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ABB NCAN-02 Installation And Startup Manual

Canopen adapter module
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Start-up Guide
CANopen Adapter Module
NCAN-02

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  • Page 1 ABB Drives Installation and Start-up Guide CANopen Adapter Module NCAN-02...
  • Page 3 CANopen Adapter Module NCAN-02 Installation and Start-up Guide 3BFE 64254154 REV B EFFECTIVE: 10.10.2003 © 2003 ABB Industry Oy. All Rights Reserved.

  • Page 5: Safety Instructions

    Safety Instructions Overview This chapter states the safety instructions that must be followed when installing and operating the NCAN-02 CANopen Adapter Module. The material in this chapter must be studied before attempting any work on, or with, the unit. Warnings and Notes This manual distinguishes two sorts of safety instructions.

  • Page 6: General Safety Instructions

    These functions should not be selected if other equipment is not compatible with this kind of operation, or dangerous situations can be caused by such action. More Warnings and Notes are printed at appropriate instances along the text. NCAN-02 Installation and Start-up Guide...

  • Page 7: Table Of Contents

    The NCAN-02 CANopen Adapter Module........
  • Page 8 NCAN-02 Boot-up Sequence ........
  • Page 9 Ambient Conditions, Transportation ..........10-1 NCAN-02 Installation and Start-up Guide...
  • Page 10 Table of Contents...

  • Page 11: Chapter 1 - Introduction To This Guide

    The Guide is intended for the people who are responsible for installing, commissioning and using a NCAN-02 CANopen Adapter Module with an ABB drive. The reader is expected to have a basic knowledge of electrical fundamentals, electrical wiring practices, the drive, and the use of the drive control panel.

  • Page 12: Terms And Abbreviations Used In This Guide

    Data sets are clusters of data sent through the DDCS link between the Data Words NCAN-02 Adapter Module and the drive. 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 6) are types of data words;...
  • Page 13 Chapter 1 – Introduction to This Guide NCAN-02 CANopen The NCAN-02 Adapter Module is one of the optional fieldbus adapter Adapter Module modules available for ABB drives. The NCAN-02 is a device through which the drive is connected to a CANopen serial communication bus.
  • Page 14 Chapter 1 – Introduction to This Guide NCAN-02 Installation and Start-up Guide...

  • Page 15: Chapter 2 - Overview

    Chapter 2 – Overview Overview This chapter contains a short description of the CANopen protocol and the NCAN-02 Adapter Module, a delivery checklist, and warranty information. CANopen CANopen is a higher-layer protocol based on the CAN (Control Area Network) serial bus system and the CAL (CAN Application Layer).

  • Page 16: The Ncan-02 Canopen Adapter Module

    Chapter 2 – Overview The NCAN-02 The NCAN-02 CANopen Adapter Module is an optional device for ABB drives which enables the connection of the drive to a CANopen CANopen Adapter system. Through the NCAN-02 Module it is possible to: Module •...

  • Page 17: Compatibility

    18 months, from the date of delivery. Extended warranty may be available with certified start-up. Contact your local distributor for details. Your local ABB Drives company or distributor may have a different warranty period, which is specified in their sales terms, conditions, and warranty terms.
  • Page 18 Chapter 2 – Overview NCAN-02 Installation and Start-up Guide...

  • Page 19: Chapter 3 - Mechanical Installation

    2. Fasten the rail and ensure the proper earthing as described above. 3. Push the module onto the rail. The module can be released by pulling the locking spring with a screwdriver (see Figure 3-1). NCAN-02 Installation and Start-up Guide...

  • Page 20: Mounting Inside The Drive

    Observe the free space requirements for the module (min. 10 mm from adjoining equipment/wall). 7. Push the module onto the rail. The module can be released by pulling the locking spring with a screwdriver (see Figure 3-1). NCAN-02 Installation and Start-up Guide...

  • Page 21: Chapter 4 - Electrical Installation

    The minimum short term bend radius is 25 mm. Earthing the Module The NCAN-02 module earth is connected to the rail onto which the module is mounted. If the rail is fastened to an earthed metallic assembly plate, the module is automatically earthed, and no external earthing wire is needed.

  • Page 22: Dip Switch Settings

    Press down the Pull the PCB outwards. clips on top (Stoppers prevent the PCB from and bottom of 1 2 3 4 being completely removed.) the module. 5 6 7 8 Bottom View Side View NCAN-02 Installation and Start-up Guide...
  • Page 23 50 kbit/s 1 2 3 4 1 2 3 4 250 kbit/s 20 kbit/s 1 2 3 4 1 2 3 4 *125 kbit/s 10 kbit/s 1 2 3 4 1 2 3 4 *Default setting NCAN-02 Installation and Start-up Guide...

  • Page 24: Ncan-02 Connections

    PCB back until the clips lock into their recesses. NCAN-02 Connections Drive Connection The NCAN-02 module is connected to the drive using a fibre optic cable link. Consult the drive documentation as to the corresponding terminals inside the drive. ABB drive...

  • Page 25: Canopen Connection

    Chapter 4 – Electrical Installation CANopen Connection The bus cable and the external power supply are connected to terminal blocks X1 and X2 on the NCAN-02. The terminal blocks are described below. Description DC GND Power supply ground (0 V). If the power to the module is supplied through the CAN network, this terminal should be left unconnected.
  • Page 26 Non-isolated Node Powered from the Network Note: Use this connection only if power supply is connected to CAN ground, and the CAN bus is short. +24 V CAN Network Power Supply Shorting Plug SHLD CAN_L CAN_H NCAN-02 Installation and Start-up Guide...

  • Page 27: Chapter 5 - Programming

    Network operation with the module. The NCAN-02 cannot communicate with the drive before it is configured for the CAN network. The CAN network is configured using a network installation tool; please refer to the installation tool documentation.
  • Page 28 Chapter 5 – Programming Table 5-1 The NCAN-02 Configuration Parameters. Fieldbus Default Parameter Name Alternative Settings Par. No. Setting MODULE TYPE (5) NCAN-02 Vx.x (5) NCAN-02 Vx.x WD MODE (0) FAULT; (1) AUTO RESET (1) AUTO RESET NODE ID 1 ... 127 (0) 1 Mbit/s;...
  • Page 29 ABB DRIVES; CSA 2.8/3.0 The Control and Status Words according to the CANopen Drive Profile DS402 are manipulated by the NCAN-02 in order to match them to the communication profile of the drive. The CANopen state machine is shown in Chapter 6.
  • Page 30 Chapter 5 – Programming CUT-OFF TIMEOUT This parameter defines the time after which the NCAN-02 makes a self-reset and thus stops communicating (with the drive and the master) in case the PDO communication between the NCAN-02 and the master fails. Cut-off supervision is activated upon a successful receipt of a PDO, i.e.

  • Page 31: 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. NCAN-02). ABB drives allow the user to separately determine the source for each type of control information (Start, Stop, Direction, Reference, Fault Reset, etc.).
  • Page 32 Chapter 5 – Programming NCAN-02 Installation and Start-up Guide...

  • Page 33: Chapter 6 - 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. NCAN-02 Installation and Start-up Guide...

  • Page 34: Ncan-02 Boot-Up Sequence

    Chapter 6 – Communication NCAN-02 Boot-up The NCAN-02 supports the boot-up sequence of a “Minimum Capability Device”, as defined by the CANopen Communication Profile. Sequence The boot-up state diagram of the NCAN-02 is shown below. Initialisation (10) Reset Application (13)
  • Page 35 Start_Remote_Node Stop_Remote_Node Enter_Pre-Operational_State Reset_Node Reset_Communication Byte Header 0000000000000010 NMT Command Node ID Note: If Node ID equals 0, all NMT slaves are addressed. The node state indications are as follows: Indication State Prepared Operational Pre-Operational NCAN-02 Installation and Start-up Guide...

  • Page 36: Process Data Objects (Pdo)

    1 - 240 241 - 251 Reserved The transmission type of a PDO is defined in the PDO communication parameter index. See the NCAN Object Dictionary (Communication Profile Area, Index 1400h onwards) later in this chapter. NCAN-02 Installation and Start-up Guide...

  • Page 37: Pdo1 Rx

    PDO1 Rx The PDO1 Rx object is received by the drive as Data set 1 (or Data set 10 if NCAN-02 parameter DATA SET OFFSET is set to FB D SET 10). The contents of PDO1 Rx is as follows:...

  • Page 38: Pdo1 Tx

    PDO1 Tx The PDO1 Tx object is transmitted by the drive as Data set 2 (or Data set 11 if NCAN-02 parameter DATA SET OFFSET is set to FB D SET 10). The contents of PDO1 Tx is as follows:...

  • Page 39: Pdo2 Rx

    PDO2 Rx The PDO2 Rx object is received by the drive as Data set 3 (or Data set 12 if NCAN-02 parameter DATA SET OFFSET is set to FB D SET 10). The contents of PDO2 Rx are as follows:...

  • Page 40: Pdo2 Tx

    PDO3 Rx The PDO3 Rx object is received by the drive as Data set 5 (or Data set 14 if NCAN-02 parameter DATA SET OFFSET is set to FB D SET 10). The contents of PDO3 Rx is as follows.)

  • Page 41: Pdo3 Tx

    PDO4 Rx The PDO4 Rx object is received by the drive as Data set 7 (or Data set 16 if NCAN-02 parameter DATA SET OFFSET is set to FB D SET 10). The contents of PDO4 Rx is as follows:...

  • Page 42: Pdo4 Tx

    PDO4 Tx The PDO4 Tx object is transmitted by the drive as Data set 8 (or Data set 17 if NCAN-02 parameter DATA SET OFFSET is set to FB D SET 10). The contents of PDO4 Rx is as follows:.

  • Page 43: The Canopen State Machine

    CW: xxxxxxxxxxxxx01x CW: xxxxxxxxxxxxxx0x CW: xxxxxxxxxxxxx111 CW: xxxxxxxxxxxxx110 CW: xxxxxxxxxxxxx110 SWITCHED ON SW: xxxxxxxxx01x0011 CW: xxxxxxxxxxxx1111 Quick stop CW: xxxxxxxxxxxx0111 completed OPERATION QUICK STOP ENABLED ACTIVE SW: xxxxxxxxx01x0111 SW: xxxxxxxxx0xx0111 CW: xxxxxxxxxxxxx01x CW: xxxxxxxxxxxxxx0x NCAN-02 Installation and Start-up Guide 6-11...

  • Page 44: Service Data Objects (Sdo)

    Object Index Data index Master to Slave (Segmented message with over 4 bytes of data) 1st Frame Byte Header Sub- 1100xxxxxxx01000 Command Object Index Length index All Subsequent Frames Byte Header 1100xxxxxxx01000 Command Data 6-12 NCAN-02 Installation and Start-up Guide...

  • Page 45: The Ncan Object Dictionary

    Pre-defined Error Field Unsigned32 error code (listed in Appendix B) and a 16-bit additional information field (0 with NCAN-02). The error code is contained in the lower 2 bytes (LSB), the additional information in the upper 2 bytes (MSB). Slave to Master...
  • Page 46 Actual Node ID. This entry has the access attribute “read only” as it cannot be changed through an SDO service. However, it can be changed through NCAN-02 configuration parameters or DIP switch SW1 (see Chapter 4 or Chapter 5 respectively). 100C...
  • Page 47 Number of entries. Vendor ID Unsigned32 24 23 Department Company The ABB Vendor ID is 183 (B7h). Product Code Unsigned32 Revision Number Unsigned32 Bits 31-16 correspond to the major revision number and bits 15-0 correspond to the minor revision number.
  • Page 48 4th Transmit PDO Unsigned8 Number of entries. Parameter COB ID Used by PDO Unsigned32 Default: 480h + Node ID. Transmission Type Unsigned8 254 (event-controlled asynchronous transmission) Inhibit Time Unsigned16 Not supported. CMS Priority Group Unsigned8 6-16 NCAN-02 Installation and Start-up Guide...
  • Page 49 Event timer for transmit PDO4 (PDO4 Tx). Default: 10 (i.e. 100 ms). The event interval time equals the setting multiplied by 10 ms. The value 0 allows the fastest possible event interval time (average 2 ms). NCAN-02 Installation and Start-up Guide 6-17...

  • Page 50: Manufacturer-Specific Profile Area

    Note: The total number of data sets and data words supported depends on drive type and application program. The data set numbers in the Information column are increased by 9 if NCAN-02 configuration parameter DATA SET OFFSET is set to FBA D SET 10.
  • Page 51 PROFIBUS specification (EN 50170). The codes are 4-byte values containing the Error Class, Error Code, and Additional Code (always 0 with NCAN-02) fields. Slave to Master Byte Header Sub- Additional Error Error 1101xxxxxxx01000 Command Object Index index Code Code Class NCAN-02 Installation and Start-up Guide 6-19...
  • Page 52 Value of parameter too low. Maximum value smaller than minimum value. Incompatibility with other values. Data cannot be mapped to the PDO. PDO length exceeded. General parameter incompatibility. General internal incompatibility in the device. 6-20 NCAN-02 Installation and Start-up Guide...

  • Page 53: Standardised Device Profile Area

    Unsigned16 Data set 1 Word 1. 6041 Status Word Unsigned16 Data set 2 Word 1. 6060 Modes of Operation Integer16 Operation mode. 6061 Modes of Operation Display Integer16 Shows the current mode of operation. NCAN-02 Installation and Start-up Guide 6-21...
  • Page 54 Chapter 6 – Communication 6-22 NCAN-02 Installation and Start-up Guide...

  • Page 55: Chapter 7 - Diagnostics

    NCAN-02 CANopen Adapter Module to help solving problems that may arise. Status LEDs There are three status LEDs on the NCAN-02 module, labelled DDCS, NS (Network Status) and MS (Module Status). The LEDs are bicolour (green/red) with white diffused lens.
  • Page 56 Chapter 7 – Diagnostics NCAN-02 Installation and Start-up Guide...

  • Page 57: Appendix A - Canopen Error Codes

    Appendix A – CANopen Error Codes This Appendix contains cross-reference tables for different ABB drives. The tables contain the CANopen error register bit number, error code and meaning, as well as the corresponding drive error code and/or message. If the drive indicates a fault as part of a binary word (Fault Word), the name of the word and the corresponding bit number is given in the Additional Information column.

  • Page 58: Acs 400

    Type code error Fault Word 2, b12 FF5D Drive specific Application fault Fault Word 2, b1 FF5E Drive specific HW error: SW assert expired Fault Word 2, b14 FF6A Drive specific Underload Fault Word 2, b0 NCAN-02 Installation and Start-up Guide...
  • Page 59 AI < MIN FUNC Fault Word 2, b10 9000 External error EXTERNAL FLT Fault Word 2, b8 FF51 Device specific (1) LINE CONV Fault Word 1, b10 FF52 Device specific (2) NO MOT DATA Fault Word 2, b1 NCAN-02 Installation and Start-up Guide...
  • Page 60 FLT (F2_3) System Fault Word, b12 FF61 Device specific (17) FLT (F2_1) System Fault Word, b13 FF62 Device specific (18) FLT (F2_0) System Fault Word, b14 FF6A Device specific (25) UNDERLOAD Fault Word 1, b8 NCAN-02 Installation and Start-up Guide...

  • Page 61: Acs 600 - Standard Application Prg. V2.8/3.0

    Device specific (21) ID RUN SEL FF66 Device specific (22) PARAM LOCK FF67 Device specific (23) MOTOR STARTS FF68 Device specific (24) ID N CHANGED FF69 Device specific (25) MACRO CHANGE FF6A Device specific (26) UNDERLOAD NCAN-02 Installation and Start-up Guide...

  • Page 62: Acs 600 - Motion Control Application Prg

    Fault Word 1, b14 FF6D Device specific (28) SPD DIFF ERR Fault Word 1, b15 FF6E Device specific (29) POS LIM ERR Fault Word 1, b21 FF6F Device specific (30) OVERSPEED Fault Word 1, b22 NCAN-02 Installation and Start-up Guide...

  • Page 63: Acs 600 - Crane Application Program

    Fault Word 1, bit .7 FF78 Device specific INV OVERLO Fault Word 1, bit .8 FF79 Device specific MF RUN FLT Fault Word 1, bit .15 FF7A Device specific START INHIBIT Fault Word 2, bit .10 NCAN-02 Installation and Start-up Guide...

  • Page 64: Acs 1000

    Fault Word 1, b3 FF70 Device specific F 21 LOCAL CONTROL LOST Fault Word 2, b4 FF71 Device specific COMPATIBILITY FAULT Fault Word 1, b4 FF72 Device specific F 12 FIELD UNDERCURRENT Fault Word 1, b11 NCAN-02 Installation and Start-up Guide...

  • Page 65: Dcs 500

    Fault Word 2, b12 FF1D Device specific F 43 FIELD EX.2 NOT OK Fault Word 2, b13 FF2E Device specific F 66 CURRENT DIFFERENCE Fault Word 3, b14 FF2F Device specific REVERSAL FAULT Fault Word 3, b15 NCAN-02 Installation and Start-up Guide...

  • Page 66: Dcs 600

    Device specific F 42 FIELD EX.1 NOT OK Fault Word 2, b12 FF1D Device specific F 43 FIELD EX.2 NOT OK Fault Word 2, b13 FF7B Device specific CON COMMUNIC Fault Word 3, b10 A-10 NCAN-02 Installation and Start-up Guide...

  • Page 67: Appendix B - Technical Data

    Appendix B – Technical Data DDCS Link Compatible Devices: All ABB Fieldbus Adapter modules, ABB ACS 400, ACS/ACP/ACC/ACF 600, ACS 800, ACS 1000, DCS 400/500/600 drives Size of the Link: 2 stations Medium: Fibre optic cable • Construction: Plastic core, diameter 1 mm, sheathed with plastic jacket •...

  • Page 68: Canopen Network

    50 kbit/s, 20 kbit/s, or 10 kbit/s Protocol: CANopen Standards: CAN in Automation DS 301 (Application Layer and Communication, DSP 402 (Device Profile: Drives and Motion Control), ISO 11898 (Controller Area Network [CAN] for High-Speed Communication) NCAN-02 Installation and Start-up Guide...
  • Page 69 11 V. DC GND These terminals should be connected together if the power to the module is supplied through the CAN network. CAN GND This makes the NCAN-02 a non-isolated node. Description SHLD Network cable shield. CAN_L CAN_L bus line.
  • Page 70 Appendix B – Technical Data NCAN-02 Installation and Start-up Guide...

  • Page 71: Appendix C - Ambient Conditions

    Installation Site Altitude: 0 to 2000 m above sea level. If the installation site is higher than 2000 m above sea level, please contact your local ABB distributor or office for further information. Vibration: Max 0.3 mm (2 to 9 Hz), max 1 m/s...
  • Page 72 Appendix C – Ambient Conditions NCAN-02 Installation and Start-up Guide...
  • Page 74 ABB Industry Oy ABB Inc. Drives Automation Technologies P.O.Box 184 Drives & Motors FIN-00381 Helsinki 16250 West Glendale Drive FINLAND New Berlin, WI 53151 Telephone: +358 10 222 000 Fax: +358 10 222 2681 Telephone: 262 785-3416 Internet: http://www.abb.com/automation 800 243-4384...

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