—

OPTION FOR ABB DRIVES, CONVERTERS AND INVERTERS

FCAN-01 CANopen adapter module

User’s manual
—
List of related manuals
See section Related manuals on page 17.
You can find manuals and other product documents in PDF format on the
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FCAN-01 manual Fieldbus connectivity webpage

 User’s manual
FCAN-01 CANopen adapter module

Table of contents

1. Safety instructions

4. Mechanical installation

5. Electrical installation

6. Start-up

3AFE68615500 Rev F
EN  2018 ABB Oy
EFFECTIVE: 2018-03-16 All Rights Reserved.
 Table of contents 5

Table of contents

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

4. Mechanical installation
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Necessary tools and instructions . . . . . . . . . . . . . . . . . . . . . . . . 27
Unpacking and examining the delivery . . . . . . . . . . . . . . . . . . . 27
Installing the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6 Table of contents

5. Electrical installation
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Necessary tools and instructions . . . . . . . . . . . . . . . . . . . . . . . . 31
General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Connecting the module to the CANopen network . . . . . . . . . . . 32
Bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
AC and DC parameters for the CANopen network . . . . . . . . . . . 34
Bus cable and termination resistors . . . . . . . . . . . . . . . . . . . 34

6. Start-up
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
CANopen connection configuration . . . . . . . . . . . . . . . . . . . 38
Data transfer rates supported. . . . . . . . . . . . . . . . . . . . . 38
FCAN-01 configuration parameters – group A (group 1) 39
FCAN-01 configuration parameters – group B (group 2) 51
FCAN-01 configuration parameters – group C (group 3) 54
Additional information on the virtual address area
allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Starting up ACS355 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Parameter setting examples – ACS355 . . . . . . . . . . . . . . . . 59
CiA 402 vl velocity mode with default PDO mapping . . . 59
Speed and torque control using ABB Drives
communication profile with parameter-configured PDO
mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Starting up ACSM1 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Parameter setting examples – ACSM1 . . . . . . . . . . . . . . . . 66
Using position control with the CiA 402 Profile Position
mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Starting up ACS850 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Parameter setting examples – ACS850 . . . . . . . . . . . . . . . . 70
CiA 402 Velocity mode with default PDO mapping . . . . 70
ABB Drives communication profile with parameter-
configured PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . 72
Starting up ACS880 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
 Table of contents 7

Parameter setting examples – ACS880 . . . . . . . . . . . . . . . 76

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

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

9. Diagnostics
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
 Table of contents 9

LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

10. Technical data
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
FCAN-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
CANopen link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

11. Appendix A – Dictionary structure and entries

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Description of transmission type . . . . . . . . . . . . . . . . . . . . . . . 162
Description of PDO COB-ID entry . . . . . . . . . . . . . . . . . . . . . . 162
PDO mapping entry structure – example . . . . . . . . . . . . . . . . . 163
12. Appendix B – CANopen error codes
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

Further information
10 Table of contents
 Safety instructions 11

1
Safety instructions

What this chapter contains

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

Use of warnings
Warnings caution you about conditions which can cause injury or
death and, or damage to the equipment. They also tell you how to
prevent the danger. The manual uses these warning symbols:

Electricity warning tells you about hazards from

electricity which can cause injury or death, or damage to
the equipment.

General warning tells you about conditions, other than

those caused by electricity, which can cause injury or
death, or damage to the equipment.
 Safety instructions 13

Safety in installation
These instructions are for all who install or connect an optional
module to a drive, converter or inverter and need to open its front
cover or door to do the work.

WARNING! Obey these instructions. If you ignore them,

injury or death, or damage to the equipment can occur.

• If you are not a qualified electrician, do not do installation or

maintenance work.
• Disconnect the drive, converter or inverter from all possible
power sources. After you have disconnected the drive,
converter or inverter, always wait for 5 minutes to let the
intermediate circuit capacitors discharge before you continue.
• Disconnect all dangerous voltages connected to other control
signal connectors in reach. For example, it is possible that 230
V AC is connected from outside to a relay output of the drive,
converter or inverter.
• Always use a multimeter to make sure that there are no parts
under voltage in reach. The impedance of the multimeter must
be at least 1 Mohm.
14 Safety instructions
 About the manual 15

2
About the manual

What this chapter contains

This chapter introduces this manual.

Purpose of the manual

The manual provides information on installing, commissioning and
using the FCAN-01 CANopen adapter module.

Applicability
This manual applies to the FCAN-01 CANopen adapter module
(+K457), SW version 1.046 or later.
16 About the manual

Compatibility
The FCAN-01 CANopen adapter module is compatible with the
following drives:
• ACS355
• ACSM1
• ACS380
• ACH580
• ACQ580
• ACS580
• ACS850
• ACS880.
Note: The adapter module is compatible with more drives that may
not be listed here. For details of compatibility, check the drive’s
firmware manual.

Target audience
This manual is intended for people who plan the installation, install,
start up, use and service the adapter module. Before you do work
on the module, read this manual and the applicable drive manual
that contains the hardware and safety instructions for the product
in question.
You are expected to know the fundamentals of electricity, wiring,
electrical components and electrical schematic symbols.
The manual is written for readers worldwide. Both SI and imperial
units are shown.

Before you start

It is assumed that the drive is installed and ready to operate before
you start the installation of the adapter module.
In addition to conventional installation tools, have the drive
manuals available during the installation as they contain important
information not included in this manual. The drive manuals are
referred to at various points of this manual.
 About the manual 17

Related manuals
The related manuals are listed below.
Drive user’s manuals Code
(EN/Multilingual)
ACS355 drives (0.37…22 kW, 0.5…30 hp) 3AUA0000066143
user’s manual

Drive hardware manuals and guides

ACSM1 manuals 00578051
ACS380-04 manuals 9AAK10103A6193
ACH580-01 manuals 9AKK10103A0587
ACH580-04 manuals 9AKK106930A9059
ACH580-07 manuals 9AKK106930A5241
ACQ580-01 manuals 9AKK106713A2709
ACQ580-04 manuals 9AKK106930A9053
ACQ580-07 manuals 9AKK106930A3150
ACS580-01 manuals 9AKK105713A8085
ACS580-04 manuals 9AKK106930A9060
ACS580-07 (75 to 250 kW) manuals 9AKK106930A5239
ACS580-07 (250 to 500 kW) 9AKK106713A0278
ACS850-04 manuals 00592009
ACS880-01 manuals 9AKK105408A7004
ACS880-04 manuals 9AKK105713A4819
ACS880-07 manuals (45 to 710 kW) 9AKK105408A8149
ACS880-07 (560 to 2800 kW) 9AKK105713A6663
ACS880-17 (132 to 355 kW) 9AKK106930A3466
ACS880-17 (160 to 3200 kW) 9AKK106354A1499
ACS880-37 (132 to 355 kW) 9AKK106930A3467
ACS880-37 (160 to 3200 kW) 9AKK106354A1500

Option manuals and guides

FENA-01/-11/-21 Ethernet adapter module user’s 3AUA0000093568
manual
FSO safety functions module user’s manual 3AUA0000097054
18 About the manual

Contents
The manual consists of the following chapters:
• Safety instructions contains the safety instructions which you
must follow when installing a fieldbus adapter module.
• About the manual introduces this manual.
• Overview of the CANopen protocol and the FCAN-01 adapter
module contains a short description of the CANopen protocol
and the adapter module.
• Mechanical installation contains a delivery checklist and
instructions to install the adapter module.
• Electrical installation contains wiring and bus termination
instructions.
• Start-up presents the steps to take during the start-up of the
drive with the adapter module and gives examples of
configuring the master system.
• Communication profiles describes the communication profiles
used in communication between the CANopen network, the
adapter module and the drive.
• Communication protocol describes the communication on a
CANopen network.
• Diagnostics explains how to trace faults with the status LEDs
on the adapter module.
• Technical data contains the technical data of the adapter
module and the CANopen link.
• Appendix A – Dictionary structure and entries contains
information about PDO transmission and mapping.
• Appendix B – CANopen error codes contains reference tables
for decoding CANopen error messages.
 About the manual 19

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

Terms and abbreviations used in this manual

 Terms
Term Explanation
Command word See Control word.
Communication module Communication module is a name for a device
(eg, a fieldbus adapter) through which the drive
is connected to an external communication
network (eg, a fieldbus). The communication
with the module is activated with a drive
parameter.
Control word 16-bit or 32-bit word from master to slave with
bit-coded control signals (sometimes called the
Command word)
FCAN-01 CANopen One of the optional fieldbus adapter modules
adapter module available for ABB drives. FCAN-01 is a device
through which an ABB drive is connected to a
CANopen network.
Object dictionary Local storage of all Communication Objects
(COB) recognized by a device
Parameter Operating instruction for the drive. Parameters
can be read and programmed with the drive
control panel, drive PC tools or through the
adapter module.
Profile Adaptation of the protocol for certain application
field, for example, drives. In this manual, drive-
internal profiles (eg, DCU or FBA) are called
native profiles.
Status word 16-bit or 32-bit word from slave to master with
bit-coded status messages
 About the manual 21

 CANopen abbreviations
Abbreviation Explanation
CAN Controller Area Network
CiA CAN in Automation, International User’s and
Manufacturer’s Group
CMS CAN Message Specification; one of the service
elements of the CAN Application Layer in the
CAN Reference Model
COB Grouping of pre-defined data objects accessible
via the network.
DBT Distributor; one of the service elements of the
CAN Application Layer in the CAN Reference
Model. It is the responsibility of the Distributor to
distribute COB IDs to the COBs that are used
by a CMS.
EDS Electronic Data Sheet; a node-specific ASCII-
format file required when configuring the CAN
network. The EDS file contains general
information on the node and its dictionary
objects (parameters). EDS files for ABB Drives
are available at the Document library
(www.abb.com/drives).
LMT Layer Management; one of the service
elements of the CAN Application Layer in the
CAN Reference Model. It serves to configure
parameters for each layer in the CAN
Reference Model.
LSB Least significant bit/byte
MSB Most significant bit/byte
NMT Network Management; one of the service
elements of the CAN Application Layer in the
CAN Reference Model. It performs initialization,
configuration and error handling on a CAN
network.
OSI Open Systems Interconnection
PDO Process Data Object; a type of COB. Used for
transmitting time critical data, such as control
commands, references and actual values.
22 About the manual

Abbreviation Explanation
RO Denotes read-only access.
RW Denotes read/write access.
SDO Service Data Object; a type of COB. Used for
transmitting non-time-critical data, such as
parameters.
 Overview of the CANopen protocol and the FCAN-01 adapter module 23

3
Overview of the CANopen
protocol and the FCAN-01
adapter module

What this chapter contains

This chapter contains a short description of the CANopen protocol
and the FCAN-01 CANopen adapter module.

CANopen protocol
CANopen is a higher layer protocol based on the CAN (Control
Area Network) serial bus system and the CAL (CAN Application
Layer). CANopen assumes that the hardware of the connected
device has a CAN transceiver and a CAN controller as specified in
ISO 11898.
The CANopen Communication Profile, CiA 301, includes both
cyclic and event driven communication, which makes it possible to
reduce the bus load to minimum while still maintaining extremely
short reaction times. High communication performance can be
achieved at relatively low baud rates, thus reducing EMC problems
and cable costs.
CANopen device profiles define both direct access to drive
parameter and time critical process data communication. The
adapter module fulfills CiA (CAN in Automation) specification CiA
402 (CANopen device profile for drives and motion control).
24 Overview of the CANopen protocol and the FCAN-01 adapter module

The physical medium of CANopen is a differentially driven two wire

bus line with common return according to ISO 11898. The
maximum length of the bus is limited by the communication speed.
The maximum theoretical number of nodes is 127. However, in
practice, the maximum number depends on the capabilities of the
used CAN transceivers.
Further information is available from the CAN in Automation
International Users and Manufacturers Group (www.can-cia.org).

Topology of the CANopen link

The figure below shows an example topology of the CANopen link.

CANopen ABB drive Other slave ABB drive

master device

Other slave ABB drive Other slave ABB drive

device device

T = Termination
 Overview of the CANopen protocol and the FCAN-01 adapter module 25

FCAN-01 CANopen adapter module

The FCAN-01 CANopen adapter module is an optional device for
ABB drives. It enables the connection of the drive to a CANopen
network. The drive is considered as a slave (server) on the
CANopen 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 CANopen commands and services supported by the adapter
module are discussed in chapter Communication protocol on page
109. Refer to the drive manuals as to which commands are
supported by the drive.
The adapter module is mounted into an option slot on the motor
control board of the drive. See the drive manuals for module
placement options.
26 Overview of the CANopen protocol and the FCAN-01 adapter module

Layout of the adapter module

The following figure describes the layout of the adapter module.

4
2

No. Description See chapter

1 Lock Mechanical installation
2 Mounting screw Mechanical installation
3 Bus connector X1 Electrical installation
4 Diagnostic LEDs Diagnostics
 Mechanical installation 27

4
Mechanical installation

What this chapter contains

This chapter contains a delivery checklist and instructions to install
the adapter module.

Necessary tools and instructions

You will need a Torx TX10 screwdriver to secure the FCAN-01
adapter module to the drive. See also, the applicable drive
hardware manual.

Unpacking and examining the delivery

1. Open the option package.
2. Make sure that the package contains:
• Ethernet POWERLINK adapter module, type FCAN-01
• this manual.
3. Make sure that there are no signs of damage.
28 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 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
 Mechanical installation 29

2. Put the adapter module carefully into its position on the drive.
3. Push in the lock.

4. Tighten the screw to torque 0.8 N·m using a Torx TX10

screwdriver.
Note: A too high torque may break the screws. 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.
30 Mechanical installation
 Electrical installation 31

5
Electrical installation

What this chapter contains

This chapter contains:
• general cabling instructions
• bus termination instructions
• instructions on connecting the adapter module to the CANopen
network.

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.
32 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.

Connecting the module to the CANopen network

Connect the bus cable to connector X1 on the adapter module.
The connector pin allocation described below follows the CANopen
specification CiA 301.

1 5

X1 SUB-D9
(male)
6 9

X1 Description
1 - Not in use
2 CAN_L CAN_L bus line (dominant low)
3 CAN_GND CAN ground
4 - Not in use
5 CAN_SHLD Optional CAN shield
6 GND Optional ground
7 CAN_H CAN_H bus line (dominant high)
8 - Not in use
9 CAN_V+ Optional CAN external power supply. Not supported
by FCAN-01.
 Electrical installation 33

Bus termination
Bus termination is required to prevent signal reflections from the
bus cable ends. The adapter module is not equipped with internal
bus termination. Therefore the first and last nodes of the bus must
be included with bus termination. Termination is done by
connecting one resistor between the CAN_H and CAN_L signals.
The nominal value for the terminating resistor is 120 ohms. The
resistors can be connected between the CAN_H and CAN_L wires
or a D-SUB connector with a built-on termination can be used.
In the following diagram, the built-on terminations of the D-SUB
connectors at the first and last nodes are switched on.

CANopen CANopen CANopen CANopen

node node node node

Term. Term. Term. Term.

ON OFF OFF ON

In the following diagram, the bus line is terminated with 121 ohm,
1 % (E96) resistors connected between the CAN_L and CAN_H
wires at each end.

CANopen CANopen CANopen

node node … node
CAN_H

121 ohm 121 ohm

1% CAN_L 1%
Metal Film Metal Film
1/4 W 1/4 W

Note: Further information on CANopen wiring is available from

www.can-cia.org.
34 Electrical installation

AC and DC parameters for the CANopen network

 Bus cable and termination resistors

The cables, connectors, and termination resistors used in
CANopen networks must meet the requirements specified in ISO
11898.
The table below lists the standard values for DC parameters for
CANopen networks with less than 64 nodes:
Bus length Bus cable1) Termination Baud rate
[m] resistance [kbit/s]
Length- Cross-
[ohm]
related section
resistance [mm2]
[mohm/m]
0…40 70 0.25…0.34 124 1000 at 40 m
40…300 < 60 0.34…0.6 150…300 > 500 at 100 m
300…600 < 40 0.5…0.6 150…300 > 100 at 500 m
600…1000 < 26 0.75…0.8 150…300 > 50 at 1 km
1) Recommended cable for AC parameters: 120 ohm impedance and 5 ns/m line delay

With drop cables the recommended cable cross-section is

0.25…0.34 mm2.
In addition to the cable resistance, the real resistance of the
connectors should be taken into account in voltage drop
calculation. The transmission resistance of one connector should
be 2.5...10 mohm.
The following table lists the maximum bus cable length for different
node numbers (n), when
• minimum dominant value Vdiff.out.min = 1.5 V
• minimum differential input resistance Rdiff.min = 20 kohm
• requested differential input voltage Vth.max = 1.0 V
• minimum termination resistance RT.min = 118 ohm.
 Electrical installation 35

Wire Maximum length [m]1) Maximum length [m]2)

cross-
n = 32 n = 64 n = 100 n = 32 n = 64 n = 100
section
[mm2]
0.25 200 170 150 230 200 170
0.5 360 310 270 420 360 320
0.75 550 470 410 640 550 480
1) Safety margin of 0.2
2) Safety margin of 0.1
36 Electrical installation
 Start-up 37

6
Start-up

What this chapter contains

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! Obey the safety instructions given in this

manual and the drive documentation.
38 Start-up

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

 CANopen 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 CANopen
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 sections on pages 58, 64, 69 and 75.
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.
An example on how to configure PDOs via the CAN bus is given in
section PDO configuration via the CAN bus.
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.

Data transfer rates supported

The FCAN-01 CANopen adapter module supports the following
CANopen communication speeds: 50 kbit/s, 100 kbit/s, 125 kbit/s,
250 kbit/s, 500 kbit/s, 1 Mbit/s.
Note: The CANopen standard CiA 301 does not list 100 kbit/s as a
recommended bit rate, and therefore it should not be used in new
installations.
 Start-up 39

FCAN-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 and ACS850
• parameter group 51 in ACS880 if the adapter is installed as
fieldbus adapter A or group 54 if the adapter is installed as
fieldbus adapter B.
No. Name/Value Description Default
setting
01 FBA TYPE Read-only. Shows the fieldbus adapter type as 1=
detected by the drive. Value cannot be adjusted CAN-
by the user. open
If the value is 0 = None, the communication
between the drive and the module has not been
established.
02 Node ID Selects the node address of the module. 3
Each device on the CANopen network must
have a unique node identifier. Used to define a
node identifier for the drive it is connected to.
1…127 Node address
40 Start-up

No. Name/Value Description Default

setting
03 Bit rate Sets the bit rate for the CANopen interface. 3 = 125
This is user selectable, but must be the same kbit/s
on every node on the CANopen network.
Note: 100 kbit/s is not recommended for a new
installation.
0 = 1 Mbit/s 1 Mbit/s
1 = 500 kbit/s 500 kbit/s
2 = 250 kbit/s 250 kbit/s
3 = 125 kbit/s 125 kbit/s
4 = 100 kbit/s 100 kbit/s
5 = 50 kbit/s 50 kbit/s
04 Conf location Selects the source of the PDO configuration. 0
Note: The first mapping entries of the Tx/Rx
PDO1 and Tx/Rx PDO6 are fixed in the
ACS355 drive.
Note: Make sure that the PLC does not
overwrite the selected configuration during the
initialization phase when the configuration is
taken from the FCAN-01 configuration
parameter groups.
0 = Network PDO configuration via CAN bus: CANopen
objects 1400h, 1600h, 1405h, 1605h, 1414h,
1614h, 1800h, 1A00h, 1805h, 1A05h, 1814h
and 1A14h only.
1 = Parameters PDO configuration with drive parameters:
adapter module configuration parameter group
A (group 1), group B (group 2) and group C
(group 3) (initial values).
05 Profile Selects the used communication profile used by 1 = ABB
the adapter module: Drives
For more information on the communication
profiles, see chapter Communication profiles on
page 87.
0 = CiA 402 CANopen device profile CiA 402 selected
1 = ABB Drives ABB Drives profile selected
2 = Transp. 16 Transparent 16 profile selected
3 = Transp. 32 Transparent 32 profile selected
 Start-up 41

No. Name/Value Description Default

setting
06 T16 scale Defines the reference multiplier/actual value 99
divisor for the adapter module. The parameter
is effective only when the Transparent 16 profile
is selected AND the drive is using the native
communication profile (for example, DCU or
FBA) and a 16-bit transparent Reference
1/Actual value 1.
With an ACS355 drive, the speed reference
from the PLC is multiplied by the value of this
parameter plus one. For example, if the
parameter has a value of 99 and a reference of
1000 given by the master, the reference will be
multiplied by 99 + 1 = 100 and forwarded to the
drive as 100000. According to the DCU profile,
this value is interpreted as a reference of 100
rpm in the drive.
With ACSM1, ACS850 and ACS880, setting
this parameter to 65535 provides the
approximation of 1 ≈ 1 rpm.

0…65535 Reference multiplier/actual value divisor

42 Start-up

No. Name/Value Description Default

setting
07 RPDO1-COB-ID Defines the COB-ID for Rx PDO1. 1
Note: It is recommended to use the default
COB-ID.
0 = Disable Rx PDO1 is not valid (disabled). COB-ID is
80000200h + Node-ID.
1 = Default Rx PDO1 is valid and configured to use the
default COB-ID (200h + Node-ID).
385…1407 (dec) = Rx PDO1 is valid and configured to use a
181h … 57Fh custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
08 RPDO1-TR type Defines the Rx PDO1 transmission type. See 255
chapter Appendix A – Dictionary structure and
entries on page 161.
0…255 (dec) Rx PDO1 transmission type. See section
Description of transmission type on page 162.
 Start-up 43

No. Name/Value Description Default

setting
09 RPDO1-EV time Defines the event time (time-out time) for the 0=
Rx PDO1 in the asynchronous transmission Disable
mode. If the Rx PDO1 communication between
the adapter module and the bus master fails,
the adapter module sets the communication
between the module and the drive to the off-line
mode.
Event timer (time-out timer) elapses as a
multiple of 1 ms of the entry of this parameter.
Note: The time-out supervision is activated
upon a successful reception of an Rx PDO1.
0 = Disable Time-out supervision is disabled.
1…65535 (ms) Event time in ms
10 TPDO1-COB-ID Defines the COB-ID for Tx PDO1. 1=
Note: It is recommended to use the default Default
COB-ID.
0 = Disable Tx PDO1 is not valid (disabled). COB-ID is
80000180h + Node-ID.
1 = Default Tx PDO1 is valid and configured to use the
default COB-ID (180h + Node-ID).
385…1407 (dec) = Tx PDO1 is valid and configured to use a
181h … 57Fh custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
44 Start-up

No. Name/Value Description Default

setting
11 TPDO1-TR type Defines the PDO1 transmission type. See 255
chapter Appendix A – Dictionary structure and
entries on page 161.
0…255 (dec) PDO1 transmission type. See section
Description of transmission type on page 162.
12 TPDO1-EV time Defines the event time for the Tx PDO1 0=
asynchronous transmission mode. Disable
Event timer elapses as a multiple of 1 ms of the
entry of this parameter.
0 = Disable Event timer is disabled.
1…65535 (ms) Event time in ms.
13 RPDO6-COB-ID Defines the COB-ID for Rx PDO6. 0=
Note: It is recommended to use the default Disable
COB-ID.
0 = Disable Rx PDO6 is not valid (disabled). COB-ID is
80000300h + Node-ID.
1 = Default Rx PDO6 is valid and configured to use the
default COB-ID (300h + Node-ID).
385…1407 (dec) = Rx PDO1 is valid and configured to use a
181h … 57Fh custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
14 RPDO6-TR type Defines the Rx PDO6 transmission type. See 255
chapter Appendix A – Dictionary structure and
entries on page 161.
0…255 (dec) Rx PDO6 transmission type. See section
Description of transmission type on page 162.
15 RPDO6-EV time Defines the event time (time-out time) for the 0=
Rx PDO6 in the asynchronous transmission Disable
mode. If the Rx PDO6 communication between
the adapter module and the bus master fails,
the adapter module sets the communication
between the module and the drive to the off-line
mode.
Event timer (time-out timer) elapses as a
multiple of 1 ms of the entry of this parameter.
Note: The time-out supervision is activated
upon a successful reception of an Rx PDO6.
0 = Disable Time-out supervision is disabled.
1…65535 (ms) Event time in ms.
 Start-up 45

No. Name/Value Description Default

setting
16 TPDO6-COB-ID Defines the COB-ID for Tx PDO6. 0=
Note: It is recommended to use the default Disable
COB-ID.
0 = Disable Tx PDO6 is not valid (disabled). COB-ID is
80000280h + Node-ID.
1 = Default Tx PDO6 is valid and configured to use the
default COB-ID (280h + Node-ID).
385…1407 (dec) = Tx PDO6 is valid and configured to use a
181h … 57Fh custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
17 TPDO6-TR type Defines the Tx PDO6 transmission type. See 255
chapter Appendix A – Dictionary structure and
entries on page 161.
0…255 (dec) Tx PDO6 transmission type. See section
Description of transmission type on page 162.
18 TPDO6-EV time Defines the event time for the Tx PDO6 0=
asynchronous transmission mode. Disable
Event timer elapses as a multiple of 1 ms of the
entry of this parameter.
0 = Disable Event timer is disabled.
1…65535 (ms) Event time in ms.
19 RPDO21-COB-ID Defines the COB-ID for Rx PDO21. 0=
Note: It is recommended to use the default Disable
COB-ID.
0 = Disable Rx PDO21 is not valid (disabled). COB-ID is
80000400h + Node-ID.
1 = Default Rx PDO21 is valid and configured to use the
default COB-ID (400h + Node-ID).
385…1407 (dec) = Rx PDO21 is valid and configured to use a
181h … 57Fh custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
20 RPDO21-TR type Defines the Rx PDO21 transmission type. See 255
chapter Appendix A – Dictionary structure and
entries on page 161.
0…255 (dec) Rx PDO21 transmission type. See section
Description of transmission type on page 162.
46 Start-up

No. Name/Value Description Default

setting
21 RPDO21-EV time Defines the event time (time-out time) for the 0=
Rx PDO21 in the asynchronous transmission Disable
mode. If the Rx PDO21 communication
between the adapter module and the bus
master fails, the adapter module sets the
communication between the module and the
drive to the off-line mode.
Event timer (time-out timer) elapses as a
multiple of 1 ms of the entry of this parameter.
Note: The time-out supervision is activated
upon a successful reception of an Rx PDO21.
0 = Disable Time-out supervision is disabled.
1…65535 (ms) Event time in ms.
 Start-up 47

No. Name/Value Description Default

setting
22 TPDO21-COB-ID Defines the COB-ID for Tx PDO21. 0=
Note: It is recommended to use the default Disable
COB-ID.
0 = Disable Tx PDO21 is not valid (disabled). COB-ID is
80000380h + Node-ID.
1 = Default Tx PDO21 is valid and configured to use the
default COB-ID (380h + Node-ID).
385…1407 (dec) = Tx PDO21 is valid and configured to use a
181h … 57Fh custom COB-ID defined with this parameter.
COB-ID must be within the allowed PDO COB-
ID range (181h - 57Fh).
23 TPDO21-TR type Defines the Tx PDO21 transmission type. See 255
chapter Appendix A – Dictionary structure and
entries on page 161.
0…255 (dec) Tx PDO21 transmission type. See section
Description of transmission type on page 162.
48 Start-up

No. Name/Value Description Default

setting
24 TPDO21-EV time Defines the event time for the Tx PDO21 0=
asynchronous transmission mode. Disable
Event timer elapses as a multiple of 1 ms of the
entry of this parameter.
0 = Disable Event timer is disabled.
1...65535 (ms) Event time in ms.
25 Conformance Defines conformance mode. 0=
Mode Standard
0 = Standard CiA 402 standard conformance mode.
1 = ABB Compatibility mode with previous
implementation that have existed in previous
FCAN-01 versions. Means that in vl mode, the
CiA 402 SW “target reached” bit indicates that
the target velocity has been reached. CiA 402
standard requires that the bit be always 0 in vl
mode.
26 Reserved Not used by the adapter module. N/A
27 FBA par refresh Validates any changed adapter module 0 = Done
configuration parameter settings. After
refreshing, the value reverts automatically to 0
= Done.
Note: This parameter cannot be changed while
the drive is running.
0 = Done Refreshing done
1= Refreshing
Refresh/Configure
28 Par table ver Read-only. Displays the parameter table N/A
revision of the fieldbus adapter module
mapping file stored in the memory of the drive.
In format xyz, where:
x = major revision number
y = minor revision number
x = correction number
OR
in format axyz, where
a = major revision number
xy = minor revision numbers
z = correction number or letter.
Parameter table revision
 Start-up 49

No. Name/Value Description Default

setting
29 Drive type code Read-only. Displays the drive type code of the N/A
fieldbus adapter module mapping file stored in
the memory of the drive.
Drive type code of the fieldbus adapter module
mapping file
30 Mapping file ver Read-only. Displays the fieldbus adapter N/A
module mapping file revision stored in the
memory of the drive in decimal format.
Mapping file revision
50 Start-up

No. Name/Value Description Default

setting
31 D2FBA comm sta Read-only. Displays the status of the fieldbus 0 = Idle
adapter module communication. OR
Note: The value names may vary by drive. 4 = Off-
line
0 = Idle Adapter is not configured.
1 = Exec.init Adapter is initializing.
2 = Time out Time-out has occurred in the communication
between the adapter and the drive.
3 = Conf.err Adapter configuration error: 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.
4 = Off-line Adapter is off-line.
5 = On-line Adapter is on-line.
6 = Reset Adapter is performing a hardware reset.
32 FBA comm SW Read-only. Displays the common program N/A
rev revision of the adapter module in format axyz,
where:
a = major revision number
xy = minor revision numbers
z = correction number or letter.
Example: 190A = revision 1.90A
Common program version of the adapter
module
33 FBA appl SW ver Read-only. Displays the application program N/A
revision of the adapter module in format axyz,
where:
a = major revision number
xy = minor revision numbers
z = correction number or letter.
Example: 190A = revision 1.90A
Application program revision of the adapter
module
 Start-up 51

FCAN-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
• group 53 in ACSM1 and ACS850
• parameter group 53 in ACS880 if the adapter is installed as
fieldbus adapter A or group 56 if the adapter is installed as
fieldbus adapter B.
No.1) Name2)/Value Description Default
01 For ACS355: Selects data word 1 received by the drive over 0 = Not
Rx PDO1 word 2 the CANopen network. From the drive's used
For other drives: perspective this corresponds to Rx PDO
Rx PDO1 word 1 communication in CANopen.
ACS355:
FBA DATA OUT 1 CANopen ABB drive
master
ACSM1:
FBA DATA OUT1
ACS850/ACS880:
FBA data out1
FBA DATA OUT Control word (CW)
(Rx PDO) References

Content is defined by a decimal number in the

range of 0 to 9999 as follows:

0 Not used
1…99 Virtual address area of drive control
101… Parameter area of the drive
9999

See also Additional information on the virtual

address area allocation on page 57.
Note: The FCAN-01 configuration parameters
are 16-bit parameters. If the mapped parameter
is a 32-bit parameter, it automatically reserves
two consecutive parameters. For example,
mapping of a 32-bit parameter to parameter no.
1 also reserves parameter no. 2.
Note: In ACS355 drives, Rx PDO1 word 1 and
Rx PDO6 word 1 are fixed and always mapped
to object 6040h Control word. The first
configuration parameters have effect on the 2nd
words of these PDOs in ACS355 drives.
52 Start-up

No.1) Name2)/Value Description Default

0 = None Not used
1 = CW 16bit Control word (16 bits)
2 = Ref1 16bit Reference REF1 (16 bits)
3 = Ref2 16bit Reference REF2 (16 bits)
11 = CW 32bit Control word (32 bits)
12 = Ref1 32bit Reference REF1 (32 bits)
13 = Ref2 32bit Reference REF2 (32 bits)
101…9999 Parameter number with format xxyy, where:
• xx is the parameter group number (1 to 99)
• yy is the parameter number index within that
group (01 to 99).
Note: In ACS880, choose Other to display a list
of mappable drive parameters.
02 For ACS355: See parameter 01 above. 0
Rx PDO1 word 3
For other drives:
Rx PDO1 word 2
03 For ACS355: See parameter 01 above. 0
Rx PDO1 word 4
For other drives:
Rx PDO1 word 3
04 For ACS355: See parameter 01 above. 0
Rx PDO6 word 2
For other drives:
Rx PDO1 word 4
05 For ACS355: See parameter 01 above. 0
Rx PDO6 word 3
For other drives:
Rx PDO6 word 1
06 For ACS355: See parameter 01 above. 0
Rx PDO6 word 4
For other drives:
Rx PDO6 word 2
07 For ACS355: See parameter 01 above. 0
Rx PDO21 word 1
For other drives:
Rx PDO6 word 3
08 For ACS355: See parameter 01 above. 0
Rx PDO21 word 2
For other drives:
Rx PDO6 word 4
 Start-up 53

No.1) Name2)/Value Description Default

09 For ACS355: See parameter 01 above. 0
Rx PDO21 word 3
For other drives:
Rx PDO21 word 1
10 For ACS355: See parameter 01 above. 0
Rx PDO21 word 4
For other drives:
Rx PDO21 word 2
11 For ACS355: See parameter 01 above. 0
N/A Note: ACS355 has only ten FBA DATA OUT
For other drives: parameters, indexes 1 to 10.
Rx PDO21 word 3
12 For ACS355: See parameter 01 above. 0
N/A Note: ACS355 has only ten FBA DATA OUT
For other drives: parameters, indexes 1 to 10.
Rx PDO21 word 4
1) The number of parameters in this group may vary by drive type and drive firmware.
2) For more information, see chapter Communication protocol.
54 Start-up

FCAN-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
• group 52 in ACSM1 and ACS850
• parameter group 52 in ACS880 if the adapter is installed as
fieldbus adapter A or group 55 if the adapter is installed as
fieldbus adapter B.
No.1) Name2)/Value Description Default
01 For ACS355: Data word 1 sent by the drive over the 0 = Not
Tx PDO1 word 2 CANopen network. From the drive's perspective used
For other drives: this corresponds to Tx PDO communication in
Tx PDO1 word 1 CANopen.
ACS355:
FBA DATA IN 1 CANopen ABB drive
master
ACSM1:
FBA DATA IN1
ACS850/ACS880:
FBA data in1
FBA DATA IN Status word (SW)
(Tx PDO) Actual values

Content is defined by a decimal number in the

range of 0 to 9999 as follows:

0 Not used
1…99 Virtual address area of drive control
101… Parameter area of the drive
9999

See also Additional information on the virtual

address area allocation on page 57.
Note: The FCAN-01 configuration parameters
are 16-bit parameters. If the mapped parameter
is a 32-bit parameter, it automatically reserves
two consecutive parameters. For example,
mapping of a 32-bit parameter to parameter no.
1 also reserves parameter no. 2.
Note: In ACS355 drives, Tx PDO1 word 1 and
Tx PDO6 word 1 are fixed and always mapped
to object 6041h Status word. The first
configuration parameters have effect on the 2nd
words of these PDOs in ACS355 drives.
 Start-up 55

No.1) Name2)/Value Description Default

0 = None Not used
4 = SW 16bit Status word (16 bits)
5 = Act1 16bit Actual value ACT1 (16 bits)
6 = Act2 16bit Actual value ACT2 (16 bits)
14 = SW 32bit Status word (32 bits)
15 = Act1 32bit Actual value ACT1 (32 bits)
16 = Act2 32bit Actual value ACT2 (32 bits)
101…9999 Parameter number with format xxyy, where:
• xx is the parameter group number (1 to 99)
• yy is the parameter number index within that
group (01 to 99).
Note: In ACS880, choose Other to display a list
of mappable drive parameters.
02 For ACS355: See parameter 01 above. 0
Tx PDO1 word 3
For other drives:
Tx PDO1 word 2
03 For ACS355: See parameter 01 above. 0
Tx PDO1 word 4
For other drives:
Tx PDO1 word 3
04 For ACS355: See parameter 01 above. 0
Tx PDO6 word 2
For other drives:
Tx PDO1 word 4
05 For ACS355: See parameter 01 above. 0
Tx PDO6 word 3
For other drives:
Tx PDO6 word 1
06 For ACS355: See parameter 01 above. 0
Tx PDO6 word 4
For other drives:
Tx PDO6 word 2
07 For ACS355: See parameter 01 above. 0
Tx PDO21 word 1
For other drives:
Tx PDO6 word 3
08 For ACS355: See parameter 01 above. 0
Tx PDO21 word 2
For other drives:
Tx PDO6 word 4
56 Start-up

No.1) Name2)/Value Description Default

09 For ACS355: See parameter 01 above. 0
Tx PDO21 word 3
For other drives:
Tx PDO21 word 1
10 For ACS355: See parameter 01 above. 0
Tx PDO21 word 4
For other drives:
Tx PDO21 word 2
11 For ACS355: See parameter 01 above. 0
N/A Note: ACS355 has only ten FBA DATA IN
For other drives: parameters, indexes 1 to 10.
Tx PDO21 word 3
12 For ACS355: See parameter 01 above. 0
N/A Note: ACS355 has only ten FBA DATA IN
For other drives: parameters, indexes 1 to 10.
Tx PDO21 word 4
1) The number of parameters in this group may vary by drive type and drive firmware.
2) For more information, see chapter Communication protocol.
 Start-up 57

Additional information on the virtual address area

allocation
The drive virtual address area is allocated as follows:
Profile

CiA 4021)
Virtual address

Transparent 16

Transparent 32
Description

ABB Drives
Data length

hm pp ip pv pt vl

1 Control 16-bit 6040h 6040h 6040h 6040h 6040h 6040h 6040h -

word

2 Refer- 16-bit - - - - 6042h 6042h 6042h -

ence 1

3 Refer- 16-bit - - - 6071h - 2000h03 2000h03 -

ence 2

4 Status 16-bit 6041h 6041h 6041h 6041h 6041h 6041h 6041h -

word

5 Actual 16-bit - - - 6077h 6044h 6044h 6044h -

value 1

6 Actual 16-bit - - - - - 2000h06 2000h06 -

value 2

7…10 Reserved N/A - - - - - - - -

11 Control 32-bit - - - - - - - 2001h

word

12 Refer- 32-bit - 607Ah 60FFh - - - - 2002h

ence 1

13 Refer- 32-bit - - - - - - - 2003h

ence 2

14 Status 32-bit - - - - - - - 2004h

word

15 Actual 32-bit - 6064h 606Ch - - - - 2005h

value 1

16 Actual 32-bit - - - - - - - 2006h

value 2

hm = homing mode pv = profile velocity mode 1) ACS355 supports only vl.

pp = profile position mode pt = profile torque mode 1) ACS850 and ACS880 support vl and

ip = interpolated position mode vl = velocity mode pt.

1)
ACSM1 supports hm, pp, pv, pt and vl.
58 Start-up

 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, FCAN-01). ABB drives allow
the user to separately determine the source for each type of control
information (Start, Stop, Direction, Reference, Fault reset, etc.).
To give the fieldbus master station the most complete control over
the drive, the communication module must be selected as the
source of this information. The drive-specific parameter setting
examples below contain the drive control parameters needed in
the examples. For a complete parameter list, see the drive
documentation.

Starting up 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 FCAN configuration parameters in drive parameter
group 51.
At the minimum, set the required node address in parameter
5102 NODE ID, the required bit rate in 5103 BIT RATE, select
the source of the PDO configuration in 5104 CONF LOC and
the communication profile in 5105 PROFILE.
4. With parameter 3018 COMM FAULT FUNC, select how the
drive reacts to a fieldbus communication break.
5. With parameter 3019 COMM FAULT TIME, define the time
between communication break detection and the selected
action.
6. If group 51 is selected as the source for the PDO configuration,
select the application specific configuration for the PDOs with
parameters 5107…5124.
 Start-up 59

7. If group 51 is selected as the source for the PDO configuration,

define the process data transferred to and from the drive in
FCAN-01 parameter groups 54 and 55.
Note: If the PDO configuration is written from the PLC,
parameters 5107…5124 are not used and the parameter
groups 54 and 55 display the process data selected in the
PLC.
8. To validate the settings made in parameter groups 51, 54 and
55, set parameter 5127 FBA PAR REFRESH to REFRESH.
9. Set the relevant drive control parameters to control the drive
according to the application.
Examples of appropriate values are shown in the tables below.

 Parameter setting examples – ACS355

CiA 402 vl velocity mode with default PDO mapping
The following example shows how to configure a basic speed
control application that uses the CiA 402 profile. The start/stop
commands are according to the CiA 402 profile velocity control
mode.
Rx PDO1 and Tx PDO1 are enabled by default. In ACS355 drives,
the first mapping entries of Rx PDO1 and Tx PDO1 are fixed and
always mapped to objects 6040h and 6041h.
PDO Word 1 Length
Rx PDO1 6040h Control word 16 bits
Tx PDO1 6041h Status word 16 bits

Note: The Tx PDO1 default transmission type is 255

(asynchronous) and event time is 0. The event time should be
changed with CANopen object 1800h05 if the default transmission
type is used.
60 Start-up

The ACS355 parameters and recommended parameter settings

for the CANopen fieldbus communication are listed in the following
table.
Drive parameter Setting for ACS355 Description
drives
9802 COMM PROT SEL 4 = EXT FBA Activates the communication
(fieldbus) module.

5101 FBA TYPE 32 (= CANopen)1) Communication module type

5102 FBA PAR 2 32) Adapter module node ID
(NODE ID)
5103 FBA PAR 3 3 (= 125 kbit/s)2) Bit rate used on the CANopen
(BIT RATE) network
5104 FBA PAR 4 0 (= Network) CANopen objects (14xxh,
(CONF LOC) 16xxh, 18xxh and 1Axxh) as the
source for the PDO settings
5105 FBA PAR 5 0 (= CiA 402) CiA 402 mode communication
(PROFILE) profile

3018 COMM FAULT 1 = FAULT Sets the fieldbus communication

FUNC loss functionality.

3019 COMM FAULT 3.0 s Fieldbus communication loss

TIME supervision time-out

5127 FBA PAR 1 = REFRESH Fieldbus configuration

REFRESH parameter settings activation

1001 EXT1 10 = COMM Communication module as the

COMMANDS source for the start, stop and
direction commands
1103 REF1 SELECT 1 = AI12) Analogue input as the source for
reference 1
1601 RUN ENABLE 7 = COMM Communication module as the
source for the Run enable signal
1604 FAULT RESET 8 = COMM Communication module as the
SEL source for the fault reset signal
1) Automatically detected
2) Example
 Start-up 61

The start sequence for the parameter example above is given

below.
Control word:
• Reset the fieldbus communication fault (if active).
• 7Fh → Operation enabled = Drive starts modulating
• 77h → Disable operation = Ramp stop (possible to restart
during ramping)
• 7Eh → Switch on disabled = Coast stop
• 7Bh → Quick stop = Emergency stop (not possible to restart
during ramping)

Speed and torque control using ABB Drives

communication profile with parameter-configured PDO
mapping
This example shows how to configure a speed and torque control
application that uses the ABB Drives profile. In addition, some
application specific data is added to the communication.
The start/stop commands and references are according to the ABB
Drives profile. (For more information, see section ABB Drives
communication profile on page 100.)
When reference 1 (REF1) is used, reference value ±20000
(decimal) corresponds to the reference set with parameter 1105
REF1 MAX in the forward and reverse directions.
When reference 2 (REF2) is used, a reference value of ±10000
(decimal) corresponds to the reference set with parameter 1108
REF2 MAX in the forward and reverse directions.
The minimum and maximum 16-bit integer values that can be
given through the fieldbus are -32768 and 32767 respectively.
PDO Word 1 Word 2 Word 3 Word 4 Length
Rx PDO1 6040h 6042h 2000h03 4001h23 64 bits
Control Target Reference Par. 0135
word1) velocity1) 21) COMM
VALUE 12)
Tx PDO1 6041h 6044h 2000h06 4001h06 64 bits
Status vl control Actual value Par. 0106
word1) effort1) 21) POWER2)
62 Start-up

PDO Word 1 Word 2 Word 3 Word 4 Length

1)According to the ABB Drives profile mode
2)Example
Note: In ACS355 drives, the first mapping entries of PDOs 1 and 6 are fixed. See
Process Data Objects (PDO) on page 113.

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

objects 14xxh, 16xxh, 18xxh and 1Axxh. The communication
parameter settings of CANopen objects 14xxh and 18xxh are valid
only to the next boot-up unless they are stored to the non-volatile
memory.
The ACS355 parameters and recommended parameter settings
for the CANopen fieldbus communication are listed in the following
table.
Drive parameter Setting for ACS355 Description
drives
9802 COMM PROT SEL 4 = EXT FBA Activates the communication
(fieldbus) module.

5101 FBA TYPE 32 (= CANopen)1) Communication module type

5102 FBA PAR 2 32) Adapter module node ID
(NODE ID)
5103 FBA PAR 3 2 (= 250 kbit/s)2) Bit rate used on the CANopen
(BIT RATE) network
5104 FBA PAR 4 1 (= Parameters) PDO configuration is done with
(CONF LOC) FCAN-01 configuration
parameters, that is, ACS355
parameter groups 51, 55 and
54.
5105 FBA PAR 5 1 (= ABB Drives) ABB Drives profile mode (that is,
(PROFILE) communication profile used by
the module)

3018 COMM FAULT 1 = FAULT Sets the fieldbus communication

FUNC loss functionality.

3019 COMM FAULT 3.0 s Fieldbus communication loss

TIME supervision time-out

5107 FBA PAR 7 1 (= Default) Rx PDO1 is enabled and

(RPDO1-COB-ID) configured to use the default
COB-ID.
 Start-up 63

Drive parameter Setting for ACS355 Description

drives
5108 FBA PAR 8 2552) Asynchronous transmission
(RPDO1-TR TYPE) mode is used by Rx PDO1.
5110 FBA PAR 10 1 (= Default) Tx PDO1 is enabled and
(TPDO1-COB-ID) configured to use the default
COB-ID.
5111 FBA PAR 11 255 Asynchronous transmission
(TPDO1-TR TYPE) mode is used by Tx PDO1.
Transmission is triggered by the
event time.
5112 FBA PAR 12 1002) Event time, that is, event time
(TPDO1-EV TIME) elapses every 100 ms.

5401 FBA DATA IN 1 5 (= Act1 16bit) Actual value 1 as mapping

entry 2 in Tx PDO1
5402 FBA DATA IN 2 6 (= Act2 16bit) Actual value 2 as mapping
entry 3 in Tx PDO1
5403 FBA DATA IN 3 106 Signal 106 POWER as mapping
entry 4 in Tx PDO1
5501 FBA DATA OUT 1 2 (= Ref1 16bit) Reference 1 as mapping entry 2
in Rx PDO1
5502 FBA DATA OUT 2 3 (= Ref2 16bit) Reference 2 as mapping entry 3
in Rx PDO1
5503 FBA DATA OUT 3 135 Signal 135 COMM VALUE 1 as
mapping entry 4 in Rx PDO1

5127 FBA PAR 1 = REFRESH Activates the fieldbus

REFRESH configuration parameter
settings.

9904 MOTOR CTRL 2 = VECTOR: TORQ Selects the motor control mode.
MODE
1001 EXT1 10 = COMM Communication module as the
COMMANDS source for the start, stop and
direction commands in EXT1
mode
1002 EXT2 10 = COMM Communication module as the
COMMANDS source for the start, stop and
direction commands in EXT2
mode
64 Start-up

Drive parameter Setting for ACS355 Description

drives
1102 EXT1/EXT2 SEL 8 = COMM Communication module as the
source for the control location
selection
1103 REF1 SELECT 8 = COMM Communication module as the
source for reference 1
1106 REF2 SELECT 8 = COMM Communication module as the
source for reference 2
1601 RUN ENABLE 7 = COMM Communication module as the
source for the Run enable signal
1604 FAULT RESET 8 = COMM Communication module as the
SEL source for the fault reset signal
1) Automatically detected
2) Example

The start sequence for the parameter example above is given

below.
Control word:
• Reset the fieldbus communication fault (if active).
• 47Eh (1150 decimal) → READY TO SWITCH ON
• 47Fh (1151 decimal) → OPERATING (Speed mode)
or
C7Fh (3199 decimal) → OPERATING (Torque mode)

Starting up ACSM1 drives

1. Power up the drive.
2. Enable the communication between the adapter module and
the drive by setting parameter 50.01 FBA ENABLE to
ENABLE.
3. With parameter 50.02 COMM LOSS FUNC, select how the
drive reacts to a fieldbus communication break.
 Start-up 65

Note: This function monitors both communication between the

fieldbus master and adapter module and communication
between the adapter module and drive.
4. With parameter 50.03 COMM LOSS T OUT, define the time
between communication break detection and the selected
action.
5. Select application-specific values for parameters
50.04…50.11.
Examples of appropriate values are shown in the tables below.
6. Set the FCAN-01 configuration parameters in parameter group
51.
At minimum, set the required node address in parameter 51.02
NODE ID and the required bit rate in 51.03 BIT RATE, select
the source of the PDO configuration in 51.04 CONF LOC and
the communication profile in 51.05 PROFILE.
7. If group 51 is selected as the source for the PDO configuration,
select the application specific configuration for the PDOs with
parameters 51.07…51.24.
8. If group 51 is selected as the source for the PDO configuration,
define the process data transferred to and from the drive in the
FCAN-01 configuration parameter groups 52 and 53.
Note: If the PDO configuration is written from the PLC,
parameters 51.07…51.24 are not used and the parameter
groups 52 and 53 display the process data selected in the
PLC.
9. To validate the settings made in parameter groups 51, 52 and
53, set parameter 51.27 FBA PAR REFRESH to REFRESH.
10. Set the relevant drive control parameters to control the drive
according to the application.
See the parameter setting examples below.
66 Start-up

 Parameter setting examples – ACSM1

Using position control with the CiA 402 Profile Position mode
This example shows how to configure a basic positioning
application for an ACSM1 motion control drive. The start/stop
commands and reference are according to the CiA 402 Profile
Position mode.
The parameter setting example results in the following PDO
configuration.
Note: Rx PDO1 and Tx PDO1 are enabled by default.
PDO Word 1 Word 2, 3 Length
Rx PDO1 6040h 607Ah 48 bits
Control word Target position
Tx PDO1 6041h 6064h 48 bits
Status word Position actual
value

The target position and actual value are defined as 32-bit integer
values; both are scaled as defined by drive parameter settings.
The target position (reference) and the position actual value are
scaled as follows:

Drive parameter Example setting

60.05 POS UNIT (Position unit) m
60.08 POS2INT SCALE 100

1000 / 100 = 10.00 m

60.05 POS UNIT

Physical value
60.08 POS2INT SCALE
Set point value
 Start-up 67

The ACSM1 parameters and recommended parameter settings for

the CANopen fieldbus communication are listed in the following
table.
Drive parameter Setting for ACSM1 Description
drives
50.01 FBA ENABLE Enable Activates the communication
(fieldbus) module.

50.02 COMM LOSS Fault Enables communication

FUNC between the drive and the
fieldbus adapter module.

50.03 COMM LOSS T 1.0 s Defines the fieldbus

OUT communication break
supervision time-out.

50.04 FBA REF1 Position Defines the fieldbus reference

MODESEL scaling.

51.01 FBA TYPE 32 (= CANopen)1) Communication module type

51.02 FBA PAR2 32) Adapter module node ID
(NODE ID)
51.03 FBA PAR3 3 (= 125 kbit/s)2) Bit rate used on the CANopen
(BIT RATE) network
51.04 FBA PAR4 (CONF 1 (= Parameters) PDO configuration is done with
LOC) FCAN-01 configuration
parameter group A (group 1), B
(group 2) and C (group 3) (that
is, ACSM1 parameter groups
51, 52 and 53).
51.05 FBA PAR5 0 (= CiA 402) CiA 402 communication profile
(PROFILE) (that is, communication profile
used by the module)

51.08 FBA PAR8 2552) Asynchronous transmission

(RPDO1-TR TYPE) mode is used by Rx PDO1.

52.01 FBA DATA IN1 4 (= SW 16bit) Status word (16-bit) as mapping

entry 1 in Tx PDO1
52.02 FBA DATA IN2 15 (= Act1 32bit) Position actual value (32-bit) as
mapping entries 2 and 3 in Tx
PDO1
68 Start-up

Drive parameter Setting for ACSM1 Description

drives
52.03 FBA DATA IN3 0 (reserved) Parameters in groups 52 and 53
are 16-bit parameters. Mapping
of 32-bit parameters
automatically reserves also the
following cell (that is, the
mapping of 15 to parameter
52.02 reserves also the
parameter 52.03).
53.01 FBA DATA OUT1 1 (= CW 16bit) Control word (16-bit) as
mapping entry 1 in Rx PDO1
53.02 FBA DATA OUT2 12 (= Ref1 32bit) Position Reference (32-bit) as
mapping entries 2 and 3 in Rx
PDO1
53.03 FBA DATA OUT3 0 (reserved) Parameters in groups 52 and 53
are16-bit parameters. Mapping
of 32-bit parameters
automatically reserves also the
following cell (that is, the
mapping of 12 to parameter
53.02 reserves also the
parameter 53.03).

51.27 FBA PAR REFRESH Activates the fieldbus

REFRESH configuration parameter
settings.

10.01 EXT1 START FBA Communication module as the

FUNC source for the start, stop and
direction commands
34.03 EXT1 CTRL Position Selects the position control
MODE 1 mode for external control
location EXT1.
65.01 POS Ref table Reference and other positioning
REFSOURCE parameters are read from
reference set 1/2.
65.04 POS REF 1 SEL FBA REF1 Fieldbus reference 1 is the
source for the position reference
when reference set 1 is used.
1) Automatically detected
2) Example
 Start-up 69

The start sequence for the parameter example above is given

below.
Control word:
• Reset the fieldbus communication fault (if active).
• 0Eh (14 decimal) → SWITCH ON DISABLED
• 0Fh (15 decimal) → OPERATION ENABLED
• 1Fh (31 decimal) → MOVE TO NEW SETPOINT

Starting up ACS850 drives

1. Power up the drive.
2. Enable the communication between the adapter module and
the drive by setting parameter 50.01 FBA enable to Enable.
3. With parameter 50.02 Comm loss func, select how the drive
reacts to a fieldbus communication break.
Note: This function monitors both communication between the
fieldbus master and adapter module and communication
between the adapter module and drive.
4. With parameter 50.03 Comm loss t out, define the time
between communication break detection and the selected
action.
5. Select application-specific values for parameters
50.04…50.11.
Examples of appropriate values are shown in the tables below.
6. Set the FCAN-01 configuration parameters in drive parameter
group 51.
At minimum, set the required node address in parameter 51.02
NODE ID, the required bit rate in 51.03 BIT RATE, select the
source of the PDO configuration in 51.04 CONF LOC and the
communication profile in 51.05 PROFILE.
70 Start-up

7. If group 51 is selected as the source for the PDO configuration,

select the application specific configuration for the PDOs with
parameters 51.07…51.24.
8. Define the process data transferred to and from the drive in the
FCAN-01 configuration parameter groups 52 and 53.
Note: If the PDO configuration is witten from the PLC,
parameters 51.07…51.24 are not used and the parameter
groups 52 and 53 display the process data selected in the
PLC.
9. To validate the settings made in parameter groups 51, 52 and
53, set parameter 51.27 FBA par refresh to Refresh.
10. Set the relevant drive control parameters to control the drive
according to the application.
See the parameter setting examples below.

 Parameter setting examples – ACS850

CiA 402 Velocity mode with default PDO mapping
This example shows how to configure a basic speed control
application that uses the CiA 402 profile. The start/stop commands
are according to the CiA 402 profile velocity control mode.
Rx PDO1 and Tx PDO1 are enabled by default.
PDO Word 1 Length
Rx PDO1 6040h Control word 16 bits
Tx PDO1 6041h Status word 16 bits

Note: The Tx PDO1 default transmission type is 255

(asynchronous) and event time is 0. The event time should be
changed with CANopen object 1800h05 if the default transmission
type is used.
 Start-up 71

The ACS850 parameters and recommended parameter settings

for the CANopen fieldbus communication are listed in the following
table.
Drive parameter Setting for ACS850 Description
drives
50.01 FBA enable Enable Activates the communication
(fieldbus) module.

50.02 Comm loss func Fault Enables fieldbus communication

fault monitoring.

50.03 Comm loss t out 3.0 s Defines the fieldbus

communication break
supervision time-out.

50.04 FBA ref1 modesel Speed Defines the fieldbus reference

scaling.

51.01 FBA type CANopen1) Communication module type

51.02 FBA par2 32) Adapter module node ID
(NODE ID)
51.03 FBA par3 3 (= 125 kbit/s)2) Bit rate used on the CANopen
(BIT RATE) network
51.04 FBA par4 0 (= Network) CANopen objects (14xxh,
(CONF LOC) 16xxh, 18xxh and 1Axxh) as the
source for the PDO settings
51.05 FBA par5 0 (= CiA 402) CiA 402 Velocity mode
(PROFILE) communication profile (that is,
communication profile used by
the module)

52.01 FBA data in1 4 (= SW 16bit) Status word (16-bit) as mapping

entry 1 in Tx PDO1
53.01 FBA data out1 1 (= CW 16bit) Control word (16-bit) as
mapping entry 1 in Rx PDO1

51.27 FBA par refresh Refresh Activates the fieldbus

configuration parameter settings
activation.

10.01 Ext1 start func FB Communication module as the

source for the start, stop and
direction commands
72 Start-up

Drive parameter Setting for ACS850 Description

drives
12.03 Ext1 ctrl mode Speed Selects the speed control mode
for external control location
EXT1.
21.01 Speed ref1 sel AI1 scaled2) Analog input as the source for
(Parameter 02.05) reference 1
1) Automatically detected
2) Example

The start sequence for the parameter example above is given

below.
Control word:
• Reset the fieldbus communication fault (if active).
• 7Eh (126 decimal) → SWITCH ON DISABLED
• 7Fh (127 decimal) → OPERATION ENABLED

ABB Drives communication profile with parameter-

configured PDO mapping
This example shows how to configure a speed control application
that uses the ABB drives profile.
The start/stop commands and references are according to the ABB
Drives profile. (For more information, see section ABB Drives
communication profile on page 100.)
Reference 1 (REF1) value ±20000 (decimal) corresponds to the
reference set with parameter 19.01 (Speed scaling) in the forward
and reverse directions.
The minimum and maximum 16-bit integer values that can be
given through the fieldbus are -32768 and 32767 respectively.
PDO Word 1 Word 2 Length
Rx PDO1 6040h 6042h 32 bits
Control word Target velocity
Tx PDO1 6041h 6044h 32 bits
Status word vl control effort
 Start-up 73

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

objects 14xxh, 16xxh, 18xxh and 1Axxh. The communication
parameter settings of CANopen objects 14xxh and 18xxh are valid
only to the next boot-up unless stored to the non-volatile memory.
The ACS850 parameters and recommended parameter settings
for the CANopen fieldbus communication are listed in the following
table:
Drive parameter Setting for ACS850 Description
drives
50.01 FBA enable Enable Activates the communication
(fieldbus) module.

50.02 Comm loss func Fault Enables fieldbus communication

fault monitoring.

50.03 Comm loss t out 3.0 s Defines the fieldbus

communication break
supervision time.

50.04 FBA ref1 modesel Speed Defines the fieldbus reference

scaling.

51.01 FBA type CANopen1) Communication module type

51.02 FBA par2 32) Adapter module node ID
(NODE ID)
51.03 FBA par3 3 (= 125 kbit/s)2) Bit rate used on the CANopen
(BIT RATE) network
51.04 FBA par4 1 (= Parameters) PDO1 configuration is done with
(CONF LOC) FCAN-01 configuration
parameters group A (group1),
group B (group 2) and group C
(group 3), that is, ACS850
parameter groups 51, 52 and
53.
51.05 FBA par5 1 (= ABB Drives) ABB Drives profile mode (that is,
(PROFILE) communication profile used by
the module)

51.07 FBA par7 1 (= Default) Rx PDO1 is enabled.

(RPDO1-COB-ID)
51.08 FBA par8 2552) Asynchronous transmission
(RPDO1-TR TYPE) mode is used by Rx PDO1.
51.10 FBA par10 1 (= Default) Tx PDO1 is enabled.
(TPDO1-COB-ID)
74 Start-up

Drive parameter Setting for ACS850 Description

drives
51.11 FBA par11 2552) Asynchronous transmission
(TPDO1-TR TYPE) mode is used by Tx PDO1.

52.01 FBA data in1 4 (= SW 16bit) 16-bit Status word as mapping

entry 1 in Tx PDO1
52.02 FBA data in2 5 (= Act1 16bit) 16-bit actual value as mapping
entry 2 in Tx PDO1
53.01 FBA data out1 1 (= CW 16bit) 16-bit Control word 1 as
mapping entry 1 in Rx PDO1
53.02 FBA data out2 2 (= Ref1 16bit) 16-bit reference as mapping
entry 2 in Rx PDO1

51.27 FBA par refresh Refresh Activates the fieldbus

configuration parameter
settings.

10.01 Ext1 start func FBA Communication module as the

source for the start, stop and
direction commands
12.03 Ext1 ctrl mode Speed Selects the speed control mode
for external control location
EXT1.
21.01 Speed ref1 sel FBA ref1 Fieldbus reference 1 as the
(Parameter 02.26) source for speed reference 1
1) Automatically detected
2)
Example

The start sequence for the parameter example above is given

below.
Control word:
• Reset the fieldbus communication fault (if active).
• 47Eh (1150 decimal) → READY TO SWITCH ON
• 47Fh (1151 decimal) → OPERATING
 Start-up 75

Starting up ACS880 drives

1. Power up the drive.
2. Enable the communication between the adapter module and
the drive by setting parameter 50.01 FBA A enable to Enable.
3. With parameter 50.02 FBA A comm loss func, select how the
drive reacts to a fieldbus communication break.
Note: This function monitors both communication between the
fieldbus master and adapter module and communication
between the adapter module and drive.
4. With parameter 50.03 FBA A comm loss t out, define the
time between communication break detection and the selected
action.
5. Select application-specific values for parameters
50.04…50.11. Examples of appropriate values are shown in
the tables below.
6. Set the FCAN-01 configuration parameters in drive parameter
group 51.
At minimum, set the required node address in parameter 51.02
Node ID, the required bit rate in 51.03 Bit rate, select source
of the PDO configuration in 51.04 Conf location and the
communication profile in 51.05 Profile.
7. If the group 51 is selected as the source for the PDO
configuration, select the application specific configuration for
the PDOs with parameters 51.07…51.24.
8. Define the process data transferred to and from the drive in the
FCAN-01 configuration parameter groups 52 and 53.
Note: If the PDO configuration is written from the PLC, the
parameters 51.07…51.24 are not used and the parameter
groups 52 and 53 display the process data selected in the
PLC.
76 Start-up

9. Save the valid parameter values to permanent memory by

setting parameter 96.07 Param save to Save.
10. To validate the settings made in the parameter groups 51, 52
and 53, set parameter 51.27 FBA par refresh to Configure.
11. Set the relevant drive control parameters to control the drive
according to the application.
Examples of appropriate values are shown in the tables below.

 Parameter setting examples – ACS880

CiA 402 Velocity mode with default PDO mapping
This example shows how to configure a basic speed control
application that uses CiA 402 profile. The start/stop commands are
according to the CiA 402 profile velocity control mode.
Rx PDO1 and Tx PDO1 are enabled by default.
PDO Word 1 Length
Rx PDO1 6040h Control word 16 bits
Tx PDO1 6041h Status word 16 bits

Note: The Tx PDO1 default transmission type is 255

(asynchronous) and event time is 0. The event time should be
changed with CANopen object 1800h05 if the default transmission
type is used.
 Start-up 77

The ACS880 parameters and recommended parameter settings

for the CANopen fieldbus communication are listed in the following
table.
Drive parameter Setting for ACS880 Description
drives
50.01 FBA A enable 1 = Enable Enables communication
between the drive and the
fieldbus adapter module.

50.02 FBA A comm loss 1 = Fault Enables fieldbus communication

func fault monitoring.

50.03 FBA A comm loss 3.0 s Defines the fieldbus

t out communication break
supervision time.

50.04 FBA A ref1 type 4 = Speed Defines the fieldbus A reference

1 scaling.

51.01 FBA type CANopen1) Communication module type

51.02 Node ID 32) Adapter module node ID
51.03 Bit rate 3 = 125 kbit/s2) Bit rate used on the CANopen
network
51.04 Conf location 0 = Network CANopen objects (14xxh,
16xxh, 18xxh and 1Axxh) as the
source for the PDO settings
51.05 Profile 0 = CiA 402 CiA 402 Velocity mode
communication profile (that is,
communication profile used by
the module)

52.01 FBA data in1 4 = SW 16bit2) 16-bit Status word as mapping

entry 1 in Tx PDO1
53.01 FBA data out1 1 = CW 16bit2) 16-bit Control word 1 as
mapping entry 1 in Rx PDO1

51.27 FBA par refresh 1 = Configure Activates the fieldbus

configuration parameter
settings.

19.12 Ext1 control mode 2 = Speed Selects speed control as control

1 mode 1 for external control
location 1.
78 Start-up

Drive parameter Setting for ACS880 Description

drives
20.01 Ext1 commands 21 = Fieldbus A Selects the fieldbus A interface
as the source of the start and
stop commands for external
control location 1.
22.11 Speed ref1 AI1 scaled2) Analog input as the source for
selection reference 1
1) Automatically detected
2) Example

The start sequence for the parameter example above is given

below.
Control word:
• Reset the fieldbus communication fault (if active).
• 7Eh (126 decimal) → SWITCH ON DISABLED
• 7Fh (127 decimal) → OPERATION ENABLED

Configuring the master station

After the adapter module has been initialized by the drive, the
master station must be prepared for communication with the
adapter module. Examples of an ABB AC500 PLC 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
adapter module.

 EDS files
The Electronic Data Sheet (EDS) files specify the device properties
for the CANopen master (client). The EDS files for the FCAN-01
CANopen adapter module contain information on the supported
communication objects. The EDS files for ABB Drives are available
at the Document library (www.abb.com/drives).
 Start-up 79

 Configuring an ABB AC500 PLC

This example shows how to configure the communication between
an AC500 PLC and the adapter module using the Control Builder
Plus PS501 software version 2.1.0 and later.
Before you start, make sure that you have downloaded the FCAN-
01 EDS description file from the Document library.
1. Start the ABB Control Builder software.
2. On the Tools menu, select Device Repository.
3. In the opening window, click Install and browse for the EDS
file downloaded from the Document library.
80 Start-up

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

drive.
5. Add the CM578-CN CANopen master device to the PLC
project if necessary.
6. Add the adapter module/drive to the CANopen network.
7. Configure the master properties such as baud rate, node ID
and heartbeat.
Start-up 81
82 Start-up

8. Configure the FCAN-01 properties:

• Select the node boot up sequence.
 Start-up 83

• On the CANopen Remote Device tab,

• select the node ID for the device
• select Enable Expert Settings to configure the process
data mapping, node guarding and emergency settings for
the drive.
84 Start-up

• On the PDO Mapping tab, select the PDOs transferred

between the PLC and the drive.

• On the Receive PDO Mapping tab, select the variables

transferred from PLC to drive.
 Start-up 85

• On the Send PDO Mapping tab, select the variables

transferred from drive to PLC.

• On the Service Data Object tab, define the parameter values

that are sent to the drive when the communication is initialized.
86 Start-up

• On the CANopen I/O Mapping tab, configure the I/O mapping.

Type names for the variables that refer to the signals of the
drive in the PLC program.

• Open the PLC program, compile the project and download it to

the PLC.
Make sure that the variable names defined for the signals of
the drive are used in the PLC program, otherwise the
communication will not work.
 Communication profiles 87

7
Communication profiles

What this chapter contains

This chapter describes the communication profiles used in
communication between the CANopen 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 FCAN-01 CANopen adapter module, the CANopen
network may employ the CiA 402 profile (Device profile for drives
and motion control) or the ABB Drives profile. Both are converted
to the native profile (for example, DCU or FBA, detailed in the drive
manuals) by the adapter module. In addition, two Transparent
profiles – for 16-bit and 32-bit words respectively – are available.
With the Transparent modes, no data conversion takes place.
Note: The CiA 402 operation mode support is drive-specific. See
CANopen device profile CiA 402 on page 89 for more details.
The profile is selected from the drive with parameter 05 PROFILE
of the fieldbus configuration group A. For example, if parameter 05
PROFILE is set to 0, the Control word of the drive is set according
to the CiA 402 specification.
88 Communication profiles

The figure below illustrates the profile selection:

Control word, reference, Status

word and actual values
according to CANopen profile
FCAN-01 Drive
CiA 402, ABB Drives profile or
drive-specific 16-bit words
CiA 402
Data 1)
conversion
CANopen
objects Select ABB Drives
6040h
6042h Data 1) Select
6041h conversion
6044h 2)
2000h03 Transparent 16
2000h06 2
607Ah3) Optional
6064h3) reference,
6071h3) actual value
6077h3) scaling
60FF3)
606C 3) Transparent 32

CANopen
objects
2001h
...
2006h

Control word, reference, Status

word and actual values
according to drive- specific 32-bit
words

1)
native profile (eg, DCU or FBA)
2) Selection with FCAN-01 configuration parameters
(parameter 05 PROFILE of group A)
3) Only with ACSM1 drives

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 profiles. See the drive
manuals for details on the native profiles.
 Communication profiles 89

CANopen device profile CiA 402

 Device Control state machine

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

Device Control state machine

Modes of operation1)

Homing Profile Inter- Profile Profile Velocity

mode Position polated Velocity Torque mode
mode Position mode mode
mode 2)

1) 2)
ACS355 supports only vl. Not supported
1)
ACS850 and ACS880 support vl and tq.
1) ACSM1 supports hm, pp, pv, tq and vl.

The Control word is the principal means for controlling the drive
from a fieldbus system. It is sent by the fieldbus master station to
the drive through the adapter module. The drive switches between
its states according to the bit-coded instructions in the Control
word, and returns status information to the master in the Status
word.
The contents of the Control word and the Status word are detailed
section Control word and Status word of the CiA 402 profile on
page 93.
90 Communication profiles

 Modes of operation
The operation mode defines the behavior of the drive. CiA 402
defines following operation modes:
• Homing mode
• Profile position mode
• Interpolated position mode
• Profile velocity mode
• Profile torque mode
• Velocity mode
The FCAN-01 CANopen adapter module supports minimal
implementation of the operation modes. Operation mode support is
drive-specific (see the figure at the beginning of this chapter). The
interpolated position mode is not supported.
In this chapter scalings of the reference and actual values are
described for each operation mode. Operation-mode-specific
objects are defined in section CANopen Object Dictionary on page
131.
In ACSM1 drives, the mode of operation is automatically selected
according to the control mode configured with parameter 34.03
EXT1 CTRL MODE, 34.04 EXT1 CTRL MODE2 or 34.05 EXT2
CTRL MODE1 (depending on the current control location). The
correct reference scaling must be selected with parameter 50.04
FBA REF1 MODESEL.
If the value of parameter 50.04 FBA REF1 MODESEL and 50.05
FBA REF2 MODESEL of ACSM1 is (5) AUTO, it is possible to set
the mode of operation with object 6060h. For more information,
see section Standardized device profile area (6000...9FFF) on
page 146.

 Homing mode
Homing mode describes various methods of finding a home
position, or zero point. Either limit switches at the ends of travel or
a home switch in mid travel are used. Most of the methods also
use the index (zero) pulse from an encoder. For more information
on the homing mode and descriptions of the various homing
methods, see the drive manual.
 Communication profiles 91

 Profile position mode

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

Position demand value

Position demand value defines the position set point. The position
set point is scaled as follows:

Drive parameter (ACSM1) Example setting

60.05 POS UNIT (Position unit) m
60.08 POS2INT SCALE 100

1000 / 100 = 10.00 m

60.05 POS UNIT

Physical value
60.08 POS2INT SCALE
Set point value

Position actual value

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

 Interpolated position mode

Not supported with the FCAN-01 CANopen adapter module.

 Profile velocity mode

The profile velocity mode is used to control the velocity of the drive
with no special regard of the position.
92 Communication profiles

Target velocity
Target velocity is the required velocity of the application. The target
velocity is scaled as follows:

Drive parameter (ACSM1) Example setting

60.05 POS UNIT (Position unit) m
60.10 POS SPEED UNIT unit/s
60.11 POS SPEED2INT 100

1000 / 100 = 10.00 m/s

60.10 POS SPEED UNIT

Physical value
60.11 POS SPEED2INT
Set point value

Velocity actual value

Velocity actual value defines the actual velocity of the application.
Velocity actual value is scaled as target velocity (see above).

 Profile torque mode

Profile torque mode enables the drive torque to be controlled
directly.
Target torque
Target torque is the required torque of the application. The value is
given per thousand of the rated torque, 10 = 1%.

Torque actual value

Torque actual value corresponds to the instantaneous torque in the
drive motor. The value is given per thousand of the rated torque,
that is 10 = 1%.
 Communication profiles 93

 Velocity mode
Basic mode to control the velocity of the drive with limits and ramp
functions.

Target velocity of CiA 402 Velocity mode

Target velocity is the required velocity of the application. The unit
of the target velocity is interpreted as rpm. 1 = 1 rpm.

Control effort of CiA 402 Velocity mode

Control effort is the actual velocity of the application. The unit of
the control effort is interpreted as rpm. 1 = 1 rpm.

 Control word and Status word of the CiA 402 profile

Control word of CiA 402
Bit Description
0 Switch on
1 Enable voltage
2 Quick stop
3 Enable operation
4...6 Operation-mode-specific
7 Fault reset
8 Halt
9...10 Reserved
11...15 Drive-specific bit
94 Communication profiles

Operation-mode-specific bits
Bit Velocity Profile Profile Profile Homing Interpo-
mode position velocity torque mode 1) lated
mode1) mode 1) mode2) position
mode3)
4 rfg New Reserved Reserved Homing Enable
enable setpoint operation ipmode
start
5 rfg unlock Change Reserved Reserved Reserved Reserved
set
immedi-
ately
6 rfg use abs / rel Reserved Reserved Reserved Reserved
ref
1)
Supported with ACSM1 only
2) Supported with ACSM1, ACS850 and ACS880 only
3) Not supported
 Communication profiles 95

Status word of CiA 402

Bit Description
0 Ready to switch on
1 Switched on
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning
8 Drive-specific bit
9 Remote
10 Target reached
11 Internal limit active
12…13 Operation-mode-specific
14…15 Drive-specific bit

Operation-mode-specific bits
Bit Velocity Profile Profile Profile Homing Interpo-
mode position velocity torque mode1) lated
mode 1) mode1) mode2) position
mode 3)
12 Reserved Set point Speed Reserved Homing IP mode
acknowl- attained active
edge
13 Reserved Following Max Reserved Homing Reserved
error slippage error
error
1) Supported with ACSM1 only
2)
Supported with ACSM1 and ACS850 only
3)
Not supported
96 Communication profiles

Device control commands are triggered by the Control word bits as

follows:
Device control commands
Command Control word bit
Fault Enable Quick Enable Switch State
reset, operation, stop, voltage, on, transi-
bit 7 bit 3 bit 2 bit 1 bit 0 tions*
Shut down 0 x 1 1 0 2, 6, 8

Switch on 0 0 1 1 1 3 1)

Switch on 0 1 1 1 1 3 1)

Disable 7, 9, 10,
0 x x 0 x
voltage 12

Quick stop 0 x 0 1 x 7, 10, 11

Disable
0 0 1 1 1 5
operation

Enable
0 1 1 1 1 4
operation

Fault reset x x x x 15

Bits marked with x are irrelevant.

1) When Control word bit 3 (Enable operation) is 1, the drive does not perform any
tasks in the SWITCHED ON state. When bit 3 is 0, state SWITCHED ON tasks are
performed. See the Device Control state machine figure on page 89.
 Communication profiles 97

The following stop modes are associated with the control

commands and other events:
Command/Event Drive stop mode
Quick stop Emergency stop
Shut down Coast stop
Disable voltage Coast stop
Halt Ramp stop (configurable with CANopen object
605Dh)
Fault Fault reaction specified by the drive. Typically a
coast stop.

The halt mode is controlled with bit 8 of the CiA 402 control word.
When the halt bit is set during the OPERATION ENABLED state,
the drive stops and the state machine remains in the OPERATION
ENABLED state. When the bit is reset, the drive starts running
again. In all modes supporting the halt function, CiA 402 Status
Word bit 10 (target reached) is set when the drive is stopped.
Note: The drive may not necessarily stop completely as it is still
the in running (OPERATION ENABLED) state.
The following table summarizes the drive features used to perform
the ramp stop during the halt function, as well as the different halt
option codes supported by each CiA 402 operating mode. The halt
option code is selected by CANopen object 605Dh.
98 Communication profiles

Mode Description Halt option codes

Profile Position Dynamic limiter ramp 1
Interpolated Position Dynamic limiter ramp 1
Profile Velocity Dynamic limiter ramp 1
Profile Torque Sets the torque reference to 1
0. Ramp depends on drive
parameters.
Homing Dynamic limiter ramp 1
Velocity Halt mode 1: Ramp input is 1, 2, 3, 4
set to 0.
Halt mode 2,3,4: Ramp
output is set to 0.

Other modes Halt bit has no effect. N/A

 Communication profiles 99

State machine
The following figure describes the CANopen state machine.
From any state

CW: Control word START FAULT REACTION

SW: Status word ACTIVE
SW: xxxxxxxxx0xx1111

State transition Power-on, Fault reaction

(0) self-initialization completed

NOT READY FAULT

TO SWITCH ON
SW: xxxxxxxxx0xx0000 SW: xxxxxxxxx0xx1000

Initialized
(1) successfully (15) CW: xxxxxxxx1xxxxxxx

SWITCH-ON
DISABLED
SW: xxxxxxxxx1xx0000

CW: xxxxxxxxxxxxx110 (2)

CW: xxxxxxxxxxxxx01x
(7) or
CW: xxxxxxxxxxxxxx0x
READY TO
SWITCH ON
SW: xxxxxxxxx01x0001 CW: xxxxxxxxxxxxx01x
or (10)
CW: xxxxxxxxxxxxxx0x
CW: xxxxxxxxxxxxx111 (3)

(6) CW: xxxxxxxxxxxxx110

(8) CW: xxxxxxxxxxxxx110

SWITCHED ON
SW: xxxxxxxxx01x0011 Quick stop
completed
CW: xxxxxxxxxxxx1111 (4) or (12)
CW: xxxxxxxxxxxxxx0x
(5) CW: xxxxxxxxxxxx0111

OPERATION (11)
(9) QUICK STOP
ENABLED ACTIVE
SW: xxxxxxxxx01x0111 SW: xxxxxxxxx0xx0111
CW: xxxxxxxxxxxxxx0x CW: xxxxxxxxxxxxx01x
100 Communication profiles

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 master in the Status
word.
The contents of the Control word and the Status word are detailed
below. The drive states are presented in the ABB Drives profile
state transition diagram on page 105.

Control word contents

The following table presents the Control word of the ABB Drives
communication profile. The upper case boldface text refers to the
states shown in the ABB Drives profile state machine figure on
page 105.
Control word of ABB Drives profile
Bit Name Value STATE/Description
0 OFF1_ 1 Proceed to READY TO OPERATE.
CONTROL
0 Stop along currently active deceleration
ramp. Proceed to OFF1 ACTIVE;
proceed to READY TO SWITCH ON
unless other interlocks (OFF2, OFF3)
are active.
1 OFF2_ 1 Continue operation (OFF2 inactive).
CONTROL
0 Emergency OFF; coast to stop.
Proceed to OFF2 ACTIVE, proceed to
SWITCH-ON INHIBITED.
 Communication profiles 101

Control word of ABB Drives profile

Bit Name Value STATE/Description
2 OFF3_ 1 Continue operation (OFF3 inactive).
CONTROL
0 Emergency stop; stop within time
defined with the drive parameter.
Proceed to OFF3 ACTIVE; proceed to
SWITCH-ON INHIBITED.
Warning: Ensure motor and driven
machine can be stopped using this stop
mode.
3 INHIBIT_ 1 Proceed to OPERATION ENABLED.
OPERATION Note: Run enable signal must be
active; see the drive manuals. If the
drive is set to receive the Run enable
signal from the fieldbus, this bit
activates the signal.
0 Inhibit operation; proceed to
OPERATION INHIBITED.
4 RAMP_OUT_ 1 Normal operation; proceed to RFG:
ZERO OUTPUT ENABLED.
0 Force the Ramp Function Generator
output to zero. The drive ramps to stop
(current and DC voltage limits in force).
5 RAMP_HOLD 1 Enable the ramp function;
proceed to RFG: ACCELERATOR
ENABLED.
0 Halt ramping (the Ramp Function
Generator output held).
6 RAMP_IN_ 1 Normal operation; proceed to
ZERO OPERATION.
Note: Effective only if the fieldbus
interface is set as the source for this
signal with drive parameters.
0 Force the Ramp Function Generator
input to zero.
102 Communication profiles

Control word of ABB Drives profile

Bit Name Value STATE/Description
7 RESET 0 →1 Fault reset if an active fault exists.
Proceed to SWITCH-ON INHIBITED.
Note: Effective only if the fieldbus
interface is set as the source for this
signal with drive parameters.
0 Continue normal operation.
8…9 Drive-specific (for information, see the drive documentation.)
10 REMOTE_ 1 Fieldbus control enabled
CMD
0 Control word and reference not getting
through to the drive, except for CW bits
OFF1, OFF2 and OFF3.
11 EXT_CTRL_ 1 Select external control location EXT2.
LOC Effective if the control location is
parameterized to be selected from the
fieldbus.
0 Select external control location EXT1.
Effective if the control location is
parameterized to be selected from the
fieldbus.
12…15 Reserved
 Communication profiles 103

Status word contents

The following table presents the Status word of the ABB Drives
communication profile. The upper case boldface text refers to the
states shown in the ABB Drives profile state machine figure on
page 105.
Status word of ABB Drives profile
Bit Name Value STATE/Description
0 RDY_ON 1 READY TO SWITCH ON
0 NOT READY TO SWITCH ON
1 RDY_RUN 1 READY TO OPERATE
0 OFF1 ACTIVE
2 RDY_REF 1 OPERATION ENABLED
0 OPERATION INHIBITED
3 TRIPPED 1 FAULT
0 No fault
4 OFF_2_STA 1 OFF2 inactive
0 OFF2 ACTIVE
5 OFF_3_STA 1 OFF3 inactive
0 OFF3 ACTIVE
6 SWC_ON_ 1 SWITCH-ON INHIBITED
INHIB
0 –
7 ALARM 1 Warning/Alarm
0 No warning/alarm
8 AT_ 1 OPERATION. Actual value equals
SETPOINT reference = is within tolerance limits,
that is, in speed control, speed error is
10% max. of the nominal motor speed.
0 Actual value differs from reference, that
is, it is outside tolerance limits.
9 REMOTE 1 Drive control location: REMOTE (EXT1
or EXT2)
0 Drive control location: LOCAL
104 Communication profiles

Status word of ABB Drives profile

Bit Name Value STATE/Description
10 ABOVE_ 1 Actual frequency or speed equals or
LIMIT exceeds the supervision limit (set with
the drive parameter). Valid in both
directions of rotation.
0 Actual frequency or speed within
supervision limit
11 EXT_CTRL_ 1 External Control Location EXT2
LOC 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 External Control Location EXT1
selected
12 EXT_RUN_E 1 External Run Enable signal received
NABLE 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).
0 No External Run Enable signal
received
13…14 Reserved
15 FBA_ERROR 1 Communication error detected by the
fieldbus adapter module.
0 Fieldbus adapter communication OK
 Communication profiles 105

State machine
The following figure describes the state machine of the ABB Drives
communication profile.

SWITCH-ON
MAINS OFF INHIBITED (SW Bit6=1)
ABB Drives
Communication
Power ON (CW Bit0=0)
Profile
NOT READY TO
A B C D
SWITCH ON (SW Bit0=0) CW = Control word
SW = Status word
n = Speed
(CW=xxxx x1xx xxxx x110) I = Input Current
(CW Bit3=0) RFG = Ramp Function
Generator
READY TO
f = Frequency
OPERATION SWITCH ON (SW Bit0=1)
INHIBITED (SW Bit2=0)
from any state
operation (CW=xxxx x1xx xxxx x111)
inhibited Fault

READY TO FAULT
from any state OPERATE (SW Bit1=1) (SW Bit3=1)

OFF1 (CW Bit0=0) (CW Bit7=1)

(CW=xxxx x1xx xxxx 1111
OFF1 and SW Bit12=1)
ACTIVE (SW Bit1=0)
from any state from any state
n(f)=0 / I=0 Emergency Stop Emergency OFF
(CW Bit3=1 OFF3 (CW Bit2=0) OFF2 (CW Bit1=0)
and
SW Bit12=1) OFF3 OFF2
B C D ACTIVE (SW Bit5=0) ACTIVE (SW Bit4=0)

(CW Bit4=0) n(f)=0 / I=0

OPERATION
C D
ENABLED (SW Bit2=1)
A
(CW Bit5=0) (CW=xxxx x1xx xxx1 1111)

RFG: OUTPUT
D
ENABLED
B
(CW Bit6=0) (CW=xxxx x1xx xx11 1111)

RFG: ACCELERATOR
state
ENABLED
C
(CW=xxxx x1xx x111 1111) condition
rising edge
OPERATION
(SW Bit8=1) of the bit
D
106 Communication profiles

 References
References are 16-bit signed two's complement integers. A
negative reference indicates a reverse direction of rotation.
ABB drives can receive control information from multiple sources
including analogue and digital inputs, the drive control panel and a
communication module (for example, FCAN-01). To have the drive
controlled through the fieldbus, the 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 (as defined with drive parameter, eg, ACS850 parameter
19.01 Speed scaling, ACS880 parameter 46.01 Speed scaling).
In ACS355, drive parameter REFx MIN may limit the actual
minimum reference.

Fieldbus Drive

REF2: 10000 REFx MAX / Speed scale

REF1: 20000

REFx MIN
0
-(REFx MIN)

REF2: -10000 -(REFx MAX) / Speed scale

REF1: -20000
 Communication profiles 107

 Actual values
Actual values are 16-bit signed two's complement integers
containing information on the operation of the drive. A negative
reference indicates a reverse direction of rotation. The functions to
be monitored are selected with a drive parameter.

Scaling
The actual values 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.

Fieldbus Drive

ACT2: 10000 REFx MAX

ACT1: 20000

0 0

ACT2: -10000 -(REFx MAX)

ACT1: -20000
108 Communication profiles
 Communication protocol 109

8
Communication protocol

What this chapter contains

This chapter describes the communication on a CANopen network.

CAN data frame

CAN employs data frames for transferring data between the host
(controller) and the nodes on the bus. The following figure presents
the structure of the data frame.
110 Communication protocol

Header
ARBITRATION FIELD CONTROL
REMOTE FIELD
TRANS- CYCLIC
COMM. REDUNDANCY ACKNOW-
START OF OBJECT ID MISSION DATA LEDGE END OF
FRAME FIELD CHECK FRAME
(COB ID) REQUEST FIELD
1 2 3 (CRC)
(RTR)
1 BIT 11 BITS 1 BIT 6 BITS 0 TO 8 16 BITS 2 BITS 7 BITS
(OR 29 BITS) BYTES

FUNCTION CODE NODE ID

10 9 8 7 6 5 4 3 2 1 0

Communication Function code COB ID (hex) COB ID (dec)

object (binary)
NMT 0000 00 0
SYNC 0001 80 128
TIME STAMP 0010 100 256
EMERGENCY 0001 81…FF 129…255
PDO1 (Tx) 0011 181...1FF 385...511
PDO1 (Rx) 0100 201...27F 513...639
PDO6 (Tx) 0101 281...2FF 641...767
PDO6 (Rx) 0110 301...37F 769...895
PDO21 (Tx) 0111 381...3FF 897...1023
PDO21 (Rx) 1000 401...47F 1025...1151
SDO (Tx) 1011 581…5FF 1409…1535
SDO (Rx) 1100 601…67F 1537…1663
NODEGUARD 1110 701…77F 1793…1919

Control field contents:

1 = IDE bit = 29-bit Extended identifier / 11-bit standard identifier (1 bit)
2 = r0 = reserved (1 bit)
3 = DLC = Data Length Code (4 bits)

Inside the CANopen data frame, different types of Communication

Objects are used to convey the data. Process Data Objects (PDO)
are used for transmitting time critical process data (references,
control commands, status information); Service Data Objects
(SDO) are used for less time critical data, for example, parameters.
 Communication protocol 111

In addition, there are Special Function Objects and Network

Management Objects.

 FCAN-01 boot-up sequence and

Network Management (NMT)
The adapter module supports the boot-up sequence of a “Minimum
Capability Device”, as defined by the CANopen Communication
Profile. The boot-up state diagram of the adapter module is shown
below.

Initialization

(10)
Reset application

(13)

(11)
Reset communication

(14)

Power on
Init

(12)
(6) Start_Remote_Node indication
(7) Stop_Remote_Node indication
(8) Enter_Pre-Operational_State indication
(10) Reset_Node indication
(11) Reset_Communication indication
(12) After Initialization is finished
(13) (14) After Reset is performed Pre-operational
(8)
(7)
(6) (8) Stopped
(7)
(6)
Operational

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

CAN frame with data length of 2 bytes. Its identifier is 0. The first
byte contains the command specifier and the second byte contains
the Node ID of the device, which must perform the command. The
NMT message transmitted by the NMT master forces the nodes to
transit to another NMT state. The CANopen state machine
specifies the following states: Initialization, Pre-Operational,
Operational and Stopped. After power-on, each CANopen device
112 Communication protocol

is at first in the Initialization state and then the state transits

automatically to the Pre-Operational state.
The NMT commands used for controlling the node are:
Command (dec) Name
1 Start_Remote_Node
2 Stop_Remote_Node
128 Enter_Pre-Operational_State
129 Reset_Node
130 Reset_Communication

Header (bin) Payload data byte

1 2
0000 0000000 0 0 0 0010 NMT Command Node ID

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

The node state indications are as follows:
Indication (dec) State
0 Boot-up
4 Stopped
5 Operational
127 Pre-operational
 Communication protocol 113

Process Data Objects (PDO)

Process Data Object (PDO) is used for time critical process data
exchange. PDO transmissions can be controlled by an internal
timer, by remote requests or by the received Sync message. For
each PDO the transmission mode of the PDO as well as the
default mappings of the application objects are described in the
Object Dictionary. The adapter module supports also configuration
of the PDOs with drive parameters.
The adapter module supports a maximum of three PDOs in both
directions. By default only Tx PDO1 and Rx PDO1 are enabled
(valid) and Tx/Rx PDO6 and Tx/Rx PDO21 are disabled (not valid).
PDO mapping defines which application objects (parameters) are
transmitted within a PDO. PDO mappings of the adapter module
can be changed in the Pre-operational state (variable objects).
Transmission of the enabled (valid) PDOs is possible only in the
Operational state.
Each PDO can contain up to 8 bytes of process data. In ACS355,
the first mapping entries of Tx/Rx PDO1 and Tx/Rx PDO6 are fixed
and cannot be changed. The length of the PDOs and mapping
entries of the PDOs are configurable.
The mapping entries of the PDOs can be configured through
CANopen objects or from the drive with fieldbus configuration
parameters. The configuration location is selected from the drive
with parameter 04 CONF LOC of the fieldbus configuration group
A (group 1) (parameter 51.04 in ACS355, ACSM1, ACS850 and
ACS880).
When mapping through CANopen objects, the PDO length must be
set to zero before the mapping entries can be changed.
114 Communication protocol

Rx PDO1
Mapped Mapped Mapped Mapped
obj 1 obj 2 obj 3 obj 4
Byte 1 2 3 4 5 6 7 8
CANopen object for 1600h01 1600h02 1600h03 1600h04
mapping
ACS355 Fixed 1) FBA DATA FBA DATA FBA DATA
OUT 1 OUT 2 OUT 3
Mapping
parameter2) ACSM1 FBA DATA FBA DATA FBA DATA FBA DATA
ACS850 OUT 1 OUT 2 OUT 3 OUT 4
ACS880
1)
In ACS355 drives, the first mapping entry is fixed and always mapped to object
6040h Control word. The other mapping entries are configurable. In ACSM1,
ACS850 and ACS880 drives, all mapping entries are configurable.
2) Configuration group B (group 2) (when parameter 04 CONF LOC = 1)

The mapping entries of the Rx PDO1 can be configured through

CANopen object 1600h or from the drive with fieldbus
configuration parameter group B (group 2).
The default COB ID for Rx PDO1 is 200h + Node ID, the default
transmission type is 255 and the event time is 0. These values can
be changed with CANopen object 1400h or from the drive with
parameters 7, 8 and 9 of the fieldbus configuration group A (group
1).
 Communication protocol 115

Tx PDO1
Mapped Mapped Mapped Mapped
obj 1 obj 2 obj 3 obj 4
Byte 1 2 3 4 5 6 7 8
CANopen object for 1A00h01 1A00h02 1A00h03 1A00h04
mapping
ACS355 Fixed 1) FBA FBA FBA
DATA IN 1 DATA IN 2 DATA IN 3
Mapping
parameter2) ACSM1 FBA FBA FBA FBA
ACS850 DATA IN 1 DATA IN 2 DATA IN 3 DATA IN 4
ACS880
1)
In ACS355 drives, the first mapping entry is fixed and always mapped to object
6041h Status word. The other mapping entries are configurable. In ACSM1,
ACS850 and ACS880 drives, all mapping entries are configurable.
2) Configuration group C (group 3) (when parameter 04 CONF LOC = 1)

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

through CANopen object 1A00h or from the drive with fieldbus
configuration parameter group C (group 3).
The default COB ID for Tx PDO1 is 180h + Node ID, the default
transmission type is 255 and the event time is 0. These values can
be changed with CANopen object 1600h or from the drive with
parameters 10, 11 and 12 of the fieldbus configuration group A
(group 1).
116 Communication protocol

Rx PDO6
Mapped Mapped Mapped Mapped
obj 1 obj 2 obj 3 obj 4
Byte 1 2 3 4 5 6 7 8
CANopen object for 1605h01 1605h02 1605h03 1605h04
mapping
ACS355 Fixed 1) FBA DATA FBA DATA FBA DATA
OUT 4 OUT 5 OUT 6
Mapping
parameter2) ACSM1 FBA DATA FBA DATA FBA DATA FBA DATA
ACS850 OUT 5 OUT 6 OUT 7 OUT 8
ACS880
1)
In ACS355 drives, the first mapping entry is fixed and always mapped to object
6040h Control word. The other mapping entries are configurable. In ACSM1,
ACS850 and ACS880 drives, all mapping entries are configurable.
2) Configuration group B (group 2) (when parameter 04 CONF LOC = 1)

Note: The mapping entries of the Rx PDO6 can be configured

through CANopen object 1605h or from the drive with fieldbus
configuration parameter group B (group 2).
The default COB ID for Rx PDO6 is 80000300h + Node ID (Rx
PDO6 disabled), the default transmission type is 255 and the event
time is 0. These values can be changed with CANopen object
1405h or from the drive with parameters 13, 14 and 15 of the
fieldbus configuration group A (group 1).
 Communication protocol 117

Tx PDO6
Mapped Mapped Mapped Mapped
obj 1 obj 2 obj 3 obj 4
Byte 1 2 3 4 5 6 7 8
CANopen object for 1A05h01 1A05h02 1A05h03 1A05h04
mapping
ACS355 Fixed1) FBA DATA FBA DATA FBA DATA
IN 4 IN 5 IN 6
Mapping
parameter2) ACSM1 FBA DATA FBA DATA FBA DATA FBA DATA
ACS850 IN 5 IN 6 IN 7 IN 8
ACS880
1)
In ACS355 drives, the first mapping entry is fixed and it is always mapped to object
6041h Status word. The other mapping entries are configurable. In ACSM1,
ACS850 and ACS880 drives, all mapping entries are configurable.
2) Configuration group C (group 3) (when parameter 04 CONF LOC = 1)

Note: The mapping entries of the Tx PDO6 can be configured

through CANopen object 1A05h or from the drive with fieldbus
configuration parameter group C (group 3).
The default COB ID for Tx PDO6 is 80000280h + Node ID (Tx
PDO6 disabled), the default transmission type is 255 and the event
time is 0. These values can be changed with CANopen object
1605h or from the drive with parameters 16, 17 and 18 of the
fieldbus configuration group A (group 1).
118 Communication protocol

Rx PDO21
Mapped Mapped Mapped Mapped
obj obj 2 obj 3 obj 4
Byte 1 2 3 4 5 6 7 8
CANopen object for 1614h01 1614h02 1614h03 1614h04
mapping
ACS355 FBA DATA FBA DATA FBA DATA FBA DATA
OUT 7 OUT 8 OUT 9 OUT 10
Mapping
parameter1) ACSM1 FBA DATA FBA DATA FBA DATA FBA DATA
ACS850 OUT 9 OUT 10 OUT 11 OUT 12
ACS880
1)
Configuration group B (group 2) (when parameter 04 CONF LOC = 1)

Note: The mapping entries of the Rx PDO21 can be configured

through CANopen object 1614h or from the drive with fieldbus
configuration parameter group B (group 2).
The default COB ID for Rx PDO21 is 80000400h + Node ID (Rx
PDO21 disabled), the default transmission type is 255 and the
event time is 0. These values can be changed with CANopen
object 1414h or from the drive with parameters 19, 20 and 21 of
the fieldbus configuration group A (group 1).
 Communication protocol 119

Tx PDO21
Mapped Mapped Mapped Mapped
obj 1 obj 2 obj 3 obj 4
Byte 1 2 3 4 5 6 7 8
CANopen object for 1A14h01 1A14h02 1A14h03 1A14h04
mapping
ACS355 FBA DATA FBA DATA FBA DATA FBA DATA
IN 7 IN 8 IN 9 IN 10
Mapping
parameter1) ACSM1 FBA DATA FBA DATA FBA DATA FBA DATA
ACS850 IN 9 IN 10 IN 11 IN 12
ACS880
1)
Configuration group C (group 3) (when parameter 04 CONF LOC = 1)

Note: The mapping entries of the Tx PDO21 can be configured

through CANopen object 1A14h or from the drive with fieldbus
configuration parameter group C (group 3).
The default COB ID for Tx PDO21 is 80000380h + Node ID (Tx
PDO21 disabled), the default transmission type is 255 and the
event time is 0. These values can be changed with CANopen
object 1614h or from the drive with parameters 22, 23 and 24 of
the fieldbus configuration group A (group 1).
120 Communication protocol

Mapping format
Note: Subindex 0 contains the number of valid entries within the
mapping record. This number is also the number of the application
variables (parameters), which shall be transmitted/received with
the corresponding PDO. The subindexes from 1 to the number of
objects contain information about the mapped application
variables.
The mapping values in the CANopen object are hexadecimal
coded. The following table presents an example of the PDO
mapping entry structure:
Type MSB LSB
UINT32 31 16 15 8 7 0
Description Index Subindex Object length in bits
eg, 6048h eg, 02h eg, 10h (= 16 bits)
(16 bits) (8 bits) (8 bits)

If the PDO mappings are configured with fieldbus configuration

parameter group B (group 2) and group C (group 3), only objects
belonging to the virtual address area of the drive control and to the
drive parameter area can be mapped, that is, objects 6040h,
6042h, 6041h, 6044h, 6064h, 60FFh, 606Ch, 607Ah, 6077h,
6071h, 2001h, 2002h, 2003h, 2004h, 2005h, 2006h, 2000h03,
2000h06 and objects 4000h…4063h. The mapping values are in
decimal format and only virtual addresses of the drive control (1...6
and 11...16) or drive parameter numbers (101...9999) can be set.
The adapter module converts the values to CANopen objects. The
length of the object is detected automatically.
Note: The PDO mappings should be started from subindex 1. If a
PDO mapping entry is zero, the mapping for that subindex and
from that subindex onwards is neglected. That is, if there are zeros
in the PDO mapping, only objects from subindex 1 to the first zero
are taken into account.
 Communication protocol 121

PDO configuration via the CAN bus

This section gives an example of how to configure PDOs via the
CAN bus from the CANopen master. In this example, the following
PDO configuration is made:
• Rx PDO1 (from master to drive): 6040h Control word and
6042h vl target velocity
• Tx PDO1 (from drive to master): 6041h Status word, 6044h vl
control effort and drive parameter 01.20
• Tx PDO1 sent to the master at 100 ms intervals
Set the drive parameters as listed in the table below.
Drive parameter1) Setting Description
51.02 NODE ID 3 In this example, module node ID = 3
51.03 BIT RATE 0…5 Bit rate used on the CANopen network.
See Drive configuration.
51.04 CONF LOC 0 PDO configuration via CAN bus
51.05 PROFILE 0 CiA 402
1) The actual parameter group number depends on the drive type. For example, the
fieldbus configuration parameter group A (group 1) equals to parameter group 51 in
drives ACS355, ACSM1, ACS850 and ACS880 if the adapter is installed as fieldbus
adapter A.
122 Communication protocol

Write the CANopen objects via the CAN bus as shown in the
following table. The adapter module must be in the Pre-operational
state.
Object Sub- Name Write Description
index index value
(hex)
1400 01 Rx PDO1 80000203 Disable Rx PDO1 1).
Parameter, COB-ID
1400 02 Rx PDO1 FF Transmission type 255
Parameter,
Transmission type
1600 00 Rx PDO1 Mapping, 0 Required before
Number of entries mapping2)
1600 01 Rx PDO1 Mapping, 60400010 6040h Control word
Mapped object 1 (subindex 0, length 16
bits)
1600 02 Rx PDO1 Mapping, 60420010 6042h vl target velocity
Mapped object 2 (subindex 0, length 16
bits)
1600 00 Rx PDO1 Mapping, 2 2 objects mapped2)
Number of entries
1400 01 Rx PDO1 203 Enable Rx PDO1, use
Parameter, COB-ID COB-ID 203h.
1800 01 Tx PDO1 80000183 Disable Tx PDO11).
Parameter, COB-ID
1800 02 Tx PDO1 FF Transmission type 255
Parameter,
Transmission type
1800 05 Tx PDO1 64 100 ms
Parameter, Event
timer
1A00 00 Tx PDO1 Mapping, 0 Required before
Number of entries mapping2)
1A00 01 Tx PDO1 Mapping, 60410010 6041h Status word
Mapped object 1 (subindex 0, length 16
bits)
 Communication protocol 123

Object Sub- Name Write Description

index index value
(hex)
1A00 02 Tx PDO1 Mapping, 60440010 6044h vl control effort
Mapped object 2 (subindex 0, length 16
bits)
1A00 03 Tx PDO1 Mapping, 40011410 Parameter 01.20
Mapped object 3 (length 16 bits)
1A00 00 Tx PDO1 Mapping, 3 3 objects mapped2)
Number of entries
1800 01 Tx PDO1 183 Enable Tx PDO1, use
Parameter, COB-ID COB-ID 183h.
1)
Before modifying PDO parameters or mapping, the PDO must be disabled by setting
bit 31 of its COB-ID to 1. Remember to enable the PDO again after the mapping has
been set.
2) Before changing the contents of a PDO mapping object, the "number of entries" field
must be set to zero. After the mapping is done, the number of the entries must be
set according to the actual number of the mapped entries.
124 Communication protocol

Service Data Objects (SDO)

Service Data Objects are mainly used for transferring non-time
critical data, for example, parameter values. SDOs provide access
to the entries in the device Object Dictionary.
If 4 bytes (or less) of data is to be transmitted, an Expedited
transfer SDO message can be used. Larger quantities of data can
be segmented, that is, split between several CAN messages.
The following services can be applied to SDO depending on the
service requirements:
• SDO Upload, which can be divided into
• Initiate SDO Upload
• Upload SDO Segment.
• SDO Download, which can be divided into
• Initiate SDO Download
• Download SDO Segment.
• Abort SDO Transfer
With expedited transfer all data is transferred during the
initialization phase (Initiate SDO Upload/Download). With
segmented transfer only part of the data is transferred during the
initialization phase and the rest of the data is transferred during the
Upload/Download SDO Segment phase.
The COB IDs for the SDO communication are:
• Client to Server (Master to Slave): 600h + Node ID
• Server to Client (Slave to Master): 580h + Node ID.

 SDO Download
Through this service the client of an SDO downloads data to the
server (owner of the Object Dictionary).
The data, the multiplexor (index and subindex) of the data set that
is downloaded and the data size are indicated to the server. The
service is confirmed. The remote result parameter will indicate the
success or failure of the request. In case of a failure, an Abort SDO
Transfer request has to be executed.
 Communication protocol 125

 SDO Upload
Through this service the client of an SDO requests the server to
prepare to upload data to the client.
The multiplexor (index and subindex) of the data set to be
uploaded is indicated to the server. The service is confirmed. The
remote result parameter will indicate the success of the request. In
case of a failure, an Abort SDO Transfer request has to be
executed. In case of success, the size of the data to be uploaded is
confirmed. In case of successful expedited upload, this service
concludes the upload of the data set (identified by the multiplexor)
and confirms the corresponding data.
126 Communication protocol

Read Service (SDO Upload)

 Initiate SDO Upload Protocol

This protocol is used to implement the Initiate SDO Upload service.

Client Initiate SDO Upload Protocol Server

0 1 4 8
Indication
Request 7...5 4...0
m Reserved
ccs = 2 x
0 1 4 8
Confirm 7...5 4
Response
3...2 1 0
m d
scs = 2 x n e s

ccs Client command specifier; ccs = 2: Initiates the upload request.

scs Server command specifier; scs = 2: Initiates the upload
response.
n Number of data bytes (in d) which do not contain data. Bytes
[8-n, 7] do not contain segment data. Valid only if e = 1 and s =
1 (otherwise n = 0).
e Transfer type; e = 0: Normal transfer. e = 1: Expedited transfer.
s Size indicator; s = 0: No data set size indication.
s = 1: Data set size indication.
m Multiplexor; represents the index/subindex of the data to be
transferred by the SDO.
d Data; e = 0, s = 0: Reserved for further use.
e = 0, s = 1: Contains the number of bytes to be uploaded.
Byte 4 contains the LSB and byte 7 contains the MSB.
e = 1, s = 1: Contains the data of length 4-n to be uploaded.
Encoding depends on the type of the data referenced by index
and subindex.
e = 1, s = 0: Contains unspecified number of bytes to be
uploaded.
x Not used. Value is always 0.
Reserved Reserved for further use. Value is always 0.
 Communication protocol 127

Write Service (SDO Download)

 Initiate SDO Download Protocol

This protocol is used to implement the Initiate SDO Download
service.

Client Initiate SDO Download Protocol Server

0 1 4 8
7...5 4 3...2 1 0
m d
Request ccs = 1 x n e s Indication

0 1 4 8
Confirm 7...5 4...0 m Reserved Response
scs = 3 x

ccs Client command specifier; ccs = 1: Initiates the download

request.
scs Server command specifier; scs = 3: Initiates the download
response.
n Number of data bytes (in d) which do not contain data. Bytes
[8-n, 7] do not contain segment data. Valid only if e = 1 and s =
1 (otherwise n = 0).
e Transfer type; e = 0: Normal transfer. e = 1: Expedited transfer.
s Size indicator; s = 0: No data set size indication.
s = 1: Data set size indication.
m Multiplexor; represents the index/subindex of the data to be
transferred by the SDO.
d Data; e = 0, s = 0: Reserved for further use.
e = 0, s = 1: Contains the number of bytes to be downloaded.
Byte 4 contains the LSB and byte 7 contains the MSB.
e = 1, s = 1: Contains the data of length 4-n to be downloaded.
Encoding depends on the type of the data referenced by index
and subindex.
e = 1, s = 0: Contains unspecified number of bytes to be
downloaded.
x Not used. Value is always 0.
Reserved Reserved for further use. Value is always 0.
128 Communication protocol

Abort SDO Transfer

 Abort SDO Transfer Protocol

This protocol is used to implement the Abort SDO Transfer
Service.

Client/Server Abort SDO Transfer Server/Client

0 1 4 8
Request 7...5 4...0 Indication
m d
cs = 4 x

cs Command specifier; cs = 4: Aborts the transfer request.

x Not used. Value is always 0.
m Multiplexor; represents the index and subindex of the SDO.
d Contains a 4-byte abort code which includes the reason for the
abort.
 Communication protocol 129

Abort code description

Error Error Additional Description
class code code
05 03 0000h Toggle bit not alternated
04 0000h SDO protocol time-out
0001h Client/Server command specifier not valid
or unknown
0002h Invalid block size (block mode only)
0003h Invalid sequence number (block mode only)
0004h CRC error (block mode only)
0005h Out of memory
06 01 0000h Unsupported access to an object
0001h Attempt to read a write-only object.
0002h Attempt to write a read-only object.
02 0000h Object does not exist in the Object
Dictionary.
04 0041h Object cannot be mapped to the PDO.
0042h Number and length of the objects to be
mapped would exceed the PDO length.
0043h General parameter incompatibility
0047h General internal incompatibility in the device
06 0000h Access failed because of hardware error
07 0010h Data type does not match. The length of the
service parameter does not match.
0012h Data type does not match. The length of the
service parameter is too long.
0013h Data type does not match. The length of the
service parameter is too short.
130 Communication protocol

Error Error Additional Description

class code code
09 0011h Subindex does not exist.
0030h Parameter value range is exceeded (for
write access parameters).
0031h Value of the written parameter is too high.
0032h Value of the written parameter is too low.
0036h Maximum value is less than the minimum
value.
08 00 0000h General error
0020h Data cannot be transferred or stored to the
application.
0021h Data cannot be transferred or stored to the
application because of local control.
0022h Data cannot be transferred or stored to the
application because of the active device
state.
0023h Object Dictionary dynamic generation fails
or no Object Dictionary is present (for
example the object dictionary is generated
from a file and the generation fails because
of a file error).

The abort codes not listed here are reserved.

 Communication protocol 131

CANopen Object Dictionary

Each object within the dictionary is addressed using a 16-bit index.

 Object Dictionary Structure

The overall layout of the standardized Object Dictionary:
Index (hex) Object
0000 Not used
0001...001F Static Data Types
0020...003F Complex Data Types
0040...005F Manufacturer-Specific Complex Data Types
0060...007F Device-Profile-Specific Static Data Types
0080...009F Device-Profile-Specific Complex Data Types
00A0...0FFF Reserved for further use
1000...1FFF Communication Profile Area
2000...5FFF Manufacturer-Specific Profile Area
See Manufacturer-specific profile area (2000...5FFF) on
page 143.
6000...9FFF Standardized Device Profile Area
A000...BFFF Standardized Interface Profile area
C000...FFFF Reserved for further use

The serial communication properties of the drive, as well as drive

parameters, are detailed further in the appropriate drive firmware
manual.
132 Communication protocol

 Communication profile area (1000...1FFF)

Index Sub- Name Type Attri- Information
(hex) index bute
1000 0 Device U32 RO Describes the type of the
Type device.
1001 0 Error U8 RO Bit value 1 = error occurred
Register
Bit Description
0 Generic error
1 Current
2 Voltage
3 Temperature
4 Communication error
5 Device-profile-specific
6 Reserved
7 Manufacturer-specific
 Communication protocol 133

Index Sub- Name Type Attri- Information

(hex) index bute
1003 0 Pre- U8 RW Number of errors occurred.
defined Errors are listed in subindexes
Error 1 to 5. The list is deleted by
Field writing a zero.
1 Pre- U32 RO List of errors. The most recent
defined error is at subindex 1. When a
Error new error occurs, the previous
Field errors move down the list.
Error numbers comprise a 16-
… … … …
bit error code (see the
5 Pre- U32 RO appropriate drive firmware
defined manual and Appendix B –
Error CANopen error codes) and a
Field 16-bit additional information
field (0 with FCAN-01). The
error code is contained in the
lower 2 bytes (LSB), the
additional information in the
upper 2 bytes (MSB).

Slave to master
Byte
Header
1…2 3

0001xxxxxx01000 Error Error

code register

4...7 8

Addi- Unused
tional
error
info

1005 0 COB ID U32 RW Identifier of the SYNC

Sync message. The SYNC
Message message controls the actions
of PDOs that have the
Synchronous transmission
type.
134 Communication protocol

Index Sub- Name Type Attri- Information

(hex) index bute
1008 0 Manufac- Visible RO Device name. The constant
turer string string is FCAN-01 with <drive
Device type>.
Name
1009 0 Manufac- Visible RO Adapter module hardware
turer string version, eg, V.1.00
Hard-
ware
Version
100A 0 Manufac- Visible RO Adapter module firmware
turer string version, eg, V.1.02B
Software
Version
100C 0 Guard U16 RW Guard Time (ms) × Life Time
Time Factor = Life time for the Node
Guarding Protocol
100D 0 Life Time U8 RW
Factor
 Communication protocol 135

Index Sub- Name Type Attri- Information

(hex) index bute
1010 0 Store U32 RO Largest supported subindex.
Parame- Subindex 1...n bit 0 value 1
ters indicates that the device can
save the parameters in
question. Parameters can be
saved by writing 65766173h
("evas") to the appropriate
subindex.
1 U32 RW Saves all parameters.
2 U32 RW Saves communication
parameters (1000h...1FFFh).
3 U32 RW Saves application parameters
(6000h...9FFFh).
Note: Some of the application
parameters are associated
with drive parameters. After
application parameters have
been saved, FCAN-01
overwrites these drive
parameters when it is powerd
up or fieldbus parameter are
refreshed. This can be
reversed by setting the
application parameters to
default values with object
0x1011.
4 U32 RW Requests the drive to perform
the parameter save function.
Refer to the drive manual for
more information.
136 Communication protocol

Index Sub- Name Type Attri- Information

(hex) index bute
1011 0 Restore U32 RO Largest supported subindex.
Default Default values can be
Parame- restored by writing
ters 64616F6Ch ("daol") to the
appropriate subindex.
1 U32 RW Restores default values to all
parameters.1)
2 U32 RW Restores default values to
communication parameters
(1000h...1FFFh).
3 U32 RW Restores default values to
application parameters
(6000h...9FFFh).
4 U32 RW Requests the drive to perform
the parameter save function.
Refer to the drive manual for
more information.1)
1014 0 COB-ID U32 RW Defines the COB ID of the
Emer- Emergency Object (EMCY).
gency Default: 80h + Node ID
Message
1016 0 Con- U8 RO Number of entries
sumer
heart-
beat time
1 U32 RW • Bits 0...15 - (UNSIGNED
16) Heartbeat receive time-
out (ms)
• Bits 16...23 - (UNSIGNED
8) Node-ID
• Bits 24...31 - Reserved
(must be 00h)
1017 0 Pro- U16 RW Defines the cycle time of the
ducer heartbeat (ms).
Heart- 0 = Not used
beat
Time
 Communication protocol 137

Index Sub- Name Type Attri- Information

(hex) index bute
1018 0 Identity U8 RO Number of entries
Object
1 Vendor U32 RO Vendor ID; Value: B7h = ABB
ID
2 Product U32 RO Drive dependent, eg, 21C00h
code = ACS850
3 Module U32 RO Adapter module firmware
revision version, eg, 102Bh
4 Serial U32 RO Serial number of the adapter
number module
1400 0 Receive U8 RO Number of entries
PDO1
Parame-
ter
1 COB ID U32 RW Default: 200h + Node ID
2 Trans- U8 RW Default: 255 = FFh
mission (asynchronous transmission)2)
Type
3 Inhibit U16 RW Not used for Rx PDO
time
5 Event U16 RW 0...65535 ms
timer 0 = not used
Default: 0
1600 0 Receive U8 RW Number of mapped objects,
PDO1 0...43)
Mapping
1 Mapped U32 RW Default: 60400010h = 6040h
Obj 1 Control word3). See Mapping
format.
2 Mapped U32 RW
Obj 2
3 Mapped U32 RW
Obj 3
4 Mapped U32 RW
Obj 4
138 Communication protocol

Index Sub- Name Type Attri- Information

(hex) index bute
1405 0 Receive U8 RO Number of entries
PDO6
Parame-
ter
1 COB ID U32 RW Default: 80000300h + Node
ID (= PDO not valid)2)
2 Trans- U8 RW Default: 255 asynchronous2)
mission
Type
3 Inhibit U16 RW Not used for Rx PDO
time
5 Event U16 RW 0...65535 ms
timer 0 = not used
Default: 0
1605 0 Receive U8 RW Number of mapped objects,
PDO6 0...43)
Mapping
1 Mapped U32 RW Default: 60400010h = 6040h
Obj 1 Control word3). See Mapping
format.
2 Mapped U32 RW
Obj 2
3 Mapped U32 RW
Obj 3
4 Mapped U32 RW
Obj 4
 Communication protocol 139

Index Sub- Name Type Attri- Information

(hex) index bute
1414 0 Receive U8 RO Number of entries
PDO21
Parame-
ter
1 COB ID U32 RW Default: 80000400h + Node
ID (= PDO not valid)2)
2 Trans- U8 RW Default: 2552)
mission
Type
3 Inhibit U16 RW Not used for Rx PDO
time
5 Event U16 RW 0...65535 ms
timer 0 = not used
Default: 0
1614 0 Receive U8 RW Number of mapped objects,
PDO21 0...4
Mapping
1 Mapped U32 RW See Mapping format.
Obj 1
2 Mapped U32 RW
Obj 2
3 Mapped U32 RW
Obj 3
4 Mapped U32 RW
Obj 4
140 Communication protocol

Index Sub- Name Type Attri- Information

(hex) index bute
1800 0 Transmit U8 RO Number of entries
PDO1
Parame-
ter
1 COB ID U32 RW Default: 180h + Node ID
2 Trans- U8 RW Default: 255 (asynchronous
mission transmission)2)
Type
3 Inhibit U16 RW Minimum interval for PDO
Time transmission (= value x 100
microseconds)
5 Event U16 RW 0...65535 ms
Timer 0 = Not used
Default: 0
1A00 0 Transmit U8 RW Number of mapped objects,
PDO1 0...43)
Mapping
1 Mapped U32 RW Default: 60410010h = 6041h
Obj 1 Status word3). See Mapping
format.
2 Mapped U32 RW
Obj 2
3 Mapped U32 RW
Obj 3
4 Mapped U32 RW
Obj 4
 Communication protocol 141

Index Sub- Name Type Attri- Information

(hex) index bute
1805 0 Transmit U8 RO Number of entries
PDO6
Parame-
ter
1 COB ID U32 RW Default: 80000280h + Node
ID (= PDO not valid)2)
2 Trans- U8 RW Default: 255 (asynchronous
mission transmission)2)
Type
3 Inhibit U16 RW Minimum interval for PDO
Time transmission (= value x 100
microseconds)
5 Event U16 RW 0...65535 ms
Timer 0 = Not used
Default: 0
1A05 0 Transmit U8 RW Number of mapped objects,
PDO6 0...43)
Mapping
1 Mapped U32 RW Default: 60410010h = 6041h
Obj 1 Status word3). See Mapping
format.
2 Mapped U32 RW
Obj 2
3 Mapped U32 RW
Obj 3
4 Mapped U32 RW
Obj 4
142 Communication protocol

Index Sub- Name Type Attri- Information

(hex) index bute
1814 0 Transmit U8 RO Number of entries
PDO21
Parame-
ter
1 COB ID U32 RW Default: 80000380h + Node
ID (= not valid)1)
2)
2 Trans- U8 RW
mission
Type
3 Inhibit U16 RW Minimum interval for PDO
Time transmission (= value x 100
microseconds)
5 Event U16 RW 0...65535 ms
Timer 0 = Not used
Default: 0
1A14 0 Transmit U8 RW Number of mapped objects,
PDO21 0...4
Mapping
1 Mapped U32 RW See Mapping format.
Obj 1
2 Mapped U32 RW
Obj 2
3 Mapped U32 RW
Obj 3
4 Mapped U32 RW
Obj 4
1) WARNING: Drive default values are set immediately after the restore command,
without discrete reset command or power cycle. The adapter module may lose the
connection to the drive.
2)
See Appendix A – Dictionary structure and entries.
3)
With ACS355 drives subindex 1 is fixed.
Uxx = unsigned xx
 Communication protocol 143

 Manufacturer-specific profile area (2000...5FFF)

Manufacturer-specific profile objects
Index Sub- Name Type Attri- Information
(hex) index bute
2000 0 Virtual U8 RO Number of entries
Address of
the drive
control
3 REF2 INT16 RW Reference value 2
6 ACT2 INT16 RO Actual value 2
2001 0 Transparent U32 RW 32-bit Transparent Control
32 Control word
word
2002 0 Transparent INT32 RW 32-bit Transparent
32 Refer- reference value 1
ence 1
2003 0 Transparent INT32 RW 32-bit Transparent
32 Refer- reference value 2
ence 2
2004 0 Transparent U32 RO 32-bit Transparent Status
32 Status word
word
2005 0 Transparent INT32 RO 32-bit Transparent actual
32 Actual 1 value 1
2006 0 Transparent INT32 RO 32-bit Transparent actual
32 Actual 2 value 2
144 Communication protocol

Index Sub- Name Type Attri- Information

(hex) index bute
2100 0 Number of U8 RO
entries
1 Alarm code U16 RO
1 (latest)
2 Alarm code U16 RO
2
3 Alarm code U16 RO
3
4 Alarm code U16 RO
4
5 Alarm code U16 RO
5 (oldest)
Uxx = unsigned xx
INTxx = signed xx

Drive actual signals and parameters

The actual signals and parameters available depend on the drive
type. See the appropriate drive firmware manual for signal and
parameter listings.
The Read service is used for reading actual signals and
parameters from the drive. The Write service is used for writing
parameter values to the drive. Both the Read and Write services
use the same parameter mapping system. CANopen object index
equals the drive parameter group in hexadecimal format + 4000h
and subindex is the parameter index. For example, the index for
drive parameter 30.19 equals 1Eh + 4000h = 401Eh and subindex
= 19 (dec) = 13h. See the following table.
 Communication protocol 145

Index Sub- Name Type Attribute Information

(hex) index
1) 2) 3)
4001 1 Drive signal 1.01
1) 2) 3)
2 Drive signal 1.02
••• ••• ••• ••• ••• •••
1) 2) 3)
4002 1 Drive signal 2.01
••• ••• ••• ••• ••• •••
1) 2) 3)
4003 1 Drive signal 3.01
••• ••• ••• ••• ••• •••
1) 2) 3)
400A 1 Drive par. 10.01
1) 2) 3)
2 Drive par. 10.02
••• ••• ••• ••• ••• •••
1) 2) 3)
400B 1 Drive par. 11.01
••• ••• ••• ••• ••• •••
1) 2) 3)
4063 1 Drive par. 99.01
••• ••• ••• ••• ••• •••
Subindex 0 = number of mapped objects.
1) U16, INT16, U32 or INT32
2) Depends on the parameter type of the drive.
3) See the appropriate drive firmware manual.
146 Communication protocol

 Standardized device profile area (6000...9FFF)

Index Sub Access Type Name Information Sup-
(hex) port
603F RO U16 Error See Appendix B – CANopen error all
code codes.
6040 RW U16 Control See Communication protocol. all
word

6041 RO U16 Status all

word
6042 RW INT16 Target vl
velocity
6043 RO INT16 Vl velocity Instantaneous velocity provided by the vl
demand ramp function. Scaled to the unit of the
vl target velocity.
6044 RO INT16 Vl control Actual velocity vl
effort

6046 Vl velocity Vl velocity min max amount vl

min max
amount
0 RO U8 Number vl
of entries

1 RW U32 Vl velocity Mapped internally to vl velocity min vl

min pos and vl velocity max neg values
amount

2 RW U32 Vl velocity Mapped internally to vl velocity max vl

max pos and vl velocity max neg values
amount

6048 Vl velocity Slope of the acceleration ramp = delta vl

accelera- speed / delta time. If delta time = 0, the
tion function follows the set point (=target
velocity) value.

0 RO U8 Number vl
of entries
1 RW U32 Delta [rpm] vl
speed
2 RW U16 Delta time 0...65535 [sec] vl
 Communication protocol 147

Index Sub Access Type Name Information Sup-

(hex) port
6049 Vl velocity Slope of the deceleration ramp = delta vl
decelera- speed / delta time. If delta time = 0, the
tion function follows the set point (=target
velocity) value.

0 RO U8 Number vl
of entries
1 RW U32 Delta [rpm] vl
speed
2 RW U16 Delta time 0...65535 [sec] vl

605D RW INT16 Halt Sets the action to be performed when all

option the halt function is executed.
code Default: +1.

Value Operation
0 Reserved

+1 Slows down on a slow down

ramp and stays in
OPERATION ENABLED

+2 Slows down on a quick stop

ramp and stays in
OPERATION ENABLED (vl
mode only)
+3 Slows down on a current
limit and stays in
OPERATION ENABLED (vl
mode only)

+4 Slows down on a voltage

limit and stays in
OPERATION ENABLED (vl
mode only)
148 Communication protocol

Index Sub Access Type Name Information Sup-

(hex) port
6060 RW INT8 Modes of Operation mode request all
operation
Bit Mode
-128…-1 Manufacturer-specific

0 Reserved
1 Profile position mode

2 Velocity mode
3 Profile velocity mode

4 Profile torque mode

5 Reserved

6 Homing mode

Note: If the value of parameter 50.04

FBA REF1 MODESEL and 50.05 FBA
REF2 MODESEL of ACSM1 is (5)
AUTO, it is possible to set the mode of
operation with object 6060h. Other-
wise the mode of operation cannot be
changed with this object. See section
Modes of operation on page 90.
6061 RO INT8 Modes of Current operation mode all
operation See index 6060h.
display

6064 RO INT32 Position See chapter Communication profiles pp

actual on page 87.
value
6069 RO INT32 Velocity Value read from a velocity encoder pv
sensor
actual
value

606B RO INT32 Velocity Demand value from the velocity con- pv

demand troller
value

606C RO INT32 Velocity See chapter Communication profiles pv

actual on page 87.
value
6071 RW INT16 Target tq
torque

6072 RW UINT16 Max Unit 0.1% all

torque
 Communication protocol 149

Index Sub Access Type Name Information Sup-

(hex) port
6073 RW UINT16 Max cur- Unit 0.1% all
rent
Current
Value 1000
Nominal current

Supported with ACS850 and ACQ810.

6077 RW INT16 Torque See chapter Communication profiles tq
actual on page 87.
value
607A RW INT32 Target pp
position

6081 RW INT32 Profile Velocity attained at the end of the pp, tq

velocity acceleration ramp during a profiled
move

6083 RW U32 Profile Acceleration during a profiled move pp, tq

accelera-
tion

6084 RW U32 Profile Deceleration during a profiled move pp, tq

decelera-
tion

6098 RW INT8 Homing 0 = No homing method selected hm

method 1...35 = Methods 1...35
See the firmware manual of the drive
for description of the available homing
methods.
6099 Homing hm
speeds

0 RO U8 Number hm
of entries
1 RO U32 Speed hm
during
search for
switch

2 RO U32 Speed hm
during
search for
zero
60FF RW INT32 Target See chapter Communication profiles pv
velocity on page 87.
150 Communication protocol

Index Sub Access Type Name Information Sup-

(hex) port
6402 RW U16 Motor all
type
Value Type
(hex)

0000 Non-standard motor

0001 Phase-modulated DC motor
0002 Frequency-controlled DC
motor

0003 PM synchronous motor

0004 FC synchronous motor

0005 Switched reluctance motor

0006 Wound rotor induction motor

0007 Squirrel cage induction motor

0008 Stepper motor

0009 Micro-step stepper motor

000A Sinusoidal PM BL motor
000B Trapezoidal PM BL motor

000C Reserved

7FFF Reserved
8000 Manufacturer-specific

FFFF Manufacturer-specific

6502 RO U32 Sup- all

ported
drive Bit Mode
modes 0 Profile position mode

1 Velocity mode
2 Profile velocity mode
3 Profile torque mode
4 Reserved
5 Homing mode

6 Interpolated position mode

7…15 Reserved

16…31 Manufacturer-specific
 Communication protocol 151

Index Sub Access Type Name Information Sup-

(hex) port
6504 RO Visible Drive ABB Drives
string manufac-
turer

6505 RO Visible http drive www.abb.com/drives

string catalog
address
152 Communication protocol
 Diagnostics 153

9
Diagnostics

What this chapter contains

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

LED indications
The adapter module is equipped with three diagnostic LEDs. The
LEDs are described below.

Name Color Function

HOST Blinking green Establishing communication to the host.
Green Connection to the host OK
Blinking red Communication to the host lost
Flashing orange, Internal file system error. The error may
alternating with the be cleared by cycling drive power. If the
MODULE flashing error persists, contact your local ABB
orange representative.
MODULE Off Module status OK
(CANopen Red single flash CANopen controller error counters
ERROR) have reached the warning limit (that
is, too many error frames).
Red double flash Guard event or a receive heartbeat
time-out has occurred.
Red triple flash Expected PDO has not been received
before the event-timer elapsed
Red CANopen controller is in bus off state.
Flashing orange, Internal file system error. The error may
alternating with the be cleared by cycling drive power. If the
HOST flashing error persists, contact your local ABB
orange representative.
 Diagnostics 155

Name Color Function

NETWORK Green single flash Module is in the stopped state.
(CANopen Blinking green Module is in the pre-operational state.
RUN)
Green Module is in the operational state.
156 Diagnostics
 Technical data 157

10
Technical data

What this chapter contains

This chapter contains the technical specifications of the adapter
module and the CANopen link.
158 Technical data

FCAN-01
The following figure describes the enclosure of the adapter module
from the front and side.

Mounting Into the option slot on the drive

Degree of protection IP20
Ambient conditions Applicable ambient conditions specified for the
drive in its manuals are in effect.
Indicators Three bicolor LEDs: HOST, MODULE,
NETWORK
Connectors 20-pin connector to drive (X2)
9-pin male D-SUB connector to bus (X1)
Power supply +3.3 V ±5% max. 300 mA (supplied by the drive)
General Complies with EMC standard EN 61800-3:2004.
Bus interface functionally isolated from the drive
Printed circuit board conformal coated
 Technical data 159

CANopen link
Compatible devices All CANopen-compliant devices
Medium Shielded twisted pair with nominal impedance of
120 ohms (CANopen-approved cable
recommended)
• Termination: 120 ohms, or active termination
circuitry at each end of the trunk cable
(termination not built in the adapter module)
Transfer rate 1 Mbit/s max. (1 Mbit/s; 500 kbit/s; 250 kbit/s;
125 kbit/s; 100 kbit/s; 50 kbit/s)
Serial Asynchronous, half-duplex, CAN
communication type
Protocol CANopen
Maximum bus length • 1 Mbit/s: 25 m
• 500 kbit/s: 100 m
• 250 kbit/s: 250 m
• 125 kbit/s: 500 m
• 50 kbit/s: 1000 m
160 Technical data
 Appendix A – Dictionary structure and entries 161

11
Appendix A – Dictionary
structure and entries

What this chapter contains

This chapter contains information about PDO transmission and
mapping.
162 Appendix A – Dictionary structure and entries

Description of transmission type

Trans- PDO transmission
mission
Cyclic Acyclic Synchro- Asyn- RTR only
type
nous chronous
0 X X
1...240 X X
241...251 Reserved
252 X X
253 X X
2541) X
2552) X
1)
The transmission of the PDO is initiated by a manufacturer-specific event on the
device.
2)
The transmission of the PDO is initiated by a device profile specified event on the
device.

Description of PDO COB-ID entry

Bit Value Description
31 0 PDO valid
1 PDO not valid
30 0 RTR allowed on this PDO
1 No RTR allowed on this PDO
29 0 11-bit ID is used (CAN 2.0A).1)
1 29-bit ID is used (CAN 2.0B).2)
28...11 0 If 11-bit ID is used, bits 28...11 = 0.
x 29-bit COB-ID not supported.
10…0 x COB-ID
1) Recommended
2)
Not supported
 Appendix A – Dictionary structure and entries 163

PDO mapping entry structure – example

Type MSB LSB
UINT32 31 16 15 8 7 0
Description Index Subindex Object length in
eg, 6048h eg, 01 bits
(16 bits) (8 bits) eg, 20h (= 32 bits)
(8 bits)
164 Appendix A – Dictionary structure and entries
 Appendix B – CANopen error codes 165

12
Appendix B – CANopen error
codes

What this chapter contains

This chapter contains the CANopen error codes.

Error codes
Error codes can be read from objects 1003h and 603Fh. Error
codes between xx80h...xxFFh and between FF00h...FFFFh are
manufacturer-specific. Description for these error codes can be
found from the appropriate drive firmware manual.
Error Meaning
code
(hex)
0000 No error
1000 Generic error
2000 Current
2100 Current on device input side
2110 Short circuit / Earth leakage
2120 Earth leakage
2121 Earth leakage phase L1
2122 Earth leakage phase L2
166 Appendix B – CANopen error codes

Error Meaning
code
(hex)
2123 Earth leakage phase L3
2130 Short circuit
2131 Short circuit phases L1-L2
2132 Short circuit phases L2-L3
2133 Short circuit phases L3-L1
2200 Internal current
2211 Internal current No. 1
2212 Internal current No. 2
2213 Overcurrent in ramp function
2214 Overcurrent in sequence
2220 Continuous overcurrent
2221 Continuous overcurrent No. 1
2222 Continuous overcurrent No. 2
2230 Short circuit / Earth leakage
2240 Earth leakage
2250 Short circuit
2300 Current on device output side
2310 Continuous overcurrent
2311 Continuous overcurrent No. 1
2312 Continuous overcurrent No. 2
2320 Short circuit / Earth leakage
2330 Earth leakage
2331 Earth leakage phase U
2332 Earth leakage phase V
2333 Earth leakage phase W
2340 Short circuit
2341 Short circuit phases U-V
 Appendix B – CANopen error codes 167

Error Meaning
code
(hex)
2342 Short circuit phases V-W
2343 Short circuit phases W-U
3000 Voltage
3100 Mains voltage
3110 Mains overvoltage
3111 Mains overvoltage phase L1
3112 Mains overvoltage phase L2
3113 Mains overvoltage phase L3
3120 Mains undervoltage
3121 Mains undervoltage phase L1
3122 Mains undervoltage phase L2
3123 Mains undervoltage phase L3
3130 Phase failure
3131 Phase failure L1
3132 Phase failure L2
3133 Phase failure L3
3134 Phase sequence
3140 Mains frequency
3141 Mains frequency too great
3142 Mains frequency too small
3200 DC link voltage
3210 DC link overvoltage
3211 Overvoltage No. 1
3212 Overvoltage No. 2
3220 DC link undervoltage
3221 Undervoltage No. 1
3222 Undervoltage No. 2
168 Appendix B – CANopen error codes

Error Meaning
code
(hex)
3230 Load error
3300 Output voltage
3310 Output overvoltage
3311 Output overvoltage phase U
3312 Output overvoltage phase V
3313 Output overvoltage phase W
3320 Armature circuit
3321 Armature circuit interrupted
3330 Field circuit
3331 Field circuit interrupted
4000 Temperature
4100 Ambient temperature
4110 Excess ambient temperature
4120 Too low ambient temperature
4130 Temperature supply air
4140 Temperature air outlet
4200 Temperature device
4210 Excess temperature device
4220 Too low temperature device
4300 Temperature drive
4310 Excess temperature drive
4320 Too low temperature drive
4400 Temperature supply
4410 Excess temperature supply
4420 Too low temperature supply
5000 Device hardware
5100 Supply
 Appendix B – CANopen error codes 169

Error Meaning
code
(hex)
5110 Supply low voltage
5111 U1 = supply +/-15 V
5112 U2 = supply +24 V
5113 U3 = supply +5 V
5114 U4 = manufacturer-specific
5115 U5 = manufacturer-specific
5116 U6 = manufacturer-specific
5117 U7 = manufacturer-specific
5118 U8 = manufacturer-specific
5119 U9 = manufacturer-specific
5120 Supply intermediate circuit
5200 Control
5210 Measurement circuit
5220 Computing circuit
5300 Operating unit
5400 Power section
5410 Output stages
5420 Chopper
5430 Input stages
5440 Contactors
5441 Contactor 1 = manufacturer-specific
5442 Contactor 2 = manufacturer-specific
5443 Control
5444 Measurement circuit
5445 Computing circuit
5450 Operating unit
5451 Power section
170 Appendix B – CANopen error codes

Error Meaning
code
(hex)
5452 Output stages
5453 Chopper
5454 Input stages
5455 Contactors
5456 Contactor 1 = manufacturer-specific
5457 Contactor 2 = manufacturer-specific
5458 Control
5459 Measurement circuit
5500 Computing circuit
5510 Operating unit
5520 Power section
5530 Output stages
6000 Chopper
6010 Input stages
6100 Contactors
6200 User software
6300 Data record
6301 Data record No. 1
... ...
630E Data record No. 14
630F Data record No. 15
6310 Loss of parameters
6320 Parameter error
7000 Additional modules
7100 Power
7110 Brake chopper
7111 Failure brake chopper
 Appendix B – CANopen error codes 171

Error Meaning
code
(hex)
7112 Overcurrent brake chopper
7113 Protective circuit brake chopper
7120 Motor
7121 Motor blocked
7122 Motor error or communication malfunc.
7123 Motor tilted
7200 Measurement circuit
7300 Sensor
7301 Tacho fault
7302 Tacho wrong polarity
7303 Resolver 1 fault
7304 Resolver 2 fault
7305 Incremental sensor 1 fault
7306 Incremental sensor 2 fault
7307 Incremental sensor 3 fault
7310 Speed
7320 Position
7400 Computation circuit
7500 Communication
7510 Serial interface No. 1
7520 Serial interface No. 2
7600 Data storage
8000 Monitoring
8100 Communication
8110 CAN overrun (objects lost)
8120 CAN in Error Passive Mode
8130 Life guard error or heartbeat error
172 Appendix B – CANopen error codes

Error Meaning
code
(hex)
8140 Recovered from bus-off
8150 Transmit COB-ID
8200 Protocol error
8210 PDO not processed due to length error
8220 PDO length exceeded
8300 Torque control
8311 Excess torque
8312 Difficult start up
8313 Standstill torque
8321 Insufficient torque
8331 Torque fault
8400 Velocity speed controller
8500 Position controller
8600 Positioning controller
8611 Following error
8612 Reference limit
8700 Sync controller
8800 Winding controller
8900 Process data monitoring
8A00 Control
9000 External error
F000 Additional functions
F001 Deceleration
F002 Sub-synchronous run
F003 Stroke operation
F004 Control
FF00 Manufacturer-specific
 Appendix B – CANopen error codes 173

Error Meaning
code
(hex)
... ...
FFFF Manufacturer-specific
174 Appendix B – CANopen error codes
—
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 abb.com/searchchannels.

Product training
For information on ABB product training, navigate to
new.abb.com/service/training.

Providing feedback on ABB manuals

Your comments on our manuals are welcome. Navigate to
new.abb.com/drives/manuals-feedback-form.

Document library on the Internet

You can find manuals and other product documents in PDF format on
the Internet at abb.com/drives/documents.
abb.com/drives
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3AFE68615500F
3AFE68615500 Rev F (EN) 2018-03-16

© Copyright 2018 ABB. All rights reserved.

Specifications subject to change without notice.