ABB FECA-01 EtherCAT User Manual

Options for ABB drives, converters and inverters

User’s manual

FECA-01 EtherCAT® adapter module

List of related manuals

See section Related manuals on page 16 .

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

User’s manual

FECA-01 EtherCAT® adapter module

Table of contents

1. Safety instructions

4. Mechanical installation

5. Electrical installation

6. Start-up

3AUA0000068940 Rev D

EN

EFFECTIVE: 2015-06-15

 2015 ABB Oy

All Rights Reserved.

 2007 ABB Oy. All Rights Reserved.

3AFE68462401 Rev D

Table of contents 5

Table of contents

1. Safety instructions

Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Use of warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Safety in installation and maintenance . . . . . . . . . . . . . . . . . . . 13

2. About this manual

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Purpose of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Terms and abbreviations used in this manual . . . . . . . . . . . . . . 19

General terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

General abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

EtherCAT abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3. Overview of the EtherCAT network and the FECA-01 module


EtherCAT network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Example topology of the EtherCAT link . . . . . . . . . . . . . . . . 22

FECA-01 EtherCAT adapter module . . . . . . . . . . . . . . . . . . . . . 23

Layout of the adapter module . . . . . . . . . . . . . . . . . . . . . . . 24

4. Mechanical installation


Necessary tools and instructions . . . . . . . . . . . . . . . . . . . . . . . . 25

Unpacking and examining the delivery . . . . . . . . . . . . . . . . . . . 25

Installing the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

6 Table of contents

5. Electrical installation


Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Necessary tools and instructions . . . . . . . . . . . . . . . . . . . . . . . . 29

General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Connecting the adapter module to the EtherCAT network . . . . . 30

Connection procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

6. Start-up


Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

EtherCAT connection configuration . . . . . . . . . . . . . . . . . . . 34

FECA-01 configuration parameters – group A (group 1) 35

FECA-01 configuration parameters – group B (group 2) 40

FECA-01 configuration parameters – group C (group 3) 40

Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Starting up fieldbus communication for ACS355 drives . . . . . . . 41

Parameter setting examples – ACS355 . . . . . . . . . . . . . . . . 42

Starting up fieldbus communication for ACSM1 drives . . . . . . . 44

Parameter setting examples – ACSM1 . . . . . . . . . . . . . . . . 45

Starting up fieldbus communication for ACS850 drives . . . . . . . 48

Parameter setting examples – ACS850 . . . . . . . . . . . . . . . . 49

Starting up fieldbus communication for ACS880 and ACS580 drives

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Parameter setting examples – ACS880 and ACS580 . . . . . 53

Configuring the master station . . . . . . . . . . . . . . . . . . . . . . . . . . 55

EtherCAT Slave Information files . . . . . . . . . . . . . . . . . . . . . 55

Configuring an ABB AC500 PLC . . . . . . . . . . . . . . . . . . . . . 55

Configuring Beckhoff’s TwinCAT . . . . . . . . . . . . . . . . . . . . . 60

7. Communication profiles


Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

CANopen device profile CiA 402 . . . . . . . . . . . . . . . . . . . . . . . . 68

Device control state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Supported modes of operation . . . . . . . . . . . . . . . . . . . . . . . . . . 68


Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Profile position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Profile velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Profile torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Cyclic synchronous position mode . . . . . . . . . . . . . . . . . . . 70

Cyclic synchronous velocity mode . . . . . . . . . . . . . . . . . . . . 71

Cyclic synchronous torque mode . . . . . . . . . . . . . . . . . . . . 71

Process data scaling with the CiA 402 profile . . . . . . . . . . . . . . 72

Torque data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Velocity data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Position data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Process feedback values in the CiA 402 profile . . . . . . . . . . . . . 72

Control word and Status word of the CiA 402 profile . . . . . . . . . 73

ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . . 78

Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . 78

Control word contents . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

8. Communication protocol


EtherCAT frame structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

EtherCAT services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Addressing modes and FMMUs . . . . . . . . . . . . . . . . . . . . . . . . . 89

Sync managers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Sync manager channel 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . 90




Sync manager watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

EtherCAT state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91


Drive synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Free run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

DC sync – Synchronous with a DC Sync0 event . . . . . . . . . 92

CANopen over EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Process Data Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Emergency Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Communication between adapter module and drive . . . . . . . . . 96

Cyclic high priority communication . . . . . . . . . . . . . . . . . . . . 96

Cyclic low priority communication . . . . . . . . . . . . . . . . . . . . 97

9. Diagnostics


LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

10. Technical data

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

FECA-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

EtherCAT link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

11. Appendix A – CoE Object Dictionary


Object Dictionary structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Communication profile objects

(0x1000...0x1FFF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Manufacturer-specific profile objects

(0x2000...0x5FFF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

Drive parameter access via CoE objects . . . . . . . . . . . . . . 123

Standardized device profile area

(0x6000…0x9FFF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

CoE objects affecting drive parameters . . . . . . . . . . . . . . . . . . 134

CoE objects affecting ACSM1 parameters . . . . . . . . . . . . 135

CoE objects affecting ACS850 parameters . . . . . . . . . . . . 136

CoE objects affecting ACS355 parameters . . . . . . . . . . . . 137

CoE objects affecting ACS880 and ACS580 parameters . 138

Vendor-specific AL Status code . . . . . . . . . . . . . . . . . . . . . . . . 138


12. Appendix B – CoE error codes


Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Further information

Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . 147

Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . 147

Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . 147


Safety instructions 11

1

Safety instructions

Contents of this chapter

The chapter contains 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 tell you about conditions which can cause injury or death, 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 and maintenance

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 connectors or parts 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 this manual 15

2

About this manual

What this chapter contains

This chapter introduces this manual.

Applicability

This manual applies to the FECA-01 EtherCAT

(+K469), SW version 112.

® adapter module

Compatibility

The FECA-01 EtherCAT adapter module is compatible with the following drives:

• ACS355

• ACSM1 (motion and speed variants)

• ACS580

• ACS850

• ACS880.

The adapter module is compatible with all master stations that support the EtherCAT® protocol.

16 About this manual

Target audience

The reader is expected to have basic knowledge of the fieldbus interface, electrical fundamentals, electrical wiring practices and how to operate the drive.

Purpose of the manual

The manual provides information on installing, commissioning and using an FECA-01 EtherCAT adapter module.

Related manuals

The related manuals are listed below.

Code (English)

Drive user’s manuals

ACS355 drives (0.37…22 kW,

0.5…30 hp) user’s manual

3AUA0000066143

Drive hardware manuals and guides

ACSM1-204 regen supply modules

(5.3 to 61 kW) hardware manual

ACSM1-04 drive modules (0.75 to

45 kW) hardware manual

ACSM1-04 drive modules (55 to

110 kW) hardware manual

ACSM1-04Lx liquid-cooled drive modules (55 to 160 kW) hardware manual

ACS580-01 hardware manual

ACS850-04 (0.37…45 kW) hardware manual

ACS850-04 (55…160 kW, 75…200 hp) hardware manual

ACS850-04 (200…500 kW,

250…600 hp) hardware manual

ACS880-01 (0.55 to 250 kW, 0.75 to 350 hp) hardware manual

3AUA0000053713

3AFE68797543

3AFE68912130

3AUA0000022083

3AXD50000018826

3AUA0000045496

3AUA0000045487

3AUA0000026234

3AUA0000078093


Code (English)

Drive firmware manuals and guides

ACSM1 motion control program firmware manual

ACSM1 speed and torque control program firmware manual

ACSM1 regen supply control program firmware manual

ACS850 standard control program firmware manual

ACS880 primary control program firmware manual

3AFE68848270

3AFE68848261

3AUA0000052174

3AUA0000045497

3AUA0000085967

Option manuals and guides

FECA-01 EtherCAT® adapter module user’s manual

3AUA0000068940

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.

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.


Contents

The manual consists of the following chapters:

•

Safety instructions presents the safety instructions which you

must follow when installing a fieldbus adapter module.

•

About this manual

introduces this manual.

•

Overview of the EtherCAT network and the FECA-01 module

contains a short description of the EtherCAT network and the adapter module.

•

Mechanical installation contains a delivery checklist and

instructions on mounting the adapter module.

•

Electrical installation

contains general cabling instructions and instructions on connecting the module to the EtherCAT network.

•

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 the communication between the EtherCAT network, the adapter module and the drive.

•

Communication protocol

describes the communication on an

EtherCAT 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 EtherCAT link.

•

Appendix A – CoE Object Dictionary contains a list of the

CANopen objects supported by the adapter module.

•

Appendix B – CoE error codes

contains a list of the CANopen over EtherCAT error codes.


Terms and abbreviations used in this manual



General terms

Term

Command 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

FECA-01 EtherCAT adapter module

16-bit or 32-bit word from master to slave with bit-coded control signals (sometimes called the

Command word)

One of the optional fieldbus adapter modules available for ABB drives. FECA-01 is a device through which an ABB drive is connected to an

EtherCAT network.

Parameter

Explanation

See Control word

.

Profile

Status word

Operating instruction for the drive. Parameters can be read and programmed with the drive control panel, drive PC tools or through the adapter module.

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.

16-bit or 32-bit word from slave to master with bit-coded status messages



General abbreviations

Abbreviation Explanation

CAN Controller Area Network

CiA

EMC

FBA

CAN in Automation

Electromagnetic compatibility

Fieldbus adapter



FTP

IP

Foil shielded twisted pair

Internet Protocol

LSB

MSB

STP

UDP

UTP

XML

Least significant bit

Most significant bit

Shielded twisted pair

User Datagram Protocol

Unshielded twisted pair

Extensible Markup Language



EtherCAT abbreviations


CoE CANopen over EtherCAT

EMCY

EoE

Emergency Object

Ethernet over EtherCAT

ESC

ESI

FMMU

SDO

PDI

PDO

EtherCAT Slave Controller

EtherCAT Slave Information

Fieldbus Memory Management Unit

Service Data Object

Process Data Interface

Process Data Object

Further information on the EtherCAT protocol is available at www.ethercat.org

.

Overview of the EtherCAT network and the FECA-01 module 21

3

Overview of the EtherCAT network and the FECA-01 module


This chapter contains a short description of the EtherCAT network and the FECA-01 EtherCAT adapter module.

EtherCAT network

EtherCAT is a Real Time Ethernet technology which aims to maximize the use of the full duplex Ethernet bandwidth. It overcomes the overhead normally associated with Ethernet by employing "on the fly" processing hardware.

An EtherCAT bus consists of a master system and up to 65535 slave devices, connected together with standard Ethernet cabling.

The slave devices process the incoming Ethernet frames directly, extract or insert relevant data and transfer the frame to the next

EtherCAT slave device. The last slave device in the bus segment sends the fully processed frame back to the master.

There are several application layer protocols defined for EtherCAT.

FECA-01 supports the CANopen application layer over EtherCAT

(CoE), which provides the familiar CANopen communication mechanisms: Service Data Objects (SDO), Process Data Objects

(PDO) and network management similar to the CANopen protocol.

22 Overview of the EtherCAT network and the FECA-01 module

Further information is available from the EtherCAT technology group ( www.ethercat.org

).



Example topology of the EtherCAT link

An example of an allowable topology is shown below.

adapter module

IN

X1

OUT

X2 adapter module

IN

X1

OUT

X2 adapter module

IN

X1

OUT

X2

EtherCAT master

OUT

IN

Overview of the EtherCAT network and the FECA-01 module 23

FECA-01 EtherCAT adapter module

The FECA-01 EtherCAT adapter module is an optional device for

ABB drives which enables the connection of the drive to an

EtherCAT network.

Through the adapter module you can:

• give control commands to the drive (for example, Start, Stop,

Run enable)

• feed a motor speed, torque or position reference to the drive

• give a process actual value or a process reference to the PID controller of the drive

• read status information and actual values from the drive

• change drive parameter values

• reset a drive fault.

The EtherCAT commands and services supported by the adapter

module are discussed in chapter Communication protocol

. Refer to the user documentation of the drive as to which commands are supported by the drive.

The adapter module is mounted into an option slot on the motor control board of the drive. See the drive manuals for module placement options.

The module is classified as a complex slave device.

EtherCAT slave information files for ABB drives are available through your local ABB representative and the Document library

( www.abb.com

).

You can also find FECA-01 EtherCAT adapter module related information in http://new.abb.com/drives/ethercat-feca-01.

24 Overview of the EtherCAT network and the FECA-01 module



Layout of the adapter module

Lock

Mounting screw

EtherCAT connector X1

Front view Diagnostic LEDs

(see chapter

Diagnostics )

EtherCAT connector X2

Side view

Mechanical installation

Mechanical installation 25

4


This chapter contains a delivery checklist and instructions on mounting the adapter module.

Necessary tools and instructions

See the applicable drive hardware manual.

Unpacking and examining the delivery

1. Open the option package.

2. Make sure that the package contains:

• EtherCAT adapter module, type FECA-01

• this manual.

3. Make sure that there are no signs of damage.

26 Mechanical installation

Installing the adapter module

WARNING! Obey the safety instructions. See chapter

Safety instructions on page 11 . If you ignore the safety

instructions, injury or death can occur.

The adapter module has a specific position in the drive. Plastic pins, a lock and one screw to hold the adapter module in place.

The screw also makes an electrical connection between the module and drive frame for cable shield termination.

When the adapter module is installed, it makes the signal and power connection to the drive through a 20-pin connector.

When you install or remove the adapter module from the control unit:

1. Pull out the lock.

1

2. Put the adapter module carefully into its position on the drive.

Mechanical installation 27

3. Push in the lock.

3

4

4. Tighten the screw to torque 0.8 N·m.

Note: It is necessary to tighten the screw properly to fulfill the

EMC requirements and to ensure the proper operation of the module.

See the applicable drive manual for further instructions on how to install the adapter module to the drive.

28 Mechanical installation

Electrical installation

Electrical installation 29

5


This chapter contains:

• general cabling instructions

• instructions on connecting the adapter module to the EtherCAT network.

Warnings

WARNING! Obey the safety instructions. See chapter

Safety instructions

on page

11

. If you ignore the safety instructions, injury or death can occur. If you are not a qualified electrician, do not do electrical work.

Necessary tools and instructions

See the applicable drive hardware manual.

30 Electrical installation

General cabling instructions

• Arrange the bus cables as far away from the motor cables as possible.

• Avoid parallel runs.

• Use bushings at cable entries.

When you connect the network cables, insert the plug into the jack so that there is no misalignment. Do not apply any twisting or bending movements to the cable or the plug. Do not use excessive force. Make sure that the plug latches into place and finally check that the plug has entered all the way into the jack.

Route the cables so that they do no transmit bending stress to the connector.

Connecting the adapter module to the EtherCAT network

The adapter module has two 100BASE-TX Ethernet ports with

8P8C (RJ-45) modular connectors. Standard Category 5e STP or

FTP Ethernet cables can be used.

It is not recommended to use UTP cables because drives are typically installed in noisy environments.

When Cat 5e STP or FTP is used, the cable shield is internally connected to the drive frame through the adapter module.



Connection procedure

1. Connect the network cables to the two RJ-45 connectors (X1 and X2) on the adapter module.

Connect the cable from the EtherCAT master to the left port

(X1 IN).

2. In the line topology, if there are more slave devices in the same line, connect the next slave device to the right port (X2 OUT).

3. If there is a redundant ring, connect the right port (X2 OUT) of the last slave device to the second port of the EtherCAT master.

Electrical installation 31

The figure below illustrates the cable connections: adapter module

IN

X1

OUT

X2 adapter module

IN

X1

OUT

X2 adapter module

IN

X1

OUT

X2

EtherCAT master

OUT

IN

32 Electrical installation

6

Start-up 33

Start-up


This chapter contains:

• information on configuring the drive for operation with the adapter module

• drive-specific instructions on starting up the drive with the adapter module

• examples of configuring the master station for communication with the adapter module.

WARNING! Follow the safety instructions given in this manual and the drive documentation.

34 Start-up

Drive configuration

The following information applies to all drive types compatible with the adapter module, unless otherwise stated.



EtherCAT connection configuration

After the adapter module has been mechanically and electrically

installed according to the instructions in chapters Mechanical installation

and

Electrical installation

, the drive must be prepared for communication with the module.

The detailed procedure of activating the module for EtherCAT communication with the drive depends on the drive type. Normally, a parameter must be adjusted to activate the communication. See the drive-specific start-up procedures starting on page

41 .

When the adapter module is connected to a specific drive type for the first time, it scans through all the drive parameter groups to allow the EtherCAT master to access the parameters starting via

CoE objects. This scanning procedure may take up to one minute depending on the drive type. The adapter module does not respond to the EtherCAT bus during the scanning procedure. As long as the adapter module is connected to a drive of the same type and version, there is no need to scan through all the drive parameters again at start-up.

Once communication between the drive and the adapter module has been established, several configuration parameters are copied to the drive. These parameters are shown in the tables below and must be checked first and adjusted where necessary.

Note: Not all drives display descriptive names for the configuration parameters. To help you identify the parameters in different drives, the names displayed by each drive are given in grey boxes in the tables.

Note: The new settings take effect only when the adapter module is powered up the next time or when the fieldbus adapter refresh parameter is activated.

Start-up 35

FECA-01 configuration parameters – group A (group 1)

Note: The actual parameter group number depends on the drive type. Group A (group 1) corresponds to:

• parameter group 51 in ACS355, ACSM1, ACS580 and

ACS850.

• parameter group is typically 51/54 (group 151/154 in some variants) in ACS880 if the adapter is installed as fieldbus adapter A/B.

For more information, refer the appropriate drive manuals.

No.

01

Name/Value

FBA TYPE

02 PROFILE

ACS355:

FB PAR 2

ACSM1:

FBA PAR2

ACS850:

FBA par2

ACS880/ACS580:

Profile

0 = CiA 402

1 = ABB Drives profile

3 = Transparent

Description

Read-only.

Shows the fieldbus adapter type.

The value cannot be adjusted by the user.

If the value is not 135, the adapter module sets the fieldbus configuration parameters to their default values.

Selects the communication profile used by the adapter module. It is not recommended to switch communication profiles during operation.

For more information on the communication profiles, see chapter

Communication profiles

CANopen device profile CiA 402 selected

ABB Drives profile selected

Transparent profile selected

.

Default

135 =

EtherCAT

0 =

CiA 402

36 Start-up

No.

Name/Value

03 STATION ALIAS

ACS355:

FB PAR 3

ACSM1:

FBA PAR3

ACS850:

FBA par3

ACS880/ ACS580:

Station alias

Description

Configured Station Alias address used for node addressing. Use of this alias is activated by the master.

Default

0

04

…

20

Reserved

21 ERASE FBA

CONFIG

ACS355:

FB PAR 21

ACSM1:

FBA PAR21

ACS850:

FBA par21

ACS880/ACS580:

Erase FBA config

1 = Erase

These parameters are not used by the adapter module.

To erase all saved CoE objects from the adapter module, write value 1 to this parameter and refresh the parameters with parameter

27 FBA PAR REFRESH . Adapter

module sets the parameter value back to 0 automatically.

0 = No

Erases FBA configuration

No operation

22

23

…

26

DRIVE POS CTL

MODE

ACSM1:

FBA PAR22

Selects which ACSM1 drive control mode is used in the CiA 402 cyclic synchronous position (csp) operation mode.

For more information on the ACSM1 position and synchron control modes, see ACSM1 motion control program firmware manual

(3AFE68848270 [English]).

0 = Position control Position control mode selected

1 = Synchron control

Synchron control mode selected

Reserved These parameters are not used by the adapter module.

N/A

0 = No

0 =

Position control

N/A

Start-up 37

No.

Name/Value

27 FBA PAR

REFRESH

ACS355/ACSM1:

FBA PAR

REFRESH

ACS850/ACS880/

ACS580:

FBA par refresh

0 = Done

1 =

Refresh/Configure

28 PAR TABLE VER

ACS355:

FILE CPI FW REV

ACSM1:

PAR TABLE VER

ACS850/ACS880/

ACS580:

Par table ver

Description

Validates any changed adapter module configuration parameter settings. After refreshing, the value reverts automatically to

0 = Done.

Note: This parameter cannot be changed while the drive is running.

Refreshing done

Refreshing

Read-only.

Displays the parameter table revision of the fieldbus adapter module mapping file stored in the memory of the drive.

Default

0 = Done

N/A

Parameter table revision

Read-only.

Displays the drive type code of the fieldbus adapter module mapping file stored in the memory of the drive.

N/A 29 DRIVE TYPE

CODE

ACS355:

FILE CONFIG ID

ACSM1:

DRIVE TYPE

CODE

ACS850/ACS880/

ACS580:

Drive type code

Drive type code of the fieldbus adapter module mapping file

38 Start-up

No.

Name/Value

30 MAPPING FILE

VER

ACS355:

FILE CONFIG REV

ACSM1:

MAPPING FILE

VER

ACS850/ACS880/

ACS580:

Mapping file ver

Description

Read-only.

Displays the fieldbus adapter module mapping file revision stored in the memory of the drive in decimal format.

Mapping file revision

31 D2FBA COMM STA Read-only.

Displays the status of the fieldbus

ACS355: adapter module communication.

Note: The value names may vary by drive.

FBA STATUS

ACSM1:

D2FBA COMM STA

ACS850/ACS880/

ACS580:

D2FBA comm sta

0 = Idle Adapter is not configured.

1 = Exec.init

2 = Time out

3

4

= Conf.err

= Off-line

5 = On-line

6 = Reset

Adapter is initializing.

Time-out has occurred in the communication between the adapter and the drive.

Adapter configuration error: The major or minor revision code of the common program revision in the fieldbus adapter module is not the revision required by the module or mapping file upload has failed more than three times.

Adapter is off-line.

Adapter is on-line.

Adapter is performing a hardware reset.

Default

N/A

0 = Idle

OR

4 = Offline

Start-up 39

No.

Name/Value

32 FBA COMM SW

VER

ACS355:

FBA CPI FW REV

ACSM1:

FBA COMM SW

VER

ACS850:

FBA comm sw ver

ACS880/ACS580:

FBA comm SW ver

Description

Read-only.

Displays the common program revision of the adapter module.

Common program revision of the adapter module

Read-only. Displays the application program revision of the adapter module. For example,

0x0111 = version 111.

N/A 33 FBA APPL SW

VER

ACS355:

FBA APPL FW

REV

ACSM1:

FBA APPL SW

VER

ACS850:

FBA appl sw ver

ACS880/ACS580:

FBA appl SW ver

Default

N/A

Application program revision of the adapter module

40 Start-up

FECA-01 configuration parameters – group B (group 2)

Note: The actual parameter group number depends on the drive type. Group B (group 2) corresponds to:

• parameter group 55 in ACS355

• parameter group 53 in ACSM1, ACS580 and ACS850



All parameters in this group are handled by the adapter module automatically. Do not modify the settings of these parameters.

FECA-01 configuration parameters – group C (group 3)

Note: The actual parameter group number depends on the drive type. Group C (group 3) corresponds to:

• parameter group 54 in ACS355

• parameter group 52 in ACSM1, ACS580 and ACS850



All parameters in this group are handled by the adapter module automatically. Do not modify the settings of these parameters.



Control locations

ABB drives can receive control information from multiple sources including digital inputs, analog inputs, the drive control panel and a communication module (for example, the adapter module). ABB drives allow the user to separately determine the source for each type of control information (Start, Stop, Direction, Reference, Fault reset, etc.).

To give the fieldbus master station the most complete control over the drive, the communication module must be selected as the source for this information. The parameter setting examples below

Start-up 41 contain the drive control parameters needed in the examples. For a complete parameter list, see the drive documentation.

Starting up fieldbus communication for ACS355 drives

1. Power up the drive.

2. Enable the communication between the adapter module and the drive with parameter 9802 COMM PROT SEL.

3. Set the FECA-01 configuration parameters in parameter group

51. At the minimum, select the communication profile with parameter 5102.

4. Validate the settings made in parameter group 51 by setting parameter 5127 FBA PAR REFRESH to REFRESH.

5. Set the relevant drive control parameters to control the drive according to the application. If the CiA 402 profile is used, set and check all parameters as instructed in the table below.

6.

CiA 402 profile only: If you intend to use the CiA 402 profile, do the following:

• Select the desired operation mode for the adapter module and the drive in CoE object 0x6060 by modifying the object value via the master station. See section

Supported modes of operation on page 68

and Appendix A – CoE

Object Dictionary

.

• Take into use suitable PDOs for the operation mode in use.

You can do this either via the default RxPDOs and

TxPDOs as described in section

Process Data Objects

on page

93

, or you can create your own custom PDOs as well.

42 Start-up



Parameter setting examples – ACS355

The ACS355 parameters and mandatory parameter settings for the EtherCAT fieldbus communication with the CiA 402 profile are listed in the following table.

Note: All other ACS355 parameters not mentioned in the table below are assumed to be at their default values.

Drive parameter Setting for ACS355 drives

9802 COMM PROT SEL EXT FBA

Description

Activates the communication

(fieldbus) module.

5101 FBA TYPE EtherCAT

0 (= CiA 402)

Displays the type of the fieldbus adapter module.

Selects the CiA 402 profile.

5102 FB PAR 2

(PROFILE)

5127 FBA PAR

REFRESH

REFRESH

1001 EXT1

COMMANDS

1002 EXT2

COMMANDS

1102 EXT1/EXT2 SEL

1103 REF1 SELECT

1106 REF2 SELECT

1601 RUN ENABLE

1604 FAULT RESET

SEL

COMM

COMM

COMM

COMM

COMM

COMM

COMM

Validates the FECA-01 configuration parameter settings.

Selects the fieldbus interface as the source of the start and stop commands for external control location 1.


Enables external control location

1/2 selection through the fieldbus.

Selects the fieldbus reference 1 as the source for speed reference.

Selects the fieldbus reference 2 as the source for torque reference.

Selects the fieldbus interface as the source for the inverted Run enable signal (Run disable).

Selects the fieldbus interface as the source for the fault reset signal.


1608 START ENABLE 1 COMM

1609 START ENABLE 2 COMM

2201 ACC/DEC 1/2 SEL COMM

2209 RAMP INPUT 0

9904 MOTOR CTRL

MODE

COMM

VECTOR:SPEED

VECTOR:TORQ

SCALAR:FREQ

Start-up 43

Description

Selects the fieldbus interface as the source for the inverted Start

Enable signal.

Selects the fieldbus interface as the source for the Start Enable 2 signal.

Selects the fieldbus interface as the source for the ramp pair 1/2 selection.

Selects the fieldbus interface as the source for forcing the ramp input to zero.

Selects the motor control mode.

Note: The CiA 402 operation modes available depend on this setting.

• When VECTOR:TORQ has been selected, operation modes vl, tq and cst are available.

• When VECTOR:SPEED or

SCALAR:FREQ has been selected, only the vl mode is available.

44 Start-up

Starting up fieldbus communication for ACSM1 drives


2. Enable the communication between the adapter module and the drive by setting parameter 50.01 FBA ENABLE to Enable.

3. Select application-specific values for parameters 50.04 and

50.05. The allowed values are shown in the table below.

4. Set the FECA-01 configuration parameters in parameter group

51. At the minimum, set 51.02 PROFILE according to the application.

5. Validate the settings made in parameter group 51 by setting parameter 51.27 FBA PAR REFRESH to REFRESH.


7.




and

Appendix A – CoE

Object Dictionary .




Process Data Objects on page 93


Start-up 45



Parameter setting examples – ACSM1

The ACSM1 parameters and mandatory parameter settings for the

EtherCAT fieldbus communication with the CiA 402 profile are listed in the following table.

Note: All other ACSM1 parameters not mentioned in the table below are assumed to be at their default values.

Drive parameter

50.01 FBA ENABLE

Setting for ACSM1 drives

Enable

Description

Enables communication between the drive and the fieldbus adapter module.

50.04 FBA REF1

MODESEL

50.05 FBA REF2

MODESEL

50.06 FBA ACT1 TR

SRC

Torque

Speed

Position

(Raw data)

Torque

Speed

Position

(Raw data)

P.1.06 TORQUE

P.1.01 SPEED ACT

P.1.12 POS ACT

Selects the source for fieldbus actual value 1 (feedback value).

1)


1)

50.07 FBA ACT2 TR

SRC

51.02 FBA PAR2

(PROFILE)

P.1.06 TORQUE

P.1.01 SPEED ACT

P.1.12 POS ACT

0 (= CiA 402)

Effective only if the FBA REF1

MODESEL parameter has been set to "Raw data". In that case:

Selects the source for fieldbus actual value 1.

2)

Effective only if the FBA REF2

MODESEL parameter has been set to "Raw data". In that case:



51.27 FBA PAR

REFRESH

10.01 EXT1 START

FUNC

REFRESH

FBA



46 Start-up

Drive parameter

10.08 FAULT RESET

SEL

Setting for ACSM1 drives

P.FBA MAIN CW.8

24.01 SPEED REF1 SEL FBA REF1

32.01 TORQ REF1 SEL FBA REF1

34.01 EXT1/EXT2 SEL C.False

C.False

34.02 EXT1 MODE

1/2SEL

34.03 EXT1 CTRL

MODE1

Speed

Torque

Position

Synchron

57.09 KERNEL SYNC

MODE

FBSync

60.02 POS AXIS MODE Linear

Rollover

60.09 POS

RESOLUTION

10…24

60.05 POS UNIT Revolution

60.10 POS SPEED UNIT u/s

62.01 HOMING

METHOD

CAN Method 1 …

CAN Method35

Description


Selects the fieldbus reference 1 as the source for speed reference 1.

Selects the fieldbus reference 1 as the source for torque reference 1.

Selects that the external control location is always EXT1.

Selects the source for the default drive control mode selection.

Selects the default (power up) drive control mode.

3)

For more information on using the position control mode, see

ACSM1 motion control program firmware manual

(3AFE68848270 [English]).

See section

Drive synchronization on page 92

.

Selects whether to have continuous position data range or position data range with one revolution wrap-around.

4)

Selects the internal resolution of the position data between the module and the drive, not at the master.

5)

Mandatory setting

Mandatory setting

Selects the homing method. The homing method needs to be selected if one intends to use homing.

For more information on the homing methods, see ACSM1 motion control program firmware manual (3AFE68848270

[English]).

Start-up 47

Drive parameter Setting for ACSM1 drives

Normal

Description

62.02 HOMING START

FUNC

62.03 HOMING START P.2.12 FBA MAIN

CW.26

Ref table

Mandatory setting if the homing procedure will be used

Mandatory setting if the homing procedure will be used

Mandatory setting 65.01 POS

REFSOURCE

65.02 PROF SET SEL

65.03 POS START 1

C.False

P.2.12 FBA MAIN

CW.25

Mandatory setting

Mandatory setting

65.04 POS REF 1 SEL

65.22 PROF VEL REF

SEL

67.01 SYNC REF SEL

FBA REF1

FBA REF1

Mandatory setting

Mandatory setting

67.03 INTERPOLAT

MODE

67.04 INTERPOLAT

CYCLE

FBA REF1

INTERPOLATE

Set a value equalling the bus cycle time (ms).

Mandatory setting if the ACSM1

Synchron control mode is used

Engages the interpolator in the

Synchron control mode.

Sets the interpolation cycle according to the bus cycle time.

70.03 POS REF ENA C.False

Mandatory setting

1)

The data sources for the process feedback values are selected with the FBA REF1/2

MODESEL parameters. Torque, speed or position feedbacks may be selected. Only

2) two out of the three can be selected simultaneously.

Note: After changing parameter 50.06 or 50.07, the settings must be read into the adapter module by using the parameter 51.27 FBA PAR REFRESH.

3)

Note: The drive control mode is changed by the adapter module according to the operation mode requested by the master. However, it is recommended to set parameter 34.03 according to the primary operation mode. The value of parameter

4)

34.03 does not change when the adapter module switches the drive control mode.

Note: In the rollover mode, the position data ranges always within one revolution

(0…1 rev). When the linear mode is selected, the range of total revolutions depends

5) on the setting of parameter 60.09.

Note: The position data size is always 32 bits total, and parameter 60.09 determines the number of bits used for the fractional part. For example, with value 24, there are

8 bits for integral revolutions (-128...127) and 24 bits for fractional part within the revolution.

48 Start-up

Starting up fieldbus communication for ACS850 drives


2. Enable the communication between the adapter module and the drive by setting parameter 50.01 FBA enable to Enable.


50.05. The allowed values are listed in the table below.

4. Set the FECA-01 configuration parameters in drive parameter group 51. At the minimum, set 51.02 PROFILE according to the application.

5. Validate the settings made in parameter group 51 by setting parameter 51.27 FBA par refresh to Refresh.


7.




and


Object Dictionary .






Start-up 49



Parameter setting examples – ACS850

The ACS850 parameters and mandatory parameter settings for the EtherCAT fieldbus communication with the CiA 402 profile are listed in the following table.

Note: All other ACS850 parameters not mentioned in the table below are assumed to be at their default values.

Drive parameter

50.01 Fba enable

Setting for ACS850 drives

Enable

Description


50.04 Fb ref1 modesel

50.05 Fb ref2 modesel

50.06 Fb act1 tr src

50.07 Fb act2 tr src

Torque

Speed

Raw data

Torque

Speed

Raw data

P.1.01 Motor speed rpm

P.1.06 Motor torque

P.1.12 Pos act

P.1.09 Encoder1 pos

P.1.11 Encoder2 pos

P.1.01 Motor speed rpm

P.1.06 Motor torque

P.1.12 Pos act

P.1.09 Encoder1 pos

P.1.11 Encoder2 pos


1)


1)

Effective only if the Fb ref1 modesel parameter has been set to "Raw data". In that case:


2)

Effective only if the Fb ref2 modesel parameter has been set to "Raw data". In that case:


2)

0 (= CiA 402) Selects the CiA 402 profile.

51.02 FBA par2

(PROFILE)

51.27 FBA par refresh Refresh

10.01 Ext1 start func

10.10 Fault reset sel

FB

P.2.22.8 FBA main cw




50 Start-up


C.False

Description

12.01 Ext1/Ext2 sel

12.03 Ext1 ctrl mode Speed

Torque

FBA ref1

Selects external control location

EXT1.

Selects the default (power up) drive control mode.

3)

21.01 Speed ref1 sel Selects the fieldbus reference 1 as the source for speed reference 1.

Mandatory setting 22.01 Acc/Dec sel C.False

24.01 Torq ref1 sel FBA ref1 Selects the fieldbus reference 1 as the source for torque reference 1.

1)

The data sources for the process feedback values are selected with the Fb ref1/2 modesel parameters. Two pieces of feedback can be selected. To get the position feedback, select "Raw data" and select the appropriate drive parameter in the corresponding Fb act1/2 tr src parameter.

2)

Note: After changing parameter 50.06 or 50.07, the settings must be read into the adapter module by using the parameter 51.27 FBA par refresh.

3)

Note: The drive control mode is changed by the adapter module according to the operation mode requested by the master. However, it is recommended to set parameter 12.03 according to the primary operation mode. The value of parameter

12.03 does not change when the adapter module switches the drive control mode.

Start-up 51

Starting up fieldbus communication for ACS880 and ACS580 drives


2. Enable the communication between the adapter module and the drive by selecting the correct slot number in parameter

50.01 FBA A enable.

The selection must correspond to the slot where the adapter module is installed. For example, if the adapter module is installed in slot 1, you must select slot 1.

3. With parameter 50.02 FBA A comm loss func, select how the drive reacts to a fieldbus communication break.

Note that this function monitors both communication between the fieldbus master and the adapter module and communication between the adapter module and the drive.

4. With parameter 50.03 FBA A comm loss t out, define the time between communication break detection and the selected action.


50.05. The allowed values are listed in the table below.

6. Set the FECA-01 configuration parameters in drive parameter group 51. At the minimum, set the value of parameter

51.02 Profile according to the application.

7. Save the valid parameter values to permanent memory with parameter 96.07 Parameter save manually.


9. Validate the settings made in parameter groups 51 with parameter 51.27 FBA A par refresh.

52 Start-up

10.

CiA 402 profile only : If you intend to use the CiA 402 profile, do the following:



and


Object Dictionary .






• With ACS880 in Scalar motor control mode, you must configure the drive to use the reference unit as rpm. Set parameter 19.20 Scalar control reference unit = Rpm.

Note : ACS580 supports CiA 402 profile only in Vector control mode.

Start-up 53



Parameter setting examples – ACS880 and ACS580

The ACS880 and ACS580 parameters and mandatory parameter settings for the EtherCAT fieldbus communication with the CiA 402 profile are listed in the following table.

Note: All other ACS880 and ACS580 parameters not mentioned in the table below are assumed to be at their default values.

Drive parameter

50.01 FBA A enable

Setting for ACS880 and ACS580 drives

1 = Option slot 1

1)

Description

50.02 FBA A comm loss func

50.03 FBA A comm loss t out

50.04 FBA A ref1 type

50.05 FBA A ref2 type

1 = Fault

1)

3.0 s

1)

3 = Torque

4 = Speed

3 = Torque

4 = Speed


Select the correct slot where the

FECA-01 adapter is installed.

Enables fieldbus A communication fault monitoring.

Defines the fieldbus A communication break supervision time.



51.02 Profile

51.27 FBA par refresh

0 = CiA 402

1 = Refresh

19.12 Ext1 control mode 1 2 = Speed

3 = Torque

20.01 Ext1 commands

20.02 Ext1 start trigger

12 = Fieldbus A

1 = Level


Validates the settings made in parameter group 51.

Selects the drive control mode.

Note: The CiA 402 operation modes available depend on this setting.

• When Torque has been selected, operation modes tq and cst are available.

• When Speed has been selected, only the vl mode is available.

Start and stop commands for external control location EXT1 are taken from fieldbus adapter A.

Mandatory setting

54 Start-up

Drive parameter

22.11 Speed ref1 selection

Setting for ACS880 and ACS580 drives

4 = FB A ref1

26.11 Torque ref1 selection

4 = FB A ref1

99.04 Motor control mode 0 = DTC or

1 = Scalar

19.20 Scalar control reference unit

0

1

= Hz

= Rpm

Description

Selects fieldbus adapter A reference value 1 as the source for speed reference 1.

Selects fieldbus adapter A reference value 1 as the source for torque reference 1.

ACS880 drives : To use CiA 402 profile in Scalar mode, also set parameter 19.20 Scalar control reference unit = Rpm.

ACS580 drives : To use CiA 402 profile, use DTC mode.

For ACS880 drives only.

If using CiA 402 profile in Scalar motor control mode, select the reference unit as Rpm.

1)

Example

Start-up 55

Configuring the master station

After the adapter module has been initialized by the drive, the master station must be prepared for communication with the module. Examples of an ABB AC500 PLC and Beckhoff’s TwinCAT are given below. If you are using another master system, refer to its documentation for more information.

The examples can be applied to all drive types compatible with the module.



EtherCAT Slave Information files

EtherCAT Slave Information (ESI) files are XML files that specify the properties of the slave device for the EtherCAT master and contain information on the supported communication objects.

EtherCAT Slave Information files for ABB drives are available from the Document library ( www.abb.com/drives ).



Configuring an ABB AC500 PLC

This example shows how to configure communication between an

ABB AC500 PLC and the adapter module using the ABB Control

Builder Plus software.

Before you start, make sure that you have downloaded the ESI

XML file from the Document library for your adapter module version and drive type (and drive license type with ACSM1).

1. Start the ABB Configurator software.

2. On the Tools menu, select Device Repository .

56 Start-up

3. In the window that opens, click Install and browse for the ESI file downloaded from the Document library.

4. Open or create the PLC project that is used to control the drive.

5. Add the CM579-ECAT EtherCAT master device to the PLC project.

Start-up 57

6. Add the FECA-01 module or the drive to the EtherCAT network.

7. Define the CM579-ECAT master properties.

8. Define the FECA-01 properties.

58 Start-up

• On the Process Data tab, select the PDOs transferred between the PLC and drive.

• On the EtherCAT I/O Mapping tab, type names for the variables that refer to the drive's signals in the PLC program.

Start-up 59

9. Open the PLC program, compile the project and download it to the PLC.

Note: Make sure that the variable names defined for the drive's signals are used in the PLC program. Otherwise the communication will not work.

60 Start-up



Configuring Beckhoff’s TwinCAT

This example shows how to read in an existing network on

TwinCAT System Manager.

Before you start, make sure that you have downloaded the ESI

XML file from the Document library for your adapter module version and drive type (and drive license type with ACSM1).

1. Copy the ESI file into the \Io\EtherCAT directory under the

TwinCAT installation directory (eg, C:\TwinCAT\Io\EtherCAT).

2. Start the TwinCAT System Manager.

3. Create a blank project if necessary (go to File –> New ).

4. Set/Reset TwinCAT to Config Mode.

5. Add the EtherCAT device into the I/O Configuration.

Right-click I/O Devices and select Append Device… .

Expand the EtherCAT list and select EtherCAT .

Click Ok .

Start-up 61

6. Add the drive(s) to the network configuration by scanning the network.

Right-click Device 1 (EtherCAT) and select Scan Boxes… .

62 Start-up

7. Select the drive, eg, Drive 1 (FECA-01 and ACSM1 motion) , and then select the Process Data tab of the drive.

On this tab, you can configure and assign PDOs to Sync

Managers.

• Rx PDOs are transmitted from the master to the module.

• Tx PDOs are transmitted from the module to the master.

• Rx PDOs are assigned to Sync manager 2 (Outputs) and

Tx PDOs are assigned to Sync manager 3 (Inputs).

• By pressing the Load PDO info from device button, the current PDO configuration on the module is loaded into the

TwinCAT System Manager with which the PDO configuration can be viewed.

Start-up 63

64 Start-up

8. Perform the PDO configuration as follows:

• In the PDO List box, select a PDO.

• In the PDO Content box, edit the object mapping of the selected PDO.

• In the Sync Manager and PDO Assignment boxes, assign the selected PDOs to the Sync managers.

• Check that the PDO Assignment and PDO

Configuration check boxes are selected to make

TwinCAT transfer the configuration to the module when the network is started. In the Config Mode, the network can be restarted by reloading the I/O devices (by pressing F4).

9. Create a task in TwinCAT: Right-click Additional Tasks and select Append task . Link the adapter module’s inputs and outputs to the appended task's input and output variables.

Start-up 65

10. If you want the device to go automatically to the

OPERATIONAL state after the TwinCAT configuration has been activated, select Additional Tasks -> Task 1. Then, on the Task tab, select the Auto start check box.

11. Change the TwinCAT configuration state using the buttons shown below. For example, take FECA-01 and the drive into the OPERATIONAL mode.

66 Start-up

Communication profiles 67

7

Communication profiles


This chapter describes the communication profiles used in the communication between the EtherCAT network, the adapter module and the drive.

Communication profiles

Communication profiles are ways of conveying control commands

(Control word, Status word, references and actual values) between the master station and the drive.

With the FECA-01 module, the master may employ either the

CANopen CiA 402 (Device Profile Drives and Motion Control) profile or the ABB Drives profile. Both are converted to the native profile (eg, DCU or FBA) by the adapter module. In addition, a

Transparent profile is available. With the Transparent mode, no data conversion takes place in the module.

The profile is selected from the drive with parameter 02 PROFILE in the fieldbus configuration group 1. For example, if parameter 02

PROFILE is set to 0 (CiA 402), the CiA 402 profile is used.

The following sections describe the Control word, the Status word, references and actual values for the CANopen device profile CiA

402 and ABB Drives communication profile. See the drive manuals for details on the native communication profiles.

68 Communication profiles

CANopen device profile CiA 402

The CiA 402 profile is a standardized device profile used for digital controlled motion products (for example, drives) and is part of the

CANopen specification. Additional information can be obtained at www.can-cia.org

.

Device control state machine

The start and stop of the drive and several mode-specific commands are executed by the device control state machine. This is described in the figure in

Control word and Status word of the

CiA 402 profile

.

The Control word is the principal means for controlling the drive from a fieldbus system. It is sent by the fieldbus master to the drive through the adapter module. The drive switches between its states according to the bit-coded instructions in the Control word, and returns status information to the master in the Status word.

Supported modes of operation

The CiA 402 profile offers several modes of operation. These modes define the operation of the drive. The CiA 402 operation modes are supported by the drives as follows:

ACS850 ACS355 ACS880 ACS580 Operation mode

Velocity mode

Profile torque mode

Profile velocity mode

Profile position mode

Homing mode

ACSM1 motion vl tq pv pp hm

ACSM1 speed vl tq pv vl tq pv vl tq pv vl tq pv vl tq pv


Operation mode

Cyclic synchronou s torque mode

ACSM1 motion cst

ACSM1 speed cst

ACS850 ACS355 ACS880 ACS580 cst cst cst

Cyclic synchronou s velocity mode

Cyclic synchronou s position mode csv csp csv csv csv

Note: Drive synchronization is supported only with ACSM1 drives.

cst

In this section, the scalings of the reference and actual values are described for each operation mode. Operation mode -specific

objects are defined in Appendix A – CoE Object Dictionary . The

current operation mode is displayed in object 0x6061, and it can be changed using object 0x6060.



Homing mode

The homing mode describes various methods of finding a home position, or a zero point. The switches pointing the home position can be located at the ends or in the middle of the path that the moving object is travelling. Most of the methods also use the index

(zero) pulse from an incremental encoder. For more information on the homing mode and descriptions of the various homing methods, see the drive manual.



Profile position mode

The profile position mode enables the positioning of the drive to be controlled. The setting of position set-points is controlled by the new set-point and the change sets immediately bits in the Control word as well as the set-point acknowledge bit in the Status word.

The position command value is object 0x607A Target position

(inc).




Profile velocity mode

In the profile velocity operation mode, the module uses the profile velocity control mode of the drive, instead of the Speed control mode. The profile velocity control mode is available only in an

ACSM1 drive equipped with Motion Control Program.

The velocity command value is object 0x60FF Target velocity

(inc/s).



Profile torque mode

In the profile torque operation mode, the target torque value is processed via a trajectory generator on the adapter module, which generates a linear ramp on the torque command value to the drive.

The torque command value is object 0x6071 Target torque (0.1%).

The torque ramp slope is set with object 0x6087 Torque slope

(0.1% / s).



Velocity mode

The velocity mode is the basic mode to control the velocity of the drive with limits and ramp functions.

The velocity command value is object 0x6042 vl target velocity

(rpm).

Note: In the velocity operation mode, the operation is governed by a different set of objects than in other operation modes, namely:

0x6046 vl velocity min max amount, 0x6048 vl velocity acceleration, 0x6049 vl velocity deceleration, 0x604A vl velocity quick stop and 0x604C vl dimension factor.



Cyclic synchronous position mode

With this mode, the trajectory generator is located in the master, not in the drive. The master provides target position values cyclically and synchronously to the drive that performs position, velocity and torque control.

The position command value is object 0x607A Target position.




Cyclic synchronous velocity mode

With this mode, the trajectory generator is located in the master, not in the drive. The master provides target velocity values cyclically and synchronously to the drive that performs velocity and torque control.

The velocity command value is object 0x60FF Target velocity.



Cyclic synchronous torque mode

With the cyclic synchronous torque mode, the master provides target torque values cyclically and synchronously to the drive that performs torque control.

The torque command value is object 0x6071 Target torque.


Process data scaling with the CiA 402 profile



Torque data

Torque data is expressed in 0.1% of nominal torque, eg, value 10 =

1% torque.



Velocity data

Velocity data is expressed in position increments per second

(inc/s). Additionally, a rational factor by which the velocity data is scaled can be set by object 0x6094 Velocity encoder factor.

The scaling for the velocity mode is different from other velocity data. Velocity data for the velocity operation mode is expressed in axis revolutions per minute (rpm). Additionally, a rational factor by which the velocity data will be scaled can be set by object 0x604C vl dimension factor.



Position data

Position data is expressed in position increments (inc). The position scale is specified with object 0x608F Position encoder resolution (number of position increments per specified number of axis revolutions; inc/rev). Additionally, a rational factor by which all position data will be scaled can be set by object 0x6093 Position factor.

Process feedback values in the CiA 402 profile

Feedback values for control purposes are available in the following objects:

• 0x6077 Torque actual value

• 0x6044 vl velocity actual value

• 0x606C Velocity actual value

• 0x6064 Position actual value.

For the objects to be operational, the drive must be configured to transmit the corresponding feedback data to the adapter module.


Control word and Status word of the CiA 402 profile

The functionality of the Control word is described in the following tables. The Control word described in the table below can be found in CoE object 0x6040 Controlword and the Status word in CoE

object 0x6041 Statusword (see Appendix A – CoE Object

Dictionary ).

1

2

Bit

0

7

8

3

4…6

9

10

11…15

Description

Switch on

Enable voltage

Quick stop

Enable operation

Operation mode specific

Fault reset

Halt


Reserved

Drive specific

The operation mode specific bits of the Control word of the CiA 402 profile are listed in the table below:

Bit Velocity mode


New set point


Reserved


Reserved

Homing mode

Homing operation start

4 Ramp function generator enable

5 Ramp function generator unlock

6 Ramp function generator use ref.

Change set immediately

Reserved

Absolute / relative

Reserved

Reserved

Reserved

Reserved

Reserved


The CiA 402 state machine is controlled by commands issued via

Control word bits 7, 3…0. The commands are listed in the table below:

Command Fault reset bit 7

Shutdown

Switch on

0

0

0

0

Switch on

Disable voltage

Quick stop

Disable operation

Enable operation

Fault reset

0

0

0

Control word bit

Enable operation bit 3

Quick

Stop bit 2

Enable voltage bit 1

X

0

1

X

1

1

1

X

1

1

1

0

Switch on bit 0

0

1

1

X

State transitions

1)

2, 6, 8

3

3 (+4) 2)

7, 9, 10, 12

X

0

1

X

0

1

1

X

1

1

1

X

X

1

1

X

7, 10, 11

5

4

15

X: Bits marked with X are irrelevant

1) See the figure on the state machine of the CiA 402 communication profile placed further in this section.

2) When Control word bit 3 (Enable operation) is 1, the drive does not stay in the SWITCHED ON state, but immediately moves to state OPERATION

ENABLED.


The following table describes the functionality of the Status word of the CiA 402 profile:

Bit

0

1

2

3

4

5

6

7

Name

Ready to switch on

Switched on

Operation enabled

Fault

Voltage enabled

Quick stop

Switch on disabled

Warning

1

0

1

1

0

1

0

1

0

1

0

Value Description

0 Not ready to switch on

1

0

Ready to switch on

Not switched on

1

0

Switched on

Operation not enabled

Operation enabled

No fault

Fault

No high voltage applied to the drive

High voltage applied to the drive

Quick stop is active

Normal operation

Switch on enabled

Switch on disabled

No warning/alarms

Warning/Alarm is active

8

9

Drive-specific

Remote

10

11


Internal limit active

12…13 Operation mode specific

14…15 Drive specific

0

1

Controlword is not processed

Controlword is processed

See the table describing operation mode

specific bits on page 76 .

0

1

Internal limit not active

Internal limit active

See the table describing operation mode

specific bits on page 76 .


The following table describes the operation mode specific bits of the Status word of the CiA 402 profile:

Bit Velocity mode

10 Target reached


Target reached

12 Reserved Set-point acknowledgement

13 Reserved Following error


Target reached

Speed

Max slippage error


Target reached

Homing mode

(*)

Reserved Homing attained

Reserved Homing error cst, csv, csp (*)

(*)

Drive follows the command value

(*)

( * ) For Cyclic synchronous torque mode, Cyclic synchronous velocity mode and Cyclic synchronous position mode, the operation of bits 10 and 13 depends on the value of CoE object 0x60DA as described in the table below:

Value of object

0x60DA bits 1...0

00

01

10 or 11

Status word bit 13

Zero

Zero

Input cycle counter bit 1

Status word bit 10

Zero

Status toggle

Input cycle counter bit 0

Description

Status toggle disabled

Status toggle enabled

2-bit input cycle counter enabled


The following figure describes the state machine of the CiA 402 communication profile.

From any state

(13)

CW: Control word

SW: Status word

State transition

(0)

START FAULT REACTION

ACTIVE

SW: xxxxxxxxx0xx1111

Power-on, self-initialization

(14)

Fault reaction completed

NOT READY

TO SWITCH ON


(1)

Initialized successfully

FAULT


(15) CW: xxxxxxxx1xxxxxxx

(8)

SWITCH ON

DISABLED


CW: xxxxxxxxxxxxx110 (2)

(7)

CW: xxxxxxxxxxxxx01x or

CW: xxxxxxxxxxxxxx0x

READY TO

SWITCH ON

SW: xxxxxxxxx01x0001 CW: xxxxxxxxxxxxx01x or


CW: xxxxxxxxxxxxx111 (3)

(10)

(6) CW: xxxxxxxxxxxxx110

CW: xxxxxxxxxxxxx110

SWITCHED ON

SW: xxxxxxxxx01x0011

CW: xxxxxxxxxxxx1111 (4)

(5)

Quick stop completed or


CW: xxxxxxxxxxxx0111

(9)

OPERATION

ENABLED

SW: xxxxxxxxx01x0111


(11)

CW: xxxxxxxxxxxxx01x

QUICK STOP

ACTIVE

(12)



ABB Drives communication profile



Control word and Status word

The Control word is the principal means for controlling the drive from a fieldbus system. It is sent by the fieldbus master station to the drive through the adapter module. The drive switches between its states according to the bit-coded instructions in the Control word and returns status information to the client in the Status word.

The contents of the Control word and the Status word are detailed below. The drive states are presented on page

83 . The ABB Drives

Control word can be found in CoE object 0x2101 and the ABB

Drives Status word in CoE object 0x2104.

Control word contents

The table below shows the contents of the Control word for the

ABB Drives communication profile. The upper case boldface text refers to the states shown in the state machine on page

83

.

Bit

0

1

Name

OFF1_CONTROL

OFF2_CONTROL


1 Proceed to

OPERATE .

READY TO

0 Stop along the currently active deceleration ramp.

Proceed to OFF1 ACTIVE ; proceed to READY TO SWITCH

ON unless other interlocks

(OFF2, OFF3) are active.

1

0

Continue operation (OFF2 inactive).

Emergency OFF, coast to stop.

Proceed to OFF2 ACTIVE , proceed to SWITCH-ON

INHIBITED .

Bit

2

3

4

5


Name

OFF3_CONTROL

INHIBIT_OPERATION

RAMP_OUT_ZERO

RAMP_HOLD


1 Continue operation (OFF3 inactive).

0

1

Emergency stop, stop within the time defined by the drive parameter.

Proceed to OFF3 ACTIVE ; proceed to SWITCH-ON

INHIBITED .

Warning: Ensure that the motor and driven machine can be stopped using this stop mode.

Proceed to OPERATION

ENABLED .

Note: The Run enable signal must be active; see the drive manuals. If the drive is set to receive the Run enable signal from the fieldbus, this bit activates the signal.

0

1

0

Inhibit operation.

Proceed to OPERATION

INHIBITED .

Normal operation.

Proceed to RAMP FUNCTION

GENERATOR: OUTPUT

ENABLED .

Force the Ramp Function

Generator output to go to zero.

The drive ramps the speed down to zero and stops (keeping the current and DC voltage limits in force).

1

0

Enable the ramp function.

Proceed to RAMP FUNCTION

GENERATOR: ACCELERATOR

ENABLED .

Halt ramping (Ramp Function

Generator output held).


Bit

6

Name

RAMP_IN_ZERO

7 RESET


1 Normal operation.

Proceed to OPERATION .

Note: This is effective only if the fieldbus interface is set as the source for this signal by drive parameters.

0 Force the Ramp Function

Generator input to zero.

0=>1 A fault is reset if an active fault exists.

Proceed to SWITCH-ON

INHIBITED .

Note: This is effective only if the fieldbus interface is set as the source for this signal by drive parameters.

0 Continue normal operation.

8…9 Drive-specific

10 REMOTE_CMD 1

0

11 EXT_CTRL_LOC 1

0

Fieldbus control is enabled.

Control word and reference not getting through to the drive, except for CW bits OFF1, OFF2 and OFF3.

Select External Control Location

EXT2.

This is effective if the control location is parametrized to be selected from the fieldbus.

Select External Control Location

EXT1.

This is effective if the control location is parametrized to be selected from fieldbus.

12…

15

Reserved


Status word contents

The table below shows the contents of the Status word for the ABB

Drives communication profile. The upper case boldface text refers to the states shown in the state machine on page

83

.

Bit

0

1

2

3

4

5

6

7

8

9

Name

RDY_ON

RDY_RUN

RDY_REF

TRIPPED

OFF_2_STA

OFF_3_STA

SWC_ON_INHIB

ALARM

AT_SETPOINT

REMOTE

0

1

0

1

0

1

0

1

0

1

0

1

0

1


1 READY TO SWITCH ON

0

1

NOT READY TO SWITCH ON

READY TO OPERATE

OFF1 ACTIVE

OPERATION ENABLED

OPERATION INHIBITED

FAULT

0

1

0

-

No fault

OFF2 inactive

OFF2 ACTIVE

OFF3 inactive

OFF3 ACTIVE

SWITCH-ON INHIBITED

Warning / alarm

No warning / alarm

OPERATION .

The actual value equals reference = is within tolerance limits, ie, the speed control, speed error is 10% max of the nominal motor speed.

The actual value differs from reference = is outside tolerance limits.

Drive control location: REMOTE

(EXT1 or EXT2)

Drive control location: LOCAL


Bit

10

Name

ABOVE_LIMIT

11

12

EXT_CTRL_LOC

EXT_RUN_ENABLE


1 The actual frequency or speed equals or exceeds supervision limit (set by the drive parameter).

This is valid in both directions of rotation.

0

1

The actual frequency or speed is within the supervision limit.

External Control Location EXT2 selected

Note concerning ACS880: This bit is effective only if the fieldbus interface is set as the target for this signal by drive parameters.

User bit 0 selection (06.33).

0

1

0

External Control Location EXT1 selected

External Run Enable signal received

Note concerning ACS880: This bit is effective only if the fieldbus interface is set as the target for this signal by drive parameters.

User bit 1 selection (06.34).

No External Run Enable signal received

13

…14

15

Reserved

FBA_ERROR 1

0

A communication error is detected by the adapter module.

The fieldbus adapter communication is OK.


State machine

The state machine for the ABB Drives communication profile is shown below.

MAINS OFF

Power ON

SWITCH-ON

INHIBITED

(CW Bit0=0)

(SW Bit6=1)

ABB Drives communication profile

A B C D

NOT READY TO

SWITCH ON

(SW Bit0=0)

(CW=xxxx x 1 xx xxxx x 110 )

(CW Bit3=0)

OPERATION

INHIBITED

(SW Bit2=0)

READY TO

SWITCH ON

(SW Bit0=1) operation inhibited

(CW=xxxx x 1 xx xxxx x 111 )

CW = Control word

SW = Status word n = Speed

I = Input current

RFG = Ramp Function

Generator f = Frequency from any state

Fault from any state

OFF1 (CW Bit0=0)

OFF1

ACTIVE

(SW Bit1=0) n(f)=0 / I=0

B C D

(CW Bit3=1 and

SW Bit12=1)

(CW Bit4=0)

READY TO

OPERATE (SW Bit1=1)

FAULT

(SW Bit3=1)

(CW Bit7=1)

(CW=xxxx x 1 xx xxxx 1111 and SW Bit12=1) from any state

Emergency Stop

OFF3 (CW Bit2=0) from any state

Emergency OFF

OFF2 (CW Bit1=0)

OFF3

ACTIVE

(SW Bit5=0)

OFF2

ACTIVE (SW Bit4=0) n(f)=0 / I=0

(CW Bit5=0)

(CW Bit6=0)

C D

D

A

OPERATION

ENABLED (SW Bit2=1)

(CW=xxxx x 1 xx xxx 1 1111 )

RFG: OUTPUT

ENABLED

B

(CW=xxxx x 1 xx xx 11 1111 )

C

RFG: ACCELERATOR

ENABLED

(CW=xxxx x 1 xx x 111 1111 )

OPERATION

(SW Bit8=1)

D state condition rising edge of the bit




References

References are 16-bit words containing a sign bit and a 15-bit integer. A negative reference (indicating reversed direction of rotation) is formed by calculating the two's complement from the corresponding positive reference. The ABB Drives profile references can be found in CoE objects 0x2102 (ABB Drives

REF1) and 0x2103 (ABB Drives REF2).

ABB drives can receive control information from multiple sources including analog and digital inputs, the drive control panel and the communication module (for example, FECA-01). To have the drive controlled through the fieldbus, the adapter module must be defined as the source for control information, for example, reference.

Scaling

References are scaled as shown below.

Note: The values of REF1 MAX and REF2 MAX are set with drive parameters. See the drive manuals for further information.

In ACSM1, ACS850 and ACS880, the speed reference (REFx) in decimal (0…20000) corresponds to 0…100% of the speed scaling value.

Note: Drive parameter REFx MIN may limit the actual minimum reference.

Fieldbus

REF2: 10000

REF1: 20000

Drive

REFx MAX / Speed scale

0

REFx MIN

-(REFx MIN)

REF2: -10000

REF1: -20000

-(REFx MAX) / Speed scale




Actual values

Actual values are 16-bit words containing information on the operation of the drive. The functions to be monitored are selected with a drive parameter. The ABB Drives profile actual values can be found in CoE objects 0x2105 (ABB Drives ACT1) and 0x2106

(ABB Drives ACT2).

Scaling

Actual values are scaled as shown below.

Note: The values of REF1 MAX and REF2 MAX are set by drive parameters. See the drive manuals for further information.

Fieldbus Drive

ACT2: 10000

ACT1: 20000

REFx MAX

0 0

ACT2: -10000

ACT1: -20000

-(REFx MAX)


Communication protocol 87

8

Communication protocol


This chapter describes the communication on an EtherCAT network.

EtherCAT frame structure

In EtherCAT, the data between the master and the slaves is transmitted in Ethernet frames. An EtherCAT Ethernet frame consists of one or several EtherCAT telegrams, each addressing individual devices and/or memory areas. The telegrams can be transported either directly in the data area of the Ethernet frame or within the data section of a UDP datagram transported via IP.

88 Communication protocol

The EtherCAT frame structure is pictured in the following figure.

Each EtherCAT telegram consists of an EtherCAT header, the data area and a working counter, which is incremented by all EtherCAT nodes that are addressed by the telegram and have exchanged associated data.

48 bits

Destination

48 bits

Source

16 bits

EtherType

16 bits

Header …

32 bits

CRC

Embedded directly in Ethernet

Frame with EtherType 0x88A4 1...n EtherCAT telegrams

160 bits

Ethernet header

IP header

Or: via UDP/IP with UDP Port 0x88A4

64 bits

UDP header

Header … CRC

0

11 bits

Length

1 bit

11

Res.

12

4 bit

Type

15

EtherCAT services

EtherCAT specifies services for reading and writing data from the physical memory within the slaves. The adapter module supports the following EtherCAT services:

• Auto increment physical read (APRD)

• Auto increment physical write (APWR)

• Auto increment physical read write (APRW)

• Configured address read (FPRD)

• Configured address write (FPWR)

• Configured address read write (FPRW)

• Broadcast read (BRD)

• Broadcast write (BWR)

• Logical read (LRD)

• Logical write (LWR


• Logical read write (LRW)

• Auto increment physical read multiple write (ARMW)

• Configured address read multiple write (FRMW).

Addressing modes and FMMUs

There are a number of different addressing modes which can be used by the master to communicate with EtherCAT slaves. As a full slave, the adapter module supports the following addressing modes:

• Position addressing

The slave device is addressed via its physical position in the

EtherCAT segment.

• Node addressing

The slave device is addressed via a configured node address assigned by the master during the start-up phase.

• Logical addressing

The slaves are not addressed individually, but instead a section of the segment-wide 4 GB logical address space is addressed. This section may be used by any number of slaves.

Fieldbus Memory Management Units (FMMUs) handle the local assignment of physical slave memory addresses to logical segment wide addresses. The slave FMMUs are configured by the master. Each FMMU configuration contains a logical start address, a physical memory start address, a bit length and a type that specifies the direction of the mapping (input or output).

The adapter module has two FMMUs. The EtherCAT master can use them for any purpose.


Sync managers

Sync managers control the access to the application memory.

Each channel defines a consistent area of the application memory.

The adapter module has four sync manager channels. Their functions are described below.



Sync manager channel 0

Sync manager 0 is used for mailbox write transfers (mailbox from master to slave).




Sync manager 1 is used for mailbox read transfers (mailbox from slave to master).




Sync manager 2 is used for process output data. It contains the Rx

PDOs specified by the PDO assignment object 0x1C12.




Sync manager 3 is used for process input data. It contains the Tx

PDOs specified by the PDO assignment object 0x1C13.



Sync manager watchdog

The sync manager watchdog (process data watchdog) monitors the output sync managers. If the output I/O data is not updated by the master within the configured time, the watchdog will activate time-out and reduce the state of the adapter module from

Operational to Safe-operational. The action in this case is specified by object 0x6007 Abort connection option code. The resolution of this watchdog is 1 ms.

Note: EtherCAT has been designed so that it provides no way for a slave to monitor the connection to the master if the slave has no output data.

Note: The drive reaction to a communication fault must be configured separately. See the drive manual for more information.


EtherCAT state machine

The adapter module includes the EtherCAT state machine mandatory for all EtherCAT devices. The state machine is defined in the following figure. The bootstrap state is not supported.

Initialization

Pre-operational

Safe-operational

Operational

The adapter module enters the Initialization (INIT) state directly after start-up. After this, the adapter module can be switched to the

Pre-operational (PREOP) state. In the PREOP state the EtherCAT mailbox communication is allowed and CoE objects can be accessed by SDOs.

After the master has configured the slave, it can switch the adapter module to the Safe-operational (SAFEOP) state. In this state input

I/O data (PDOs) is sent from the adapter module to the EtherCAT master, but there is no output I/O data from the master to the adapter module.

To communicate output I/O data the master must switch the adapter module to the Operational state.


Drive synchronization

The following synchronization types are supported:

• Free run = no synchronization

• DC sync = synchronization to a DC Sync0 event.

Only ACSM1 drives support drive synchronization. To synchronize the drive, set the ACSM1 parameter 57.09 KERNEL SYNC MODE to FBSync.

With the DC sync, the minimum cycle time is 500 microseconds and the cycle time must be an integral multiple of 500 microseconds. In other words, the allowed cycle time values are

0.5 ms, 1 ms, 1.5 ms etc.

The synchronization type is set by objects 0x1C32 Output sync manager parameter and 0x1C33 Input sync manager parameter.

The settings for the different synchronization types are listed below. These settings should be made in the PREOP state.



Free run

Index/Sub-index

0x1C32:01

0x1C33:01

Value

0

0



DC sync – Synchronous with a DC Sync0 event

Index/Sub-index

0x1C32:01

0x1C33:01

Value

2

2

When the DC sync is used, the Distributed Clocks must also be configured to enable DC and SYNC 0. The default configuration is one Sync0 pulse per bus cycle. This configuration is automatically set by selecting the DC for synchronization option in the DC settings at the master (eg, TwinCAT). Since it is the ESI xml file that provides you with the settings, make sure the correct xml file is available for the master.


CANopen over EtherCAT

The application layer communication protocol in EtherCAT is based on the CiA 301 communication profile and is called

CANopen over EtherCAT, or CoE. The protocol specifies the

Object Dictionary in the adapter module, as well as communication objects for exchanging process data and acyclic messages.

The adapter module uses the following message types:

• Process Data Object (PDO)

The PDO is used for cyclic I/O communication, in other words, process data.

• Service Data Object (SDO)

The SDO is used for acyclic data transmission.

• Emergency Object (EMCY)

The EMCY is used for error reporting when a fault has occurred in the drive or adapter module.

The Object Dictionary is described in

Appendix A – CoE Object

Dictionary .

Process Data Objects

Process Data Objects (PDOs) are used for exchanging time-critical process data between the master and the slave. Tx PDOs are used to transfer data from the slave to the master and Rx PDOs to transfer data from the master to the slave.

The PDO mapping defines which application objects are transmitted inside a PDO. These typically include the control and status words, references and actual values.

The adapter module has six Rx PDOs and six Tx PDOs. Each

PDO can have up to 8 application objects mapped as its contents, except Rx/Tx PDO 21 which can have up to 15 objects mapped.

The mapping of the PDOs can be changed only in the PREOP state.

The PDO maps have been pre-defined with the following objects as default. All PDOs can be reconfigured by the user and also saved to the adapter module.


The following table shows the default Rx PDO mapping:

Rx PDO

1

2

3

Mapping object

1600

1601

1602

Object index

-

6040

6040

607A

6040

60FF

4 1603 6040

6071

6 1605 6040

6042

21 1) 1614 2001

2002

2003

1)

Default mapping with ACS880 and ACS580:

2101 ABB Drives control word

2102 ABB Drives REF1


Object name

Controlword

Controlword

Target position

Controlword

Target velocity

Controlword

Target torque

Controlword vl target velocity

Transparent CW

Transparent REF1

Transparent REF2

The following table shows the default Tx PDO mapping:

Tx PDO Mapping object

1 1A00

2

3

4

6

1A01

1A02

1A03

1A05

Object index

-

6041

6041

6064

6041

6064

6041

6064

6077

6041

6044

Object name

Statusword

Statusword

Position actual value

Statusword


Statusword


Torque actual value

Statusword vl velocity actual value

Tx PDO Mapping object

21 1) 1A14

Object index

2004

2005

2006

1)

Default mapping with ACS880 and ACS580:

2104 ABB Drives status word

2105 ABB Drives ACT1



Object name

Transparent SW

Transparent ACT1

Transparent ACT2

The adapter module has two Sync Manager Channels for process data: SM 2 for output data (Rx data) and SM 3 for input data (Tx data). The Sync Manager PDO assignments can be changed only in the PREOP state.

The Rx PDO mappings are configured with CoE objects

0x1600…0x1605 and 0x1614. The Tx PDO mappings are configured with objects 0x1A00…0x1A05 and 0x1A14. Rx and Tx

Sync Manager PDO assignments are configured with CoE objects

0x1C12 and 0x1C13, respectively. By default, Rx and TxPDO 6 are enabled and assigned to the Sync Managers.

Note: Subindex 0 contains the number of valid entries within the mapping record. This number is also the number of the objects which shall be transmitted/received with the corresponding PDO.

The subindexes from 1h to the number of objects contain information about the mapped application variables.

The mapping values in the CANopen object are hexadecimalcoded. The following table presents an example of the PDO mapping entry structure. The values in the object are hexadecimal:

Type

UINT 32

Description

MSB

31

Index eg, 0x6040h

16 bits)

16 15

Subindex eg, 0

(8 bits)

8 7

LSB

0

Object length in bits eg, 0x10 =16 bits

(8 bits)


Emergency Objects

Emergency Objects (EMCYs) are used for sending fault information from the communication module and the drive to the

EtherCAT network. They are transmitted whenever a fault occurs in the drive or the adapter module. Only one Emergency Object is transmitted per fault. EMCYs are transmitted via the Mailbox interface.

There are a number of error codes specified for different events.

The error codes are listed in Appendix B – CoE error codes

.

Communication between adapter module and drive

There are two mechanisms of cyclic process data transmission between the drive and the adapter module:

• faster, cyclic high priority communication service suitable for control

• slower, cyclic low priority communication service suitable mainly for secondary purposes, for example monitoring.



Cyclic high priority communication

The minimum update cycle time for the following drives is:

ACSM1, ACS850 and ACS880: 500 us (2000 Hz)

ACS355: approximately 4 ms (250 Hz)

ACS580: 2 ms (500 Hz)

Use the high priority service for axis commands and feedback data, ie, torque, velocity and position commands and feedback values. There is room for the drive control word and reference values (command values) and the drive status word and two actual values (feedback values).

The values of the following objects are transferred – or the data where the values of the following objects are derived is transferred

– between the drive and the adapter module via the cyclic high priority service.


Note: Since there is room only for two feedback values, the CiA

402 feedback data objects will not be operational unless the corresponding feedback data has been selected to be transmitted

from the drive. See sections Parameter setting examples –

ACSM1

and Parameter setting examples – ACS850 on how to

select source data for feedback values on the ACSM1 and

ACS850 drives.

2001 Transparent CW

2002 Transparent REF1

2003 Transparent REF2

2101 ABB Drives control word



6040 Controlword

6042 vl target velocity

6071 Target torque

607A Target position

60FF Target velocity

2004 Transparent SW

2005 Transparent ACT1

2006 Transparent ACT2

2104 ABB Drives status word



6041 Statusword

6044 vl velocity actual value

6064 Position actual value

606C Velocity actual value

6077 Torque actual value

60F4 Following error actual value



Cyclic low priority communication

With ACSM1 and ACS850 drives, the update cycle time is 50 ms

(20 Hz). With ACS355 drives the update cycle time is approximately 20 ms (50 Hz).

The below-mentioned objects mapped into a PDO are transferred between the drive and the adapter module via the cyclic low priority communication service.

• 4001…4063 Drive parameters

• 6043 vl velocity demand

• 606B Velocity demand value

• 6081 Profile velocity


The cyclic low priority communication service allows transmission of up to 12 x 16-bit words with ACSM1 and ACS850 drives, and

10 x 16-bit words with ACS355 drives, in each direction. If a 32-bit drive parameter is mapped to a PDO, it reserves two word spaces in the cyclic low priority exchange. In ACS355 drives all parameters are 16 bits long.

Example: With an ACSM1 or ACS850 drive, it is possible to map four 16-bit drive parameters and four 32-bit drive parameters in

Rx/Tx PDOs.

Diagnostics 99

9

Diagnostics


This chapter explains how to trace faults with the status LEDs on the adapter module.

LED indications

The adapter module is equipped with two green LEDs and one bicolor diagnostic LED. The LEDs are described below.

100 Diagnostics

Name

LINK/ACT

(IN/X1)

LINK/ACT

(OUT/X2)

Color

Off

Green

Green flickering

Off

Green

Green flickering

Off

Green blinking

Green single flash

Green

Red blinking

STATUS

Red single flash

Red double flash

Green flickering

Function

No link on port 0

Link OK on port 0, no activity

Activity on port 0

No link on port 1

Link OK on port 1, no activity

Activity on port 1

INIT state

PREOP state

SAFEOP state

OP state

State change requested by the master is impossible because of a local error

State changed autonomously by a slave because of a local error

Process data watchdog time-out

Module is booting up.

At the first start-up this may take approximately 1 minute.

Technical data 101

10

Technical data


This chapter contains the technical data of the adapter module and the EtherCAT link.

FECA-01

The following figure describes the enclosure of the adapter module from the front and side.

20

63

16

Supply condition lock open

3 21

102 Technical data

Mounting Into the option slot on the drive

Degree of protection IP20

Ambient conditions

Indicators

The applicable ambient conditions specified for the drive in its manuals are in effect.

Two green LEDs and one bicolor LED: LINK/ACT,

LINK/ACT and STATUS

Connectors

Power supply

General

20-pin connector to the drive (X3)

Two 8P8C modular jacks (X1 and X2)

+3.3 V +5% max. 450 mA (supplied by the drive)

Complies with EMC standard EN 61800-3:2004

Printed circuit board conformal coated

EtherCAT link

Compatible devices

Medium

Topology

Transfer rate

All EtherCAT-compliant devices

100BASE-TX

• Termination: Internal

• Wiring: Cat 5e FTP 1) or STP 1) (UTP)

• Connector: 8P8C modular jack (RJ-45)

• Maximum segment length: 100 m

Daisy chain

100 Mbit/s

Serial communication type

Full duplex

Protocol EtherCAT

1) Shielded cable strongly recommended

Appendix A – CoE Object Dictionary 103

11

Appendix A – CoE Object

Dictionary


This chapter describes the CANopen over EtherCAT (CoE) Object

Dictionary.

Object Dictionary structure

The objects in the CoE Object Dictionary can be accessed with

SDO services, and many of the dictionary objects can be mapped for cyclic communication in PDOs. Each object is addressed using a 16-bit index and a 8-bit subindex.

The following table presents the overall layout of the standard

Object Dictionary.

Index (hex)

0000 - 0FFF

1000 - 1FFF

2000 - 5FFF

6000 - 9FFF

A000 - FFFF

Object Dictionary area

Data type area

Communication profile area

Manufacturer-specific profile area

Device profile area

Reserved area

104 Appendix A – CoE Object Dictionary

Explanations for the abbreviations in the columns of the tables are given below:

Index

SI

Type

Object index (hex)

Subindex (hex)

Data type

• U32 = 32-bit unsigned integer (0 … 2 32 - 1)

• I32 = 32-bit signed integer (-2 31 … 2 31 - 1)

• U16 = 16-bit unsigned integer (0…65535)

• I16 = 16-bit signed integer (-32768…32767)

• U8 = 8-bit unsigned integer (0…255)

• I8 = 8-bit signed integer (-128…127)

• Str = string

Access SDO read/write access

• R = object can only be read by the SDO service

• RW = object can be both read and written by the SDO service

PM PDO mapping

• Rx = object can be mapped into an Rx PDO

• Tx = object can be mapped into a Tx PDO

NVS Possibility of non-volatile storage

• FBA = object value is saved to the adapter module

• Drv = object value is saved to drive parameters


Communication profile objects

(0x1000...0x1FFF)

The objects of the communication profile describe the basic

EtherCAT properties of the adapter module and are common to all

EtherCAT slaves using the CoE communication protocol. The objects are described in following table:

Index SI Name NVS

1000

1001

1008

1009

Device type

Error register

Note: Can be mapped into a

Tx PDO.

Device name

Type Access

U32

Information

R Value 0x00020192 = servo drive, generic

PDO mapping, profile

402

U8 R CiA 301 Error register object.

When a bit is set, the error is active. Bits:

• 7: Manufacturerspecific (see object

2202)

• 4: Communication

• 3: Temperature

• 2: Voltage

• 1: Current

• 0: Generic error

(any drive fault).

Str

Str

R Constant string is

FECA-01 and <drive type>.

R Board revision, eg, A

100A

Hardware version

Software version

Str R Firmware name and version


Index SI Name

1010 0 Store parameters

1 Save all parameters

2 Save comm parameters

3 Save appl parameters

1011 0 Restore default parameters

1 Restore all defaults

2 Restore comm defaults

3 Restore appl defaults

Type Access

U8

Information

R Write value

0x65766173 into a relevant subindex to save

NVS object values.

U32 RW Save the communication and device profile areas.

U32 RW Save objects

1000…1FFF (communication profile area).

U32 RW Save objects

6000…9FFF (std. device profile area).

U8 R Write value

0x64616F6C into a relevant subindex to restore the default values to NVS objects.

U32 RW Restore the default values to the communication and device profile areas.

U32 RW Restore objects

1000…1FFF (communication profile area).

U32 RW Restore objects

6000…9FFF (std. device profile area) which are saved to the FBA.

NVS


Index SI Name

1018 0 Identity

1 Vendor ID

2 Product code

3 Revision

4 Serial number

1600 0 RxPDO 1 map

1 -

… …

8 -

Type Access

U8

U32

R

Information

Number of entries (4)

R Value 0xB7 = ABB

Drives

U32

U32

U32

R Product code read from the drive. Eg, value 0x1F7 = ACS355,

0x20A = ACSM1 speed, 0x20B =

ACSM1 motion, 0x21C

= ACS850, 0x259 =

ACS880.

R FBA firmware version number (hex), eg, value 0x112 = FFECS112

R Serial number of the adapter module

U8 RW Number of mapped objects (0…8).

Write access in the

PREOP state only.

U32 RW Rx PDO mapping entry

1. Value 0x60400010 = object 6040 Controlword, length 16 bits.

U32 RW Value 0 = none

U32 RW Rx PDO 1mapping entry 8. Value 0 = none

NVS

FBA

FBA

FBA

FBA


Index SI Name

1601 0 RxPDO 2 map

1 -

2 -

… …

8 -

1602 0 RxPDO 3 map

1 -

2 -

… …

8 -

Type Access

U8

Information

RW Number of mapped objects (0...8).

Write access in the

PREOP state only.

U32 RW Rx PDO 2 mapping entry 1.

Value 0x60400010 = object 6040 Controlword, length 16 bits.


Value 0x607A0020 = object 607A Target position, length 32 bits.



Value 0 = none.

U8 RW Number of mapped objects (0...8).

Write access in the

PREOP state only.




Value 0x60FF0020 = object 60FF Target velocity, length 32 bits.



Value 0 = none.

NVS

FBA

FBA

FBA

FBA

FBA

FBA

FBA

FBA

FBA

FBA


Index SI Name

1603 0 RxPDO 4 map

1605

1 -

2 -

… …

8 -

0 RxPDO6 map

1 -

2 -

… …

8 -

Type Access

Information


Write access in the

PREOP state only.




Value 0x60710010 = object 6071 Target torque, length 16 bits.



Value 0 = none.


Write access in the

PREOP state only.




Value 0x60420010 = object 6042 vl target velocity, length 16 bits.



Value 0 = none.

NVS

FBA

FBA

FBA

FBA

FBA

FBA

FBA

FBA

FBA

FBA


Index SI Name Type Access

1614 0 RxPDO 21 map U8

Information

RW Number of mapped objects (0...15).

Write access in the

PREOP state only.

1 -

2 -


Value 0x20010020 = object 2001 Transparent CW, length 32 bits.

ACS880 and ACS580:

Value 0x21010010 = object 2101 ABB

Drives cw, length 16 bits


Value 0x20020020 = object 2002 Transparent REF1, length 32 bits.

ACS880 and ACS580:


Drives REF1, length 16 bits

3 -

… …


Value 0x20020020 = object 2003 Transparent REF2, length 32 bits.

ACS880 and ACS580:


Drives REF2, length 16 bits


NVS

FBA

FBA

FBA

FBA

FBA

Index SI Name

1614 F -

1A00 0 TxPDO 1 map

1 -

… …

8 -

1A01 0 TxPDO 2 map

1 -

2 -

… …

8 -


Type Access

Information


Value 0 = none.


Write access in the

PREOP state only.

U32 RW Tx PDO mapping entry 1.

Value 0x60410010 = object 6041 Status word, length 16 bits


U32 RW Tx PDO mapping entry 8.

Value 0 = none.


Write access in the

PREOP state only.

U32 RW Tx PDO 2 mapping entry 1.

Value 0x60410010 = object 6041 Statusword, length 16 bits


Value 0x60640020 = object 6064 Position actual value, length 32 bits



Value 0 = none.

NVS

FBA

FBA

FBA

FBA

FBA

FBA

FBA

FBA

FBA

FBA


Index SI Name

1A02 0 TxPDO 3 map

1 -

2 -

… …

8 -

Type

U8

Access

Information

RW Number of mapped objects (0…8).

Write access in the

PREOP state only.







Value 0 = none.

NVS

FBA

FBA

FBA

FBA

FBA

Index SI Name

1A03 0 TxPDO 4 map

1 -

2 -

3 -

… …

8 -


Type Access

Information


Write access in the

PREOP state only.






Value 0x60770010 = object 6077 Torque actual value, length 16 bits



Value 0 = none

NVS

FBA

FBA

FBA

FBA

FBA

FBA


Index SI Name

1A05 0 TxPDO 6 map

1 -

2 -

… …

8 -

Type

U8

Access

Information

RW Number of mapped objects (0…8).

Write access in the

PREOP state only.


Value 0x60410010 = object 6041 Statusword, length 16 bits.


Value 0x60440010 = object 6044 vl velocity actual value, length 16 bits.



Value 0 = none

NVS

FBA

FBA

FBA

FBA

FBA


Index SI Name

1A14 0 TxPDO 21 map

1 -

2 -

3 -

… …

Type Access

Information


Write access in the

PREOP state only.

U32 RW TxPDO 21 mapping entry 1.

Value 0x20040020 = object 2004 Transparent SW, length 32 bits.

ACS880 and ACS580:


Drives sw, length

16 bits


Value 0x20050020 = object 2005 Transparent ACT1, length 32 bits.

ACS880 and ACS580:


Drives ACT1, length

16 bits


Value 0x20060020 = object 2006 Transparent ACT2, length 32 bits.

ACS880 and ACS580:


Drives ACT2, length

16 bits


NVS

FBA

FBA

FBA

FBA

FBA


Index SI Name

1A14 F -

1C00 0 Sync manager

1 -

2 -

3 -

4 communication type

1C12 0 Sync manager 2

(Rx) PDO assign

1

2

3

4

5

6

Type Access

Information


Value 0 = none.

U8 R SM0…SM3 communication types.

Number of entries (4).

U8

U8

U8

U8

U8

R Value 1 = mailbox receive (output)

R Value 2 = mailbox send

(input)

R Value 3 = process data output

R Value 4 = process data input

RW Number of assigned

PDOs (0…6).

Write access in the

PREOP state only.

U16 RW Sync manager 2 PDO assignment 1. Eg, value 0x1605 = Rx PDO 6

U16 RW Sync manager 2 PDO assignment 2. Eg, value 0 = none.

U16 RW Sync manager 2 PDO assignment 3




NVS

FBA

FBA

FBA

FBA

FBA

FBA

FBA

FBA


Index SI Name

1C13 0 Sync manager 3

(Tx) PDO assign

1

2

3

4

5

6

Type Access

Information

U8 RW Number of assigned

PDOs (0…6).

Write access in the

PREOP state only.

U16 RW Sync manager 3 PDO assignment 1. Eg, value 0x1A05 = Tx PDO

6.

U16 RW Sync manager 3 PDO assignment 2. Eg, value 0 = none.





NVS

FBA

FBA

FBA

FBA

FBA

FBA

FBA


Index SI Name

1C32 0 Output sync manager parameter

1 Synchronization type

Type Access

U8

Information

R Sync manager 2 synchronization settings

U16

4 Synchronization types supported

5 Minimum cycle time

6 Calc and copy time

9 Delay time

C Cycle time too small

U16

U32

U32

U32

U16

-

NVS

R 0x00 = Free run (default)

0x01 = SM sync, SM2 event

0x02 = DC Sync0

R Drive dependent. Bits:

• 4…2: 000 = No DC,

001 = DC Sync0

• 1: SM sync supported

• 0: Free run supported

R Minimum supported cycle time (ns).

500 000.

R Minimum required time between SM2 event and DC sync event

(ns).

102 000.

R Delay between the DC sync event and the time when the data is available in the process (ns).

0

R Error counter which is incremented if input process data has not been refreshed before the next SM2 event

-

-

-

-

FBA


Index SI Name

1C33 0 Input sync manager parameter

1 Synchronization type

4 Synchronization types supported

5 Minimum cycle time

6 Calc and copy time

C Cycle time too small

Type Access

U8

Information

R Sync manager 3 synchronization settings

U16 RW 0x00 = Free run (default)



0x02 = DC Sync0

U16 R Drive dependent. Bits:

• 4…2: 000 = No DC,

001 = DC Sync0

• 1: SM sync supported

• 0: Free run supported

U32

U32

U16

R See subindex 5 of index 1C32.

500 000.

R Delay between the time of input process data sampling and the time when the data is available for the master

(ns)

88 000.

R See subindex C of index 1C32.

-

-

-

-

-

NVS

FBA


Manufacturer-specific profile objects

(0x2000...0x5FFF)

The manufacturer-specific profile objects contain the ABB Drives profile control and status words, reference value, actual value and diagnostic data. The objects are described in the following table.

Index SI Name PM Information NVS

2001

Type Access

U32 R

2002

2003

2004

2005

2006

2101

2102

2103

2104

2105

2106

2200

Transparent CW

Transparent REF1

Transparent REF2

Transparent SW

Transparent ACT1

Transparent ACT2

ABB Drives control word

ABB Drives

REF1

ABB Drives

REF2

ABB Drives status word

ABB Drives

ACT1

ABB Drives

ACT2

Diagnostic message

U32

U32

U32

U32

U32

U16

I16

I16

U16

I16

I16

Str

R

R

R

R

R

R

R

R

R

R

R

R

Rx Raw control word of the drive

Rx Raw reference value

1 of the drive

Rx Raw reference value

2 of the drive

Tx Raw status word of the drive

Tx Raw actual value 1 of the drive

Tx Raw actual value 2 of the drive

Tx ABB Drives profile control word

Tx ABB Drives profile reference value 1

Tx ABB Drives profile reference value 2

Tx ABB Drives profile status word

Tx ABB Drives profile actual value 1

Tx ABB Drives profile actual value 2

Plain text status or error message from the adapter module

Index SI

2201

Name

Last drive fault code


NVS Type Access

U16 R

PM Information

Tx Last fieldbus fault code read from the drive


Index SI

2202

Name

Diagnostic number

Type Access

I16 RW

PM Information

Status/error code from the adapter module. Indications

1,5,8 are reset by the fault reset mechanism of the currently selected communication profile. All indications are reset by writing the current error number to this object.

This does not resolve the cause of the error.

Values:

• 1 = Default group

51 parameter values written to the drive. (This is normal for the first power-up when the module has been installed into the drive.)

• 3 = Cyclic low priority communication failed.

• 5 = FBA configuration files corrupted.

• 8 = Error in drive parameters or other information received from the drive or acyclic communication failed.

• 64 = Cyclic high priority communication failed.

NVS


Index SI

4001 0

1 Parameter

99.01

… …

Name

Group 1

…

4063

1 Parameter

1.01

2 Parameter

1.02

… …

… …

Group 99

Type Access

U8 R

PM Information NVS

Drive parameter group 1

Drive parameter 1.01

Drv

…

…

U8

…

…

…

R

…

…

…

Drive parameter 1.02

…

…

Drive parameter group 99

Drive parameter

99.01

… …

Drv

…

…

Drv

…

Note: The Transparent and ABB Drives command values cannot be changed with an SDO write service.



Drive parameter access via CoE objects

Drive parameters can be accessed via objects 0x4001…0x4063.

The 8 least significant bits of the object index correspond to the drive parameter group and the sub-index is the drive parameter index.

Bit

Value

15…8

0x40

Index

7…0

Drive par. group (hex)

Subindex

8…0

Drive par. index (hex)

Examples:

• Object 0x400A:02 = drive par. 10.02

• Object 0x4033:0F = drive par. 51.15


Notes:

• Drive parameters are not restored to default values with object

0x1011.

• Drive parameters, when mapped into a PDO, are transmitted via the cyclic low priority communication service.

Standardized device profile area

(0x6000…0x9FFF)

Index SI Name

6007 Abort connection option code

Type Access

I16 RW

PM Information

Action to take when the slave leaves the

OP state. Values:

0 = No action

1 = Fault signal (offline, default)

2 = Disable voltage command

3 = Quick stop command

NVS

FBA


Index SI

603F

6040

6041

6042

6043

Name Type Access

Error code U16 R

PM Information

Tx CiA 402 error code of the last error which occurred in the drive.

Values according to

IEC 61800-7-201.

Manufacturer-specific error codes

0xFF00...0xFFFF: In general, all drive fault codes from 0xFF00 and above pass straight through into this object. Two error codes are generated by the adapter module:

• 0xFFE1: Failed to read fault code from the drive.

• 0xFFFF: Unhandled drive fault code - corresponding CiA 402 error code does not exist.

See object 2201 and the drive manual.

Controlword U16 RW Rx CiA 402 control word

Statusword U16 R Tx CiA 402 status word vl target velocity vl velocity demand

I16 RW Rx Effective in the vl operation mode

I16 R Tx Operational if the ramp function generator output is available from the drive. Cyclic low priority communication.

Note: Not available with ACS355.

NVS


Index SI

6044

6046

6048

Name

0 vl velocity actual value

0 vi velocity min max amount

1 min abs velocity

2 max abs velocity

0 vl velocity acceleration

1 Delta speed

2 Delta time

6049 0 vl velocity deceleration

U16

U8

RW

R

1 Delta speed U32 RW

2 Delta time

Type Access

I16 R

PM

U8

U32

U32

U8

U32

U16

R

RW

RW

R

RW

RW

Information

Tx Operational when velocity feedback is available from the drive.

Note: When ACS355 is used in the scalar control mode, this object does not indicate axis velocity, but the output frequency of the drive.

Minimum and maximum velocity absolute value settings for the vl operation mode

Velocity absolute value minimum

Velocity absolute value maximum

Acceleration ramp settings for the vl operation mode

Ramp delta speed (vl scaling units).

Note: Read only in

ACS355, ACS580 and

ACS880.

Ramp delta time (s)

Deceleration ramp settings for the vl operation mode


Note: Read only in

ACS355, ACS580 and

ACS880.

Ramp delta time (s)

NVS

Drv

Drv

Drv

Drv

Drv

Drv


Index SI

604A

605B

Name

0 vl velocity quick stop

Type Access

U8 RO

PM

1 Delta speed U32

2 Delta time

604C 0 vl dimension factor

1 numerator

2 denominator

Shutdown option code

U16

U8

I32

I32

I16

RW

RW

R

RW

RW

RW

Information NVS

Quick stop ramp settings for the vl operation mode


Note: Read only in

ACS355, ACS580 and

ACS880.

Ramp delta time (s)

Velocity data scaling factor for the vl operation mode. Basic unit in the vl operation mode is rpm.

Default: 1

Default: 1

Drv

Drv

FBA

FBA

FBA

605C

605D

Disable operation option code

Halt option code

I16

I16

RW

RW

0 = coast stop (default)

1 = ramp stop

0 = coast stop

1 = ramp stop (default) vl mode.

1 = force ramp generator input to zero (default)

2…4 = force ramp generator output to zero

Note: Halt does not cause the drive to stop, merely to run at a zero speed.

FBA

FBA


Index SI

6060

6061

6064

Name

0 Modes of operation

Modes of operation display


Type Access

I8

PM Information

RW Rx CiA 402 operation mode request.

0 = No mode change

(default)

1 = Profile position mode (pp)

2 = Velocity mode (vl)

3 = Profile velocity mode (pv)

4 = Profile torque mode (tq)

6 = Homing mode

(hm)

8 = Cyclic sync position mode (csp)

9 = Cyclic sync velocity mode (csv)

10 = Cyclic sync torque mode (cst)

I8 R Tx Current operation mode

NVS

FBA

6065 Following error window

I32 RO Tx Operational when position feedback is available from the drive

U32 RW Maximum allowed position error for the status word following an error bit.

Default: 0xFFFFFFFF

(= disabled)

FBA


Index SI

6066

606B

606C

6071

6077

607A

Name

Following error time out

Velocity demand value

Velocity actual value

Target torque

Torque actual value

Target position

Type Access

U16 RW

PM Information

I32

I32

R

R

Time-out (ms) after which the status word following an error bit is asserted when the following error window is exceeded.

Default: 0 (= immediate)

Tx Operational if the ramp function generator output is available from the drive. Cyclic low priority communication.

Note: Not available with ACS355.

Tx Operational when velocity feedback is available from the drive

I16 RW Rx Effective in the cst, tq operation modes

I16 R Tx Operational when torque feedback is available from the drive

I32 RW Rx Effective in the csp, pp operation modes

NVS

FBA


Index SI

607B

607C

607D

6081

2 Max position range limit

I32 RW

Home offset I32 RW it

Name

0 Position range limit

1 Min position range limit

0 Software position lim-

1 Min position limit

2 Max position limit

Profile velocity

Type Access

U8 R

PM

I32

U8

I32

I32

U32

RW

R

RW

RW

RW

Information

Default: 2 31 - 1

Velocity normally attained at the end of the acceleration ramp during a profiled move. Cyclic low priority communication.

NVS

Modulo values for the position command value. When the limits are exceeded, the command value wraps around to the other end of the range.

Modulo calculation is disabled when both limit values are zeros.

Minimum input position data value.

Default: 0

Maximum input position data value.

Default: 0

Offset from zero point to home position.

Default: 0.

Note : New values are activated in homing mode only.

Saturation limit values for the position command value

Default: -2 31

FBA

FBA

FBA

FBA

FBA

Drv


Index SI

6083

6084

6085

6087

608F tion

Name

Profile acceleration

Profile deceleration

Quick stop decelera-

Torque slope

0 Position encoder resolution

1 Numerator

2 Divisor

Type Access

U32 RW

PM

U32

U32

U32

U8

RW

RW

RW

R

1 Increments U32 RW

2 Revolutions U32 RW

6093 0 Position factor

1 Numerator

2 Divisor

6094 0 Velocity encoder factor

U8

U32

U32

U8

U32

U32

R

RW

RW

R

RW

RW

Information NVS

Acceleration during a profiled move.

Unit: position increments / s

2

.

Deceleration during a profiled move.

Unit: position increments / s 2 .

Deceleration used to stop the motor when a quick stop command is given.

Unit: position increments/ s

2

.

Effective in the tq operation mode.

Unit: 0.1%/ s.

Default value: 1000.

Position scale definition.

Position increments per a specified number of axis revolutions.

Default: 65536

Default: 1

Position data scaling factor

Default: 1

Default: 1

Velocity data scaling factor.

Basic velocity unit is: position increments/ s.

Default: 1

Default: 1

Drv

Drv

Drv

FBA

FBA

FBA

FBA

FBA

FBA

FBA


Index SI Name

Homing method

6099 0 Homing speeds

1 Speed during search for switch

60D9

Speed during search for zero

Supported synchronization functions

Type Access

I8 RW

PM

U8

U32

Information NVS

See the ACSM1 firmware manual for a description of the homing methods.

0 = No method

1…35 = CiA 402 method 1…35

Speeds during the homing procedure

ACSM1 homing speed

1

Drv

Drv

U32

U32 R

ACSM1 homing speed

2

Supported functions in device. Bit field, each bit specifies the availability of the corresponding function.

1 = Supported

0 = Not supported

Drv

Bits:

0 = Status toggle (1)

1 = Input cycle counter (1)

2 = Output cycle counter (0)

3...15 = Reserved (0)

16...31 = Manufacturer specific (0)


Index SI

60DA

Name

Synchronization function settings

Type Access

U32 RW

PM Information

Enables/disables supported functions in the device.

Bit field, each bit corresponds to supported functions object.

NVS

60F4 Following error actual value

60FF Target velocity

6502 0 Supported drive modes

I32 R

Bits:

0 = Status toggle

1 = Input cycle counter

2 = Output cycle counter

3...31 = Reserved

Status toggle/ Input cycle counter in status word are in csp, csv and cst mode.

Tx Position error. Operational when position feedback is available from the drive.

I32 RW Rx Effective in the csv, pv operation modes

U32 R Drive dependent.

Bits:

• 9: cst

• 8: csv

• 7: csp

• 6

• 5: hm

• 4

• 3: tq

• 2: pv

• 1: vl

• 0: pp


Index SI Name

6504 0 Drive manufacturer

6505 0 http drive catalog address

Type Access

Srt R

PM

Str R

Information

ABB Drives www.abb.com

NVS

CoE objects affecting drive parameters

The CoE objects which directly affect drive parameters, and vice versa, are listed in the tables below (excluding the drive parameter objects 0x4001...0x4063).

Note: Some objects affect the same drive parameter as another object, in other words, when one object is written it may cause the value of another object to change.




CoE objects affecting ACSM1 parameters

Index SI Name

6046 vl velocity min max amount

6048

6049

1

2 min abs velocity max abs velocity

-

ACSM1 parameter

24.12 SPEED REFMIN ABS

20.01 MAXIMUM SPEED

20.02 MINIMUM SPEED vl velocity acceleration -

1 Delta speed 25.02 SPEED SCALING

2 Delta time vl velocity deceleration -

25.03 ACC TIME

604A

6081

6083

6084

6085

6098

1 Delta speed

2 Delta time vl velocity quick stop

1 Delta speed

2 Delta time

Profile velocity

Profile acceleration

Profile deceleration

Quick stop deceleration

Homing method

6099 1 Speed during search for switch

2 Speed during search for zero

-

25.02 SPEED SCALING

25.04 DEC TIME

25.02 SPEED SCALING

25.11 EM STOP TIME

65.05 POS SPEED 1

65.06 PROF ACC 1

65.07 PROF DEC 1

25.02 SPEED SCALING (read-only)

25.11 EM STOP TIME

62.01 HOMING METHOD

62.07 HOMING SPEEDREF 1

62.08 HOMING SPEEDREF 2




CoE objects affecting ACS850 parameters

Index SI Name

6046 vl velocity min max amount -

ACS850 parameter

1 min abs velocity

2 max abs velocity

21.09 SpeedRef min abs

20.01 Maximum speed

20.02 Minimum speed

6048

6049 vl velocity acceleration

1 Delta speed

2 Delta time vl velocity deceleration

-

19.01 Speed scaling

-

22.02 Acc time1

604A

6085

1 Delta speed


1 Delta speed

2 Delta time


-

19.01 Speed scaling

22.03 Dec time1

19.01 Speed scaling

22.12 Em stop time

19.01 Speed scaling (read-only)

22.12 Em stop time




CoE objects affecting ACS355 parameters

Index SI Name

6046 vl velocity min max amount

6048

1

2 min abs velocity max abs velocity

-

ACS355 parameter

2001 MINIMUM SPEED

2002 MAXIMUM SPEED vl velocity acceleration -

1 Delta speed 2002 MAXIMUM SPEED (read-only)

6049

2 Delta time 2202 ACCELER TIME 1 vl velocity deceleration -

1 Delta speed

2 Delta time

2002 MAXIMUM SPEED (read only)

2203 DECELER TIME 1

604A

6085 vl velocity quick stop

1 Delta speed

2 Delta time


-


2208 EMERG DEC TIME


2208 EMERG DEC TIME




CoE objects affecting ACS880 and ACS580 parameters

Index SI Name

6046

ACS880 and ACS580 parameters vl velocity min max amount -

1 min abs velocity 30.11 Minimum speed

6048

2 max abs velocity vl velocity acceleration

1 Delta speed

2 Delta time

-

30.12 Maximum speed


23.12 Acceleration time 1

6049

604A

6085 vl velocity deceleration

1 Delta speed


1 Delta speed

2 Delta time


-


-

23.13 Deceleration time 1


23.23 Emergency stop time


23.23 Emergency stop time

Vendor-specific AL Status code

FECA-01 uses the following AL Status code:

0x8001 Cyclic low priority mapping failed

Appendix B – CoE error codes 139

12

Appendix B – CoE error codes


This chapter contains a list of the CANopen over EtherCAT error codes.

Error codes

Error codes can be read from object 0x603F Error code. The CoE error codes are described in the following table. Error codes between xx80…xxFF (hex) and FF00…FFFF (hex) are manufacturer-specific. Descriptions for these error codes can be found in the appropriate drive firmware manual and/or the drive fault code parameter. Furthermore, the following two error codes are generated by the adapter module:

• 0xFFE1: Failed to read the fault code from the drive.

• 0xFFFF: Unhandled drive fault code (corresponding CiA 402 error code does not exist. See object 0x2201 for the original drive fault code and consult the drive manual).

Error code (hex)

0000

1000

2000

2100

Meaning

Error reset or no error

Generic error

Current

Current on the device input side

140 Appendix B – CoE error codes

2311

2312

2320

2330

2331

2332

2333

2220

2221

2222

2230

2240

2250

2300

2310


2110

2120

2121

2122

2123

2130

2131

2132

2133

2200

2211

2212

2213

2214

Meaning

Short circuit / ground leakage

Ground leakage

Ground leakage phase L1



Short circuit

Short circuit phases L1-L2



Internal current

Internal current no. 1

Internal current no. 2

Overcurrent in the ramp function

Overcurrent in the sequence

Continuous overcurrent

Continuous overcurrent no. 1



Ground leakage

Short circuit

Current on the device output side

Continuous overcurrent




Ground leakage

Ground leakage phase U

Ground leakage phase V

Ground leakage phase W


3200

3210

3211

3212

3220

3221

3222

3130

3131

3132

3133

3134

3140

3141

3142


2340

2341

2342

2343

3000

3100

3110

3111

3112

3113

3120

3121

3122

3123

Meaning

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 undervoltage

Mains undervoltage phase L1



Phase failure

Phase failure L1

Phase failure L2

Phase failure L2

Phase sequence

Mains frequency

Mains frequency too great

Mains frequency too small

DC link voltage

DL link overvoltage

Overvoltage no. 1

Overvoltage no. 2

DL link undervoltage

Undervoltage no. 1

Undervoltage no. 2



3230

3300

3310

3311

3312

3313

Meaning

Load error

Output voltage

Output overvoltage

Output overvoltage phase U

Output overvoltage phase V

Output overvoltage phase W

4140

4200

4210

4220

4300

4310

4320

4400

3321

3330

3331

4000

4100

4110

4120

4130

4410

4420

5000

5100

5110

5111

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

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


5445

5450

5451

5452

5453

5454

5455

5410

5420

5430

5440

5441

5442

5443

5444


5112

5113

5114

5115

5116

5117

5118

5119

5120

5200

5210

5220

5300

5400

Meaning

U2 = supply +24 V

U3 = supply +5 V

U4 = manufacturer-specific






Supply intermediate circuit

Control

Measurement circuit

Computing circuit

Operating unit

Power section

Output stages

Chopper

Input stages

Contactors

Contactor 1 = manufacturer-specific





Fuses

S1 = L1

S2 = L2

S3 = L3

S4 = manufacturer-specific



7111

7112

7113

7120

7121

7122

7123

…

630F

6310

6320

6330

7000

7100

7110


5456

5457

5458

5459

5500

5510

5520

5530

6000

6010

6100

6200

6300

6301

Meaning





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 from 2…14 corresponding

Data record no. 15

Loss of parameters

Parameter error

EtherCAT module configuration error

Additional modules

Power

Brake chopper

Failure brake chopper

Overcurrent brake chopper

Protective circuit brake chopper

Motor

Motor blocked

Motor error or communication malfunction

Motor tilted


8321

8331

8400

8500

8600

8611

8612

7520

7600

8000

8100

8300

8311

8312

8313


7200

7300

7301

7302

7303

7304

7305

7306

7307

7310

7320

7400

7500

7510

Meaning

Measurement circuit

Sensor

Tachometer fault

Tachometer wrong polarity

Resolver 1 fault

Resolver 2 fault

Incremental sensor 1 fault



Speed

Position

Computation circuit

Communication

Serial interface no. 1

Serial interface no. 2

Data storage

Monitoring

Communication

Torque control

Excess torque

Difficult start up

Standstill torque

Insufficient torque

Torque fault

Rotational speed controller

Position controller

Positioning controller

Following error

Reference limit



8700

8800

9000

F000

F001

F002

F003

F004

FF00

…

FFFF

Sync controller

Winding controller

External error

Additional functions

Deceleration

Sub-synchronous run

Stroke operation

Control

Manufacturer-specific

…

Manufacturer-specific

Meaning

Further information

Product and service inquiries

Address any inquiries about the product to your local ABB representative, quoting the type designation and serial number of the unit in question. A listing of ABB sales, support and service contacts can be found by navigating to

www.abb.com/searchchannels

.

Product training

For information on ABB product training, navigate to

www.abb.com/drives

and select

Training courses

.

Providing feedback on ABB Drives manuals

Your comments on our manuals are welcome. Go to

www.abb.com/drives

and select

Document Library

–

Manuals feedback form (LV AC drives)

.

Document library on the Internet

You can find manuals and other product documents in PDF format on the Internet at

www.abb.com/drives/documents

.

Contact us

www.abb.com/drives www.abb.com/solar www.abb.com/windpower www.abb.com/drivespartners

3AUA0000068940 Rev D (EN) 2015-06-15

ABB Oy

AC Drives

P.O. Box 184

FI-00381 HELSINKI

FINLAND

Telephone

22 11

Fax

22 22681

Internet http://www.abb.com

+358 10

+358 10

ABB Inc.

Automation Technologies

Drives & Motors

16250 West Glendale Drive

New Berlin, WI 53151 USA

Telephone

3200

262 785-

800-

HELP-365

780-

5135

ABB Beijing Drive Systems Co. Ltd.

No. 1, Block D, A-10 Jiuxianqiao Beilu

Chaoyang District

Beijing, P.R. China, 100015

Telephone

+86 10 5821 7788

Fax

+86 10 5821 7618

Internet http://www.abb.com

ABB FECA-01 EtherCAT User Manual 148 Pages

ABB FECA-01 EtherCAT User Manual

User’s manual

FECA-01 EtherCAT® adapter module

List of related manuals

User’s manual

FECA-01 EtherCAT® adapter module

Table of contents

Safety instructions

Contents of this chapter

Use of warnings

Safety in installation and maintenance

About this manual

What this chapter contains

Applicability

Compatibility

Target audience

Purpose of the manual

Related manuals

Before you start

Contents

Terms and abbreviations used in this manual

General terms

General abbreviations

EtherCAT abbreviations

Overview of the EtherCAT network and the FECA-01 module

What this chapter contains

EtherCAT network

Example topology of the EtherCAT link

FECA-01 EtherCAT adapter module

Layout of the adapter module

Mechanical installation

Contents of this chapter

Necessary tools and instructions

Unpacking and examining the delivery

Installing the adapter module

Electrical installation

Contents of this chapter

Warnings

Necessary tools and instructions

General cabling instructions

Connecting the adapter module to the EtherCAT network

Connection procedure

Start-up

What this chapter contains

Drive configuration

EtherCAT connection configuration

Control locations

Starting up fieldbus communication for ACS355 drives

Parameter setting examples – ACS355

Starting up fieldbus communication for ACSM1 drives

Parameter setting examples – ACSM1

Starting up fieldbus communication for ACS850 drives

Parameter setting examples – ACS850

Starting up fieldbus communication for ACS880 and ACS580 drives

Parameter setting examples – ACS880 and ACS580

Configuring the master station

EtherCAT Slave Information files

Configuring an ABB AC500 PLC

Configuring Beckhoff’s TwinCAT

Communication profiles

What this chapter contains

Communication profiles

CANopen device profile CiA 402

Device control state machine

Supported modes of operation

Homing mode

Profile position mode

Profile velocity mode

Profile torque mode

Velocity mode

Cyclic synchronous position mode

Cyclic synchronous velocity mode

Cyclic synchronous torque mode

Process data scaling with the CiA 402 profile

Torque data

Velocity data

Position data

Process feedback values in the CiA 402 profile

Control word and Status word of the CiA 402 profile