmable. 1 Mapped Obj 1 U32 RW E.g. 20050010h = Transparent Control Word. See section PDO21 PDO21 Rx. See chapter Dictionary structure and entries on page 86. 2 Mapped Obj 2 U32 RW 3 Mapped Obj 3 U32 RW 4 1615 0 Mapped Obj 4 U32 RW Communication 59 Index Sub(hex) index 1416 Name Type Attribute Information Receive PDO23 PDO23 Parameter U8 RO Number of entries 1 COB-ID U32 RW Default: 800006E0h = disabled. See chapter Dictionary structure and entries on page 86. 2 Transmission Type U8 RW Default: FEh. See chapter Dictionary structure and entries on page 85. 3 Inhibit Time U16 RW Default: 0 5 1616 0 Event Timer U16 RW Default: 0 0 Receive PDO23 PDO23 Mapping U8 RW Number of entries Default: 0 (high limit 4) Determines which mapped objects 1.4 are visible. Subindexes 0.4 are freely programmable. 1 Mapped Obj 1 U32 RW E.g. 20050010h = Transparent Control Word. See section PDO21 PDO21 Rx. See chapter Dictionary structure and entries on page 86. 2 Mapped Obj 2 U32 RW 3 Mapped Obj 3 U32 RW 4 Mapped Obj 4 U32 RW Communication 60 Index Sub(hex) index RO Number of entries COB ID U32 RW Default: 180h + Node ID Transmission Type U8 RW 255 (asynchronous transmission). See chapter Dictionary structure and entries on page 85. Inhibit Time U16 RW 5 Event Timer U16 RW 0 Transmit PDO1 Mapping U32 RO Number of entries 1 1st Mapping Object U32 RO 6041h DS 402 status word 0 Transmit PDO6 Parameter U8 RO Number of entries 1 COB ID U32 RW Default: 800006E0h (= PDO not valid) See chapter Dictionary structure and entries on page 86. 2 Transmission Type U8 RW 3 Inhibit Time U16 RW 5 Event Timer U16 RW 0 Transmit PDO6 Mapping U8 RO Number of entries Default: 2 = DS 204 status word and control effort 1 Mapping Entry 1 U32 RO Default: 6041h DS 402 status word 2 1A05 U8 3 1805 Transmit PDO1 Parameter 2 1A00 Attribute 1 1800 Type Mapping Entry 2 U32 RO Default: 6044h DS 402 control effort 0 Name Communication Information 61 Index Sub(hex) index 1814 Name Type Attribute Information Transmit PDO21 PDO21 Parameter U8 RO Number of entries 1 COB ID U32 RW Default: 800006E0h (= not valid). See chapter Dictionary structure and entries on page 86. 2 Transmission Type U8 RW 3 Inhibit Time U16 RW 5 1A14 0 Event Timer U16 RW 0 Transmit PDO21 PDO21 Mapping U8 RW 1 Mapped Obj 1 U32 RW 2 Mapped Obj 2 U32 RW 3 Mapped Obj 3 U32 RW 4 Mapped Obj 4 U32 RW Number of entries. Default: 0 (High limit 4) Determines which mapped objects 1.4 are visible. Subindexes 1.4 are freely programmable. Communication 62 Index Sub(hex) index 1815 Name Type Attribute Information Transmit PDO22 PDO22 Parameter U8 RO Number of entries 1 COB ID U32 RW Default: 800006E0h. See chapter Dictionary structure and entries on page 86. 2 Transmission Type U8 RW 3 Inhibit Time U16 RW 5 Event Timer U16 RW 0 Transmit PDO22 PDO22 Mapping U8 RW 1 Mapped Obj 1 U32 RW 2 Mapped Obj 2 U32 RW 3 Mapped Obj 3 U32 RW 4 1A15 0 Mapped Obj 4 U32 RW Communication Number of entries Default: 0 (High limit 4) Determines which mapped objects 1.4 are visible. Subindexes 1.4 are freely programmable. 63 Index Sub(hex) index 1816 Name Type Attribute Information Transmit PDO23 PDO23 Parameter U8 RO Number of entries 1 COB ID U32 RW Default: 800006E0h. See chapter Dictionary structure and entries on page 86. 2 Transmission Type U8 RW 3 Inhibit Time U16 RW 5 1A16 0 Event Timer U16 RW 0 Transmit PDO23 PDO23 Mapping U8 RW 1 Mapped Obj 1 U32 RW 2 Mapped Obj 2 U32 RW 3 Mapped Obj 3 U32 RW 4 Mapped Obj 4 U32 RW Number of entries Default: 0 (High limit 4) Determines which mapped objects 1.4 are visible. Subindexes 1.4 are freely programmable. Uxx = unsigned xx INT = signed xx Communication 64 Manufacturer specific profile objects Index Sub(hex) index 2001 Name Type Attribute 0 Number of entries U8 RO 1 Gain U16 RW 2 Integration time constant U16 RW 3 Derivation time constant U16 RW 4 PID actual value (in %) INT32 INT32 RO 2003 Drive temperature U32 RO 2004 Transparent/Profile mode (0) DSP 402, (1) Transparent U8 RW 2005 Transparent Control Word U16 RW 2006 Transparent Reference Speed INT16 INT16 RW 2007 Transparent Status Word U16 RO 2008 Transparent Actual Speed INT16 INT16 RO 200A U8 RO U16 RO Alarm code 2 U16 RO 3 Alarm code 3 U16 RO 4 Alarm code 4 U16 RO 5 Alarm code 5 (oldest) U16 RO 0 Number of entries U8 RO 1 Fault code 1 (latest) U16 RO 2 Fault code 2 U16 RO 3 Fault code 3 U16 RO 4 Fault code 4 U16 RO 5 Communication Number of entries Alarm code 1 (latest) 2 200B 0 1 Fault code 5 (oldest) U16 RO 65 Manufacturer specific profile area Data sets Note: The total number of data sets and data words supported depends on drive type and application program. Index Sub(hex) index 4000 Name 0 Number of entries 1 2 Type Attribute Information RO Number of supported data sets depends on the application software of the drive. Control Word * U16 RO Data set 1 Word 1 Reference 1 * INT16 INT16 RO Data set 1 Word 2 3 Reference 2 * INT16 INT16 RW Data set 1 Word 3 4 Status Word U16 RO Data set 2 Word 1 5 Actual Value 1 INT16 INT16 RO Data set 2 Word 2 6 Actual Value 2 INT16 INT16 RO Data set 2 Word 3 7 Reference 3 INT16 INT16 RW Data set 3 Word 1 8 Reference 4 INT16 INT16 RW Data set 3 Word 2 9 Reference 5 INT16 INT16 RW Data set 3 Word 3 A Actual Value 3 INT16 INT16 RO Data set 4 Word 1 B Actual Value 4 INT16 INT16 RO Data set 4 Word 2 C Actual Value 5 INT16 INT16 RO Data set 4 Word 3 . . . . . 62 Reference 49 INT16 INT16 RW Data set 32 Word 2 63 Reference 50 INT16 INT16 RW Data set 32 Word 3 * Objects 4000h, 1 and 4000h, 2 cannot be written to directly. When using the Transparent mode, use objects 2005h and 2006h to write to the Control Word and Reference 1. * When using the Transparent mode, use this object to write to Reference 2. Communication 66 Drive actual signals and parameters The actual signals and parameters available depend on the drive type. See the appropriate drive firmware manual for signal and parameter listings. The Read service is used for reading actual signals and parameters from the drive. The Write service is used for writing parameter values to the drive. Both the Read and Write services use the same parameter mapping system. CANopen Index equals drive parameter group in hexadecimal format + 4000h and subindex is parameter index. For example, the index for drive parameter 30.19 equals 1Eh + 4000h = 401Eh and subindex = 19 (dec) = 13h. Drive par. / signal no. Index (hex) Subindex Type depends on parameter type of the drive Attribute Actual signals RO 1.01 4001 1 U16 or INT16 INT16 1.02 4001 2 U16 or INT16 INT16 RO ··· ··· ··· ··· ··· 2.01 4002 1 U16 or INT16 INT16 RO ··· ··· ··· ··· ··· 3.01 4003 1 U16 or INT16 INT16 RO ··· ··· ··· ··· ··· 10.01 400A 1 U16 or INT16 INT16 RW 10.02 400A 2 U16 or INT16 INT16 RW ··· ··· ··· ··· ··· 11.01 400B 1 U16 or INT16 INT16 RW Parameters ··· ··· ··· ··· ··· 99.01 4063 1 U16 or INT16 INT16 RW ··· ··· ··· ··· ··· Communication 67 The application error codes are a small subset of the error classes of the PROFIBUS specification (EN 50170). The codes are 4 byte values containing the Error Class, Error Code, and Additional Code fields. Slave to Master Header 1 2 3 Byte 4 5 6 7 8 AddiError Error Object Sub1101xxxxxxx01000 Command tional code class index index code Error class Error code Example 5 Service error 3 Parameter inconsistent Toggle bit not alternated 4 Illegal parameter Timeout value reached 1 Object access unsupported Attempt to write to a read-only parameter, or to read a write-only parameter 2 Object nonexistent Object does not exist in Object Dictionary. 6 Hardware fault Access failed because of a hardware error 7 Type conflict Data type does not match. 9 Object attribute inconsistent The subindex does not exist. 0 User aborted transfer 6 Access error 8 Other error Communication 68 Additional code 0 10h Meaning No precise details for the reason for the error Service parameter with an invalid value 11h Sub-index does not exist. 12h Service parameter too long 13h 20h 21h 22h 30h Service parameter too short Service cannot currently be executed .because of local control. .because of present device state. Value range of parameter exceeded 31h Value of parameter too high 32h Value of parameter too low 36h 40h Maximum value smaller than minimum value Incompatibility with other values 41h Data cannot be mapped to the PDO. 42h PDO length exceeded 43h Communication General parameter incompatibility 47h General internal incompatibility in the device 69 Standardised device profile area DSP 402 Index Sub(hex) index Name Type Attribute 603F Error code U16 RO 6040 Controlword U16 RW 6041 Statusword U16 RO 6042 Target velocity INT16 INT16 RW 6043 Vl velocity demand INT16 INT16 RO 6044 Vl control effort INT16 INT16 RO 6046 Vl velocity min max amount 0 Number of entries U8 RO 1 Vl velocity min amount U32 RW 2 Vl velocity max amount U32 RW 6047 Vl velocity min max 0 Number of entries U8 RO 1 Vl velocity min pos U32 RW 2 Vl velocity max pos U32 RW 3 Vl velocity min neg U32 RW 4 Vl velocity max neg U32 RW 6048 Vl velocity acceleration 0 Number of entries U8 RO 1 Delta speed U32 RW 2 Delta time U16 RW 6049 Vl velocity deceleration 0 Number of entries U8 RO 1 Delta speed U32 RW 2 Delta time U16 RW Communication 70 Index Sub(hex) index 604A Name Type Attribute Vl velocity quick stop 0 Number of entries U8 RO 1 Delta speed U32 RW 2 Delta time U16 RW 604C Vl dimension factor 0 Number of entries U8 RO 1 Vl dimension factor numerator INT32 INT32 RW 2 Vl dimension factor denumerator INT32 INT32 RW 604D Vl pole number U8 RO 60FD Digital inputs U32 RO 6510 Drive data RO Number of entries RO Inverter type code Communication U8 U32 RO 71 Fault tracing What this chapter contains This chapter explains how to trace faults with the status LED indications of the RCAN-01 RCAN-01 module. LED indications The RCAN-01 RCAN-01 module is equipped with four diagnostic LEDs. The description of the LEDs is presented below. CAN error CAN run CAN run Name Colour Config error Host* indication Function Single flash: Module is in stopped state. Single flash = one short flash (approx. 200 ms) followed by a long off phase (approx. 1000 ms) Green Flashing 2.5 Hz: Module is in pre-operational state. Lit: Module is in operational state. Fault tracing 72 CAN error Config error CAN run Host* indication CAN error Off: No error Red Single flash: At least one of the module error counters has reached or exceeded the warning error limit. Single flash = one short flash (approx. 200 ms) followed by a long off phase (approx. 1000 ms) Double flash: A guard event or a receive heartbeat timeout has occured. Double flash = two short flashes (approx. 200 ms each) separated by an off phase (approx. 200 ms) and followed by a long off phase (approx. 1000 ms) Lit: CANopen controller is in bus off state. Host* indication Config error Off: Normal configuration Red Green Red * Host = drive Fault tracing Double flash: Error in parameter data: The contest of the parameter data set during configuration is illegal. A re-configuration followed by a new power cycle is needed to reset CONFIG ERROR. Lit: Link is functional. Lit: Link is lost permanently. Flashing: Link is lost temporarily. Off: Module is not initialised. 73 CANopen error codes What this chapter contains This chapter contains CANopen error codes. Error codes Error codes can be read from the objects 1003h, 200Bh and 603Fh. Error codes between xx80h.xxFFh and between FF00h.FFFFh are manufacturer specific. Description for these error codes can be found from the appropriate drive firmware manual and/or from the drive fault code parameter. Error code (hex) 0000 1000 2000 2100 2110 2120 2121 2122 2123 2130 2131 2132 2133 2200 2211 2212 2213 2214 Meaning No error Generic error Current Current on device input side Short circuit / earth leakage Earth leakage Earth leakage phase L1 Earth leakage phase L2 Earth leakage phase L3 Short circuit Short circuit phases L1-L2 Short circuit phases L2-L3 Short circuit phases L3-L1 Internal current Internal current No. 1 Internal current No. 2 Overcurrent in ramp function Overcurrent in the sequence CANopen error codes 74 Error code (hex) 2220 2221 2222 2230 2240 2250 2300 2310 2311 2312 2320 2330 2331 2332 2333 2340 2341 2342 2343 3000 3100 3110 3111 3112 3113 3120 3121 3122 3123 3130 3131 CANopen error codes Meaning Continuous overcurrent Continuous overcurrent No. 1 Continuous overcurrent No. 2 Short circuit / earth leakage Earth leakage Short circuit Current on device output side Continuous overcurrent Continuous overcurrent No. 1 Continuous overcurrent No. 2 Short circuit / earth leakage Earth leakage Earth leakage phase U Earth leakage phase V Earth leakage phase W Short circuit Short circuit phases U-V Short circuit phases V-W Short circuit phases W-U Voltage Mains voltage Mains overvoltage Mains overvoltage phase L1 Mains overvoltage phase L2 Mains overvoltage phase L3 Mains undervoltage Mains undervoltage phase L1 Mains undervoltage phase L2 Mains undervoltage phase L3 Phase failure Phase failure L1 75 Error code (hex) 3132 3133 3134 3140 3141 3142 3200 3210 3211 3212 3220 3221 3222 3230 3300 3310 3311 3312 3313 3320 3321 3330 3331 4000 4100 4110 4120 4130 4140 4200 4210 Meaning Phase failure L2 Phase failure L3 Phase sequence Mains frequency Mains frequency too great Mains frequency too small DC link voltage DC link overvoltage Overvoltage No. 1 Overvoltage No. 2 DC link undervoltage Undervoltage No. 1 Undervoltage No. 2 Load error Output voltage Output overvoltage Output overvoltage phase U Output overvoltage phase V Output overvoltage phase W Armature circuit Armature circuit interrupted Field circuit Field circuit interrupted Temperature Ambient temperature Excess ambient temperature Too low ambient temperature Temperature supply air Temperature air outlet Temperature device Excess temperature device CANopen error codes 76 Error code (hex) 4220 4300 4310 4320 4400 4410 4420 5000 5100 5110 5111 5112 5113 5114 5115 5116 5117 5118 5119 5120 5200 5210 5220 5300 5400 5410 5420 5430 5440 5441 5442 CANopen error codes Meaning Too low temperature device Temperature drive Excess temperature drive Too low temperature drive Temperature supply Excess temperature supply Too low temperature supply Device hardware Supply Supply low voltage U1 = supply +/-15 V U2 = supply +24 V U3 = supply +5 V U4 = manufacturer specific U5 = manufacturer specific U6 = manufacturer specific U7 = manufacturer specific U8 = manufacturer specific U9 = manufacturer specific Supply intermediate circuit Control Measurement circuit Computing circuit Operating unit Power section Output stages Chopper Input stages Contactors Contactor 1 = manufacturer specific Contactor 2 = manufacturer specific 77 Error code (hex) 5443 5444 5445 5450 5451 5452 5453 5454 5455 5456 5457 5458 5459 5500 5510 5520 5530 6000 6010 6100 6200 6300 6301 . 6314 630F 6310 6320 7000 7100 7110 Meaning Contactor 3 = manufacturer specific Contactor 4 = manufacturer specific Contactor 5 = manufacturer specific Fuses S1 = L1 S2 = L2 S3 = L3 S4 = manufacturer specific S5 = manufacturer specific S6 = manufacturer specific S7 = manufacturer specific S8 = manufacturer specific S9 = manufacturer specific Data storage Working memory Program memory Non-volatile data memory Device software Software reset (Watchdog) Internal software User software Data record Data record No. 1 . Data record No. 14 Data record No. 15 Loss of parameters Parameter error Additional modules Power Brake chopper CANopen error codes 78 Error code (hex) 7111 7112 7113 7120 7121 7122 7123 7200 7300 7301 7302 7303 7304 7305 7306 7307 7310 7320 7400 7500 7510 7520 7600 8000 8100 8110 8120 8130 8140 8150 8200 CANopen error codes Meaning Failure brake chopper Overcurrent brake chopper Protective circuit brake chopper Motor Motor blocked Motor error or communication malfunc. Motor tilted Measurement circuit Sensor Tacho fault Tacho wrong polarity Resolver 1 fault Resolver 2 fault Incremental sensor 1 fault Incremental sensor 2 fault Incremental sensor 3 fault Speed Position Computation circuit Communication Serial interface no. 1 Serial interface no. 2 Data storage Monitoring Communication CAN overrun (objects lost) CAN in Error Passive Mode Life guard error or heartbeat error Recovered from bus-off Transmit COB-ID Protocol error 79 Error code (hex) 8210 8220 8300 8311 8312 8313 8321 8331 8400 8500 8600 8611 8612 8700 8800 8900 8A00 9000 F000 F001 F002 F003 F004 FF00 . FFFF Meaning PDO not processed due to length error PDO length exceeded Torque control Excess torque Difficult start up Standstill torque Insufficient torque Torque fault Velocity speed controller Position controller Positioning controller Following error Reference limit Sync controller Winding controller Process data monitoring Control External error Additional functions Deceleration Sub-synchronous run Stroke operation Control Manufacturer specific . Manufacturer specific CANopen error codes 80 CANopen error codes 81 Definitions and abbreviations CANopen definitions CAN Controller Area Network CiA CAN in Automation International User's and Manufacturer's Group CMS CAN Message Specification; one of the service elements of the CAN Application Layer in the CAN Reference Model COB Communication Object; a unit of transportation on a CAN network. Data is sent across a network inside a COB. The COB itself is part of the CAN message frame. DBT Distributor; one of the service elements of the CAN Application Layer in the CAN Reference Model. It is the responsibility of the Distributor to distribute COB IDs to the COBs that are used by a CMS. EDS Electronic Data Sheet; a node-specific ASCII-format file required when configuring the CAN network. The EDS file contains general information on the node and its dictionary objects (parameters). EDS files for ABB Drives are available through your local ABB representative. LMT Layer Management; one of the service elements of the CAN Application Layer in the CAN Reference Model. It serves to configure parameters for each layer in the CAN Reference Model. Definitions and abbreviations 82 NMT Network Management; one of the service elements of the CAN Application Layer in the CAN Reference Model. It performs initialisation, configuration and error handling on a CAN network. Object dictionary A local storage of all Communication Objects (COB) recognised by a device OSI Open Systems Interconnection PDO Process Data Object; a type of COB. Used for transmitting time critical data, such as control commands, references and actual values. RO Denotes read-only access. RW Denotes read/write access. SDO Service Data Object; a type of COB. Used for transmitting non time critical data, such as parameters. Definitions and abbreviations 83 Technical data What this chapter contains This chapter contains the technical specifications of the RCAN-01 RCAN-01 module. RCAN-01 RCAN-01 Enclosure: 34 mm 95 mm X1 20 mm 62 mm Mounting: Into an option slot inside the drive Degree of protection: IP20 Ambient conditions: The applicable ambient conditions specified for the drive hardware manual are in effect. Settings: · Through drive parameters · Rotary switches for node address selection (address range 00.99) · Rotary switch for baud rate selection Technical data 84 Connectors: · 34-pin parallel bus connector · 9-pin male DSUB connector (X1) Current consumption: · 250 mA max. (5 V), supplied by the drive control board. General: · Estimated min. lifetime: 100 000 h · All materials are UL/CSA approved. · Complies with EMC Standards EN 50081-2 and EN 50082-2. CANopen network Serial Communication Type: Asynchronous, half duplex Transfer Rate: 1 Mbit/s, 500 kbit/s, 250 kbit/s, 125 kbit/s, 100kbit/s, 50 kbit/s, 20 kbit/s or 10 kbit/s Protocol: CANopen Topology: Multi-drop Size of network: Max. 128 nodes, depends on the used CAN controller. Termination: 121 ohm, 1%, Metal Film, 1/4 W Medium: Screened, twisted pair RS-485 RS-485 cable Technical data 85 Dictionary structure and entries Description of transmission type Transmission type PDO transmission Cyclic 0 1.240 * 241.251 252 Acyclic + + Synchronous Asynchronous RTR only + + Reserved + + 253 + 254 * + 255 * + * For Transmit PDOs, the value in range 1.240 defines how many SYNC messages are received before the PDO is sent. For example, if the transmission type is set to 5, the PDO is sent on every fifth SYNC message. * The transmission of this PDO is initiated by an event device. The event is manufacturer specific. * The transmission of this PDO is initiated by an event on the device. This event must be defined in the device profile. Dictionary structure and entries 86 Description of PDO COB-ID entry Bit Value 31 0 PDO valid 1 PDO not valid 30 Description 29 0 RTR allowed on this PDO 1 No RTR allowed on this PDO 10.0 11 bit ID is used (CAN 2.0A) * 29 bit ID is used (CAN 2.0B) 0 If 11 bit ID is used, bit 28.11 = 0. x 28.11 0 1 If 29 bit ID is used, bit 28.0 = COB ID. x COB ID * Recommended Structure of PDO mapping entry Object Subindex Bits 31.16 15.8 E.g. 2005h 00 Dictionary structure and entries Length in bits 7.0 10h (10h = 16 bit) 3AFE64504231 3AFE64504231 REV B EN EFFECTIVE: 16.12.2008 ABB Oy AC Drives P.O. Box 184 FI-00381 FI-00381 HELSINKI FINLAND Telephone +358 10 22 11 Fax +358 10 22 22681 Internet http://www.abb.com ABB Inc. Automation Technologies Drives & Motors 16250 West Glendale Drive New Berlin, WI 53151 USA Telephone 262 785-3200 800-HELP-365 800-HELP-365 Fax 262 780-5135