ABB FCAN-01 User manual

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

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List of related manuals
See section Related manuals on page 17.
You can find manuals and other product documents in PDF format on the
Internet. See section Document library on the Internet on the inside of the
back cover. For manuals not available in the Document library, contact your
local ABB representative.
The code below opens an online listing of the manuals applicable to the
product:
Fieldbus connectivity webpage
FCAN-01 manual

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

Table of contents 5
Table of contents
1. Safety instructions
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Use of warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Safety in installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2. About the manual
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Purpose of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Cybersecurity disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Terms and abbreviations used in this manual . . . . . . . . . . . . . . 20
Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
CANopen abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3. Overview of the CANopen protocol and the FCAN-01
adapter module
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
CANopen protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Topology of the CANopen link . . . . . . . . . . . . . . . . . . . . . . . . . . 24
FCAN-01 CANopen adapter module . . . . . . . . . . . . . . . . . . . . . 25
Layout of the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4. Mechanical installation
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Necessary tools and instructions . . . . . . . . . . . . . . . . . . . . . . . . 27
Unpacking and examining the delivery . . . . . . . . . . . . . . . . . . . 27
Installing the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

6 Table of contents
5. Electrical installation
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Necessary tools and instructions . . . . . . . . . . . . . . . . . . . . . . . . 31
General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Connecting the module to the CANopen network . . . . . . . . . . . 32
Bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
AC and DC parameters for the CANopen network . . . . . . . . . . . 34
Bus cable and termination resistors . . . . . . . . . . . . . . . . . . . 34
6. Start-up
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
CANopen connection configuration . . . . . . . . . . . . . . . . . . . 38
Data transfer rates supported. . . . . . . . . . . . . . . . . . . . . 38
FCAN-01 configuration parameters – group A (group 1) 39
FCAN-01 configuration parameters – group B (group 2) 51
FCAN-01 configuration parameters – group C (group 3) 54
Additional information on the virtual address area
allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Starting up ACS355 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Parameter setting examples – ACS355 . . . . . . . . . . . . . . . . 59
CiA 402 vl velocity mode with default PDO mapping . . . 59
Speed and torque control using ABB Drives
communication profile with parameter-configured PDO
mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Starting up ACSM1 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Parameter setting examples – ACSM1 . . . . . . . . . . . . . . . . 66
Using position control with the CiA 402 Profile Position
mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Starting up ACS850 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Parameter setting examples – ACS850 . . . . . . . . . . . . . . . . 70
CiA 402 Velocity mode with default PDO mapping . . . . 70
ABB Drives communication profile with parameter-
configured PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . 72
Starting up ACS880 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Table of contents 7
Parameter setting examples – ACS880 . . . . . . . . . . . . . . . 76
CiA 402 Velocity mode with default PDO mapping . . . . 76
Configuring the master station . . . . . . . . . . . . . . . . . . . . . . . . . . 78
EDS files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Configuring an ABB AC500 PLC . . . . . . . . . . . . . . . . . . . . . 79
7. Communication profiles
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
CANopen device profile CiA 402 . . . . . . . . . . . . . . . . . . . . . . . . 89
Device Control state machine . . . . . . . . . . . . . . . . . . . . . . . 89
Modes of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Profile position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Position demand value . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Position actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Interpolated position mode . . . . . . . . . . . . . . . . . . . . . . . . . 91
Profile velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Target velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Velocity actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Profile torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Target torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Torque actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Target velocity of CiA 402 Velocity mode . . . . . . . . . . . 93
Control effort of CiA 402 Velocity mode . . . . . . . . . . . . . 93
Control word and Status word of the CiA 402 profile . . . . . . 93
State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . 100
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . 100
Control word contents . . . . . . . . . . . . . . . . . . . . . . . . . 100
Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . 103
State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

8 Table of contents
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
8. Communication protocol
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
CAN data frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
FCAN-01 boot-up sequence and
Network Management (NMT) . . . . . . . . . . . . . . . . . . . . . . . 111
Process Data Objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Rx PDO1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Tx PDO1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Rx PDO6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Tx PDO6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Rx PDO21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Tx PDO21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Mapping format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
PDO configuration via the CAN bus . . . . . . . . . . . . . . . . . . . . . 121
Service Data Objects (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . 124
SDO Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
SDO Upload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Read Service (SDO Upload) . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Initiate SDO Upload Protocol . . . . . . . . . . . . . . . . . . . . . . . 126
Write Service (SDO Download) . . . . . . . . . . . . . . . . . . . . . . . . 127
Initiate SDO Download Protocol . . . . . . . . . . . . . . . . . . . . 127
Abort SDO Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Abort SDO Transfer Protocol . . . . . . . . . . . . . . . . . . . . . . . 128
Abort code description . . . . . . . . . . . . . . . . . . . . . . . . . 129
CANopen Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Object Dictionary Structure . . . . . . . . . . . . . . . . . . . . . . . . 131
Communication profile area (1000...1FFF) . . . . . . . . . . . . 132
Manufacturer-specific profile area (2000...5FFF) . . . . . . . . 143
Manufacturer-specific profile objects . . . . . . . . . . . . . . 143
Drive actual signals and parameters . . . . . . . . . . . . . . 144
Standardized device profile area (6000...9FFF) . . . . . . . . 146
9. Diagnostics
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

Table of contents 9
LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
10. Technical data
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
FCAN-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
CANopen link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
11. Appendix A – Dictionary structure and entries
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Description of transmission type . . . . . . . . . . . . . . . . . . . . . . . 162
Description of PDO COB-ID entry . . . . . . . . . . . . . . . . . . . . . . 162
PDO mapping entry structure – example . . . . . . . . . . . . . . . . . 163
12. Appendix B – CANopen error codes
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Further information

10 Table of contents

Safety instructions 11
1
Safety instructions
What this chapter contains
The chapter presents the warning symbols used in this manual and
the safety instructions which you must obey when you install or
connect an optional module to a drive, converter or inverter. If you
ignore the safety instructions, injury, death or damage can occur.
Read this chapter before you start the installation.

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

Safety instructions 13
Safety in installation
These instructions are for all who install or connect an optional
module to a drive, converter or inverter and need to open its front
cover or door to do the work.
WARNING! Obey these instructions. If you ignore them,
injury or death, or damage to the equipment can occur.
• If you are not a qualified electrician, do not do installation or
maintenance work.
• Disconnect the drive, converter or inverter from all possible
power sources. After you have disconnected the drive,
converter or inverter, always wait for 5 minutes to let the
intermediate circuit capacitors discharge before you continue.
• Disconnect all dangerous voltages connected to other control
signal connectors in reach. For example, it is possible that 230
V AC is connected from outside to a relay output of the drive,
converter or inverter.
• Always use a multimeter to make sure that there are no parts
under voltage in reach. The impedance of the multimeter must
be at least 1 Mohm.

14 Safety instructions

About the manual 15
2
About the manual
What this chapter contains
This chapter introduces this manual.
Purpose of the manual
The manual provides information on installing, commissioning and
using the FCAN-01 CANopen adapter module.
Applicability
This manual applies to the FCAN-01 CANopen adapter module
(+K457), SW version 1.046 or later.

16 About the manual
Compatibility
The FCAN-01 CANopen adapter module is compatible with the
following drives:
• ACS355
• ACSM1
• ACS380
• ACH580
• ACQ580
• ACS580
• ACS850
• ACS880.
Note: The adapter module is compatible with more drives that may
not be listed here. For details of compatibility, check the drive’s
firmware manual.
Target audience
This manual is intended for people who plan the installation, install,
start up, use and service the adapter module. Before you do work
on the module, read this manual and the applicable drive manual
that contains the hardware and safety instructions for the product
in question.
You are expected to know the fundamentals of electricity, wiring,
electrical components and electrical schematic symbols.
The manual is written for readers worldwide. Both SI and imperial
units are shown.
Before you start
It is assumed that the drive is installed and ready to operate before
you start the installation of the adapter module.
In addition to conventional installation tools, have the drive
manuals available during the installation as they contain important
information not included in this manual. The drive manuals are
referred to at various points of this manual.

About the manual 17
Related manuals
The related manuals are listed below.
Drive user’s manuals Code
(EN/Multilingual)
ACS355 drives (0.37…22 kW, 0.5…30 hp)
user’s manual
3AUA0000066143
Drive hardware manuals and guides
ACSM1 manuals 00578051
ACS380-04 manuals 9AAK10103A6193
ACH580-01 manuals 9AKK10103A0587
ACH580-04 manuals 9AKK106930A9059
ACH580-07 manuals 9AKK106930A5241
ACQ580-01 manuals 9AKK106713A2709
ACQ580-04 manuals 9AKK106930A9053
ACQ580-07 manuals 9AKK106930A3150
ACS580-01 manuals 9AKK105713A8085
ACS580-04 manuals 9AKK106930A9060
ACS580-07 (75 to 250 kW) manuals 9AKK106930A5239
ACS580-07 (250 to 500 kW) 9AKK106713A0278
ACS850-04 manuals 00592009
ACS880-01 manuals 9AKK105408A7004
ACS880-04 manuals 9AKK105713A4819
ACS880-07 manuals (45 to 710 kW) 9AKK105408A8149
ACS880-07 (560 to 2800 kW) 9AKK105713A6663
ACS880-17 (132 to 355 kW) 9AKK106930A3466
ACS880-17 (160 to 3200 kW) 9AKK106354A1499
ACS880-37 (132 to 355 kW) 9AKK106930A3467
ACS880-37 (160 to 3200 kW) 9AKK106354A1500
Option manuals and guides
FENA-01/-11/-21 Ethernet adapter module user’s
manual
3AUA0000093568
FSO safety functions module user’s manual 3AUA0000097054

18 About the manual
Contents
The manual consists of the following chapters:
• Safety instructions contains the safety instructions which you
must follow when installing a fieldbus adapter module.
• About the manual introduces this manual.
• Overview of the CANopen protocol and the FCAN-01 adapter
module contains a short description of the CANopen protocol
and the adapter module.
• Mechanical installation contains a delivery checklist and
instructions to install the adapter module.
• Electrical installation contains wiring and bus termination
instructions.
• Start-up presents the steps to take during the start-up of the
drive with the adapter module and gives examples of
configuring the master system.
• Communication profiles describes the communication profiles
used in communication between the CANopen network, the
adapter module and the drive.
• Communication protocol describes the communication on a
CANopen network.
• Diagnostics explains how to trace faults with the status LEDs
on the adapter module.
• Technical data contains the technical data of the adapter
module and the CANopen link.
• Appendix A – Dictionary structure and entries contains
information about PDO transmission and mapping.
• Appendix B – CANopen error codes contains reference tables
for decoding CANopen error messages.

About the manual 19
Cybersecurity disclaimer
This product is designed to be connected to and to communicate
information and data via a network interface. It is Customer's sole
responsibility to provide and continuously ensure a secure
connection between the product and Customer network or any
other network (as the case may be). Customer shall establish and
maintain any appropriate measures (such as but not limited to the
installation of firewalls, application of authentication measures,
encryption of data, installation of anti-virus programs, etc.) to
protect the product, the network, its system and the interface
against any kind of security breaches, unauthorized access,
interference, intrusion, leakage and/or theft of data or information.
ABB and its affiliates are not liable for damages and/or losses
related to such security breaches, any unauthorized access,
interference, intrusion, leakage and/or theft of data or information.
Note: The web pages are meant only for configuring the device
during commissioning. For security reasons, it is recommended to
disable the web pages after commissioning.

20 About the manual
Terms and abbreviations used in this manual
 Terms
Term Explanation
Command word See Control word.
Communication module Communication module is a name for a device
(eg, a fieldbus adapter) through which the drive
is connected to an external communication
network (eg, a fieldbus). The communication
with the module is activated with a drive
parameter.
Control word 16-bit or 32-bit word from master to slave with
bit-coded control signals (sometimes called the
Command word)
FCAN-01 CANopen
adapter module
One of the optional fieldbus adapter modules
available for ABB drives. FCAN-01 is a device
through which an ABB drive is connected to a
CANopen network.
Object dictionary Local storage of all Communication Objects
(COB) recognized by a device
Parameter Operating instruction for the drive. Parameters
can be read and programmed with the drive
control panel, drive PC tools or through the
adapter module.
Profile Adaptation of the protocol for certain application
field, for example, drives. In this manual, drive-
internal profiles (eg, DCU or FBA) are called
native profiles.
Status word 16-bit or 32-bit word from slave to master with
bit-coded status messages