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ABB RECA-01 EtherCAT Fieldbus Adapter Modules User`s Manual

1. Input Current CW Bit3 0 RFG Ramp Function READY TO Generator SWITCH ON SW Bit0 1 f Frequency INHIBITED SW Bit2 0 from any state operation CW xxxx x1xx xxxx x111 inhibited Fault gt READY TO FAULT from any state OPERATE SW Bit1 1 SW Bit3 1 OFF1 CW Bit0 0 CW xxxx x1xx xxxx 1111 2 CW Bit7 1 and SW Bit12 1 gt ACTIVE SW Bit1 0 from any state from any state U Emergency Stop Emergency OFF A CW Bit3 1 OFF3 CW Bit2 0 OFF2 CW Bit1 0 and p cp SWBitl2 1 OFF3 OFF2 V ACTIVE SW Bit5 0 ACTIVE SW Bit4 0 CW Bit4 0 n f 0 l 0 n f 0 l 0 gt CD OPERATION ENABLED SW Bit2 1 A ET CW Bit5 0 CW xxxx x1xx xxx1 1111 L ENABLED B e CW Bit6 0 CW xxxx x1xx xx11 1111 gt RFG ACCELERATOR ENABLED C lt CW xxxx x1xx x111 1111 condition rising edge PERATION 3 T SW Bit8 1 of the bit D lt Figure 5 State machine ABB Drives communication profile Communication profiles Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 45 References References are 16 bit words containing a sign bit and a 15 bit integer A negative reference indicating reversed direction of rotation is formed by calculating the two s complement from the corresponding positive reference The ABB Drives profile reference can be found in CoE objects 0x2006 hex Transparent Reference and 0x4000 hex subindex 3 Reference 2
2. 13 Fara meler 4 dr ond ie CECI dci EE Re rer 13 FUNDE INOLMAUON un EE 13 Product and service inquiries eee 14 PIOGUGETRININO ETT 14 Providing feedback on ABB Drives manuals 14 QUU AM rr 15 What this chapter contains esserle a A Roe gc 15 wig Em 15 RECA 01 EtherCAT Adapter module ce eee 15 COMODI aan een ete ee at NE E aioe pene wee UT 17 DEIIVETY CNCCK au 2c ipd aos X OUR doe n Po E REESE gear E RUE S 17 Warranty and liability information 17 Table of contents Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 8 QUICK start up guide visse 19 ecu sassate TOLLE RT 19 Mechanical installation 19 Eleciicalinstallali0R uai rebum dod cerca eR Doc aee b ee eee 19 DIVO COMNOUTAUON 3 dane Sh oco xo tete ACC errant eee 20 Master system configuration eee 21 Mechanical installation rrrrr irt 25 What this chapter contains cs 4 cae ea 25 Juerigem T RCRC 25 Electrical installation rrrrrtt nn 27 Wat inisscnapter Contains ss psp b iri era i epo Rana 27 General cabling instructions LL 27 EtherCAT connections urn accade CR a i CA DR eta a eco 27 Drive ContIQUIalloOll 2 5 ie irre 29 What tnis chapter CONTAINS s s 6 uude pb 1222 HH a ew ee 29 FI GAOT COMMUNION Euren od AUR EORR e i
3. ABB drives can receive control information from multiple sources including analogue and digital inputs the drive control panel and a communication module e g RECA 01 In order to have the drive controlled through the fieldbus the module must be defined as the source for control information e g reference Scaling References are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set by drive parameters See the drive manuals for further information Fieldbus Drive REF2 10000 REF1 20000 Bees l REFx MIN REFx MIN REF2 10000 REF1 20000 HISP Communication profiles Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 46 Actual values Actual values are 16 bit words containing information on the operation of the drive The functions to be monitored are selected by a drive parameter The ABB Drives profile actual values can be found in CoE objects 0x2008 hex Transparent Actual Value and 0x4000 hex subindex 6 Actual Value 2 Scaling Actual values are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set by drive parameters See the drive manuals for further information Fieldbus 4 Drive ACT2 10000 ACT1 20000 SEIEN 0 0 ACT2 10000 ACT1 20000 etn Communication profiles Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 4 C
4. ETHERCAT ERROR Five quick flashes A configuration error has occurred illegal configuration data set from drive is detected A re configuration followed by a new power cycle is needed to reset the CONFIG ERROR Off No link Green Module is connected to Ethernet Flickering There is traffic on Ethernet On A application watchdog timeout has occured CN gt gt O lt Diagnostics Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 59 CoE object dictionary Overview The CANopen over EtherCAT CoE Object Dictionary contains all the configuration data of the RECA 01 module The objects in the dictionary can be accessed with SDO services and many of the dictionary objects can be mapped for cyclic communication in PDOs Each object is addressed using a 16 bit index Communication profile objects The objects in the communication profile section describe the basic EtherCAT properties of the module and are common to all EtherCAT slaves implementing the CoE communication protocol The objects are described in following table Communication profile objects Communication profile objects dera ome Tie fue Information 0x1000 M type the type of the device Composed of two 16 bit fields one for device profile the other for additional information The object value of the RECA 01 is 0x0192 hex which corresponds to drive profile DSP 402 0x192 hex
5. Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 26 Mechanical installation Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 2 Electrical installation What this chapter contains A This chapter contains e general cabling instructions e EtherCAT connections WARNING Before installation switch off the drive power supply Wait 5 minutes to ensure that the capacitor bank of the drive is discharged Switch off all dangerous voltages connected from external control circuits to the inputs and outputs of the drive General cabling instructions Arrange the bus cables as far away from the motor cables as possible Avoid parallel runs Use bushings at cable entries EtherCAT connections The network cables can be connected to the two RJ45 connectors X1 and X2 on the RECA 01 module Standard CAT 5 UTP CAT 5 FTP or CAT 5 STP cables can be used In case CAT 5 SIP is used the cable shield is internally connected to the drive frame through the module Electrical installation Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 28 Electrical installation Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 29 Drive configuration What this chapter contains This chapter gives information on configuring the drive for operation with the RECA 01 EtherCAT Adapter module RECA 01 configura
6. Note Effective only if the fieldbus interface is set as the source for this signal by drive parameters Force Ramp Function Generator input to zero 8 to 9 Communication profiles Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 42 CE Word of ABB Drives profile Name jValue STATE Description CMD Control Word lt gt 0 or Reference lt gt 0 Retain last Control Word and Reference Control Word 0 and Reference 0 Fieldbus control enabled Reference and deceleration acceleration ramp are locked EXT_CTRL_ Select External Control Location EXT2 Effective if LOC control location is parameterised to be selected from fieldbus Select External Control Location EXT1 Effective if control location is parameterised to be selected from fieldbus 12to Reserved 15 The following table presents the Status Word of the ABB Drives communication profile The upper case boldface text refers to the states shown in figure State machine ABB Drives communication profile on page 44 Status Word of the ABB Drives profile STATE Description RDY ON READY TO SWITCH ON NOT READY TO SWITCH ON RDY RUN READY TO OPERATE oo OFF1 ACTIVE 2 RDY REF 1 OPERATION ENABLED OPERATION INHIBITED TRIPPED to FAULT oo No fault Communication profiles Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 43 Status Word of the ABB Drives profile STA
7. Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 9 Error code hex 5100 6300 eat 8912 8313 8321 Eg 5400 8500 8600 Di 8612 8700 3800 3000 F000 Additional functions FOO F002 Sub synchronous run F003 Stroke operation F004 FFOO Manufacturer specific FFFF Manufacturer specific CoE Error codes Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 80 CoE Error codes Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 81 Definitions and abbreviations CoE CANopen over EtherCAT The use of the CANopen communication protocol over the basic EtherCAT communication EMCY Emergency Object Used for transmitting information of errors that have occurred in a device Object Dictionary A local storage of all communication objects recognized by the device OSI Open Svstems Interconnection PDO Process Data Object Used for transmitting time critical data such as control commands references and actual values RO Denotes read only access RW Denotes read write access SDO Service Data Object Used for transmitting non time critical data such as parameters Definitions and abbreviations Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 82 Definitions and abbreviations Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr c
8. a device through which an ABB drive is connected to an EtherCAT network Parameter A parameter is an operating instruction for the drive Parameters can be read and programmed with the drive control panel or through the RECA 01 module Further information Further information on the EtherCAT protocol is available on the World Wide Web from www ethercat org Introduction Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 14 Product and service inquiries Address any inquiries about the product to your local ABB representative quoting the type code and serial number of the unit in question A listing of ABB sales support and service contacts can be found by navigating to ABB website and selecting Drives World wide service contacts on the right pane Product training For information on ABB product training navigate to ABB website and select Drives Training courses on the right pane Providing feedback on ABB Drives manuals Your comments on our manuals are welcome Go to ABB website then select successively Drives Document Library Manuals feedback form on the right pane Introduction Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 15 Overview What this chapter contains EtherCAT This chapter contains a short description of the EtherCAT protocol and the RECA 01 EtherCAT Adapter module a delivery checklist and
9. from Pre operational to Safe operational It might also be necessary to reload I O devices by pressing F4 in TwinCAT to apply the changes Quick start up guide Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 24 Quick start up guide Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 25 Mechanical installation What this chapter contains A Mounting This chapter contains placing and mounting instructions for the module WARNING Follow the safety instructions given in this manual and in the appropriate drive hardware manual The RECA 01 module is to be inserted into its specific position in the drive The module is held in place with plastic retaining clips and two screws he screws also provide the earthing of the CAT 5 STP cable shield connected to the module and interconnect the GND signals of the module and the control board of the drive On installation of the module the signal and power connection to the drive is automatically made through a 34 pin connector Mounting procedure e Insert the module carefully into its position inside the drive until the retaining clips lock the module into position e Fasten the two screws included to the stand offs Note Correct installation of the screws is essential for fulfilling the EMC requirements and for proper operation of the module Mechanical installation Phone 800 894 0412
10. master The module signals a cleared error i e reset drive fault with an EMCY object containing the error code 0x0000 hex Error reset or no error The CoE error codes are described in following table CoE error codes Error codes between xx80 xxFF hex and between FFOO FFFF hex are manufacturer specific Descriptions for these error codes can be found in the appropriate drive firmware manual and or the drive fault code parameter CoE error codes Error code hex 2130 Short circuit CoE Error codes Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 74 Error code hex Mains overvoltage 3111 Mains overvoltage phase L1 CoE Error codes Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Error code hex Overvoltage No 2 Field circuit 3331 Field circuit interrupted CoE Error codes Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 6 Error code hex 5220 Computing circuit CoE Error codes Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Error code hex o as Fuses JBS 52 12 SE L 88818 O Device software 6301 Data record No 1 CoE Error codes Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 8 code hex rom 2 14 corresponding 7120 7600 Data storage CoE Error codes
11. oync manager 3 communication type Value Process data in 4 CoE object dictionary Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 64 Index Tune hex yP Sync manager U8 RW Number of assigned PDOs 0 3 Rx PDO assign 1 Assigned PDO U16 R 1 2 Assigned PDO U16 R 2 3 Assigned PDO U16 R 3 Sync manager U8 RW Number of assigned PDOs 0 3 Tx PDO assign 1 Assigned PDO U16 R 1 2 Assigned PDO U16 R 2 3 Manufacturer specific profile objects The manufacturer specific profile object contains the ABB Drives profile Control and Status Words Reference and Actual Value In addition objects for diagnostic data and PID configuration are included The objects are described in table Manufacturer specific profile objects on page 65 CoE object dictionary Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Oo Ql Manufacturer specific profile objects Velocity control U8 parameter set Integration time U1 constant Derivation time U16 constant PID actual value U16 Output power U16 Drive U32 temperature Index hex 0x200 Number of entries W HW Unit 0 01 Unit 0 1 s NO O gt O I Unit 0 1 s N Unit 0 1 Unit 0 1 kW Unit 0 001 degrees Celsius 0x2002 0x2003 0x2004 Transparent Profile mode An object for choosing the communication
12. profile 0 Profile mode DSP 402 1 Transparent ABB Drives profile mode This object can only be modified in the state PRE OP 0x2005 Transparent U16 RW Control Word Transparent INT16 reference Transparent U16 otatus Word Transparent INT16 actual feedback See chapter Communication profiles on page 33 8 5 00 JJ JJ JJ 8 83 3 28883 3 22 zf 0x200 O 0x2007 0x2008 CoE object dictionary Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Vendor specific Number of entries alarm codes See the drive manual for descriptions of the alarm codes Vendor specific fault codes Drive data sets With the CoE object 0x4000 hex the data set area of the drive can be accessed The dictionary entry is described in following table Drive data sets on page 67 Note The total number of data sets and data words supported depends on the drive type and application program CoE object dictionary Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 6 Drive data sets Index A hex yP Number of entries RW Number of supported data sets depends on the application software of the drive Control Word Data set 1 Word 1 2 Data set 1 Word 2 3 Data set 1 Word 3 5 Actual Value1 INTI6 RO Data set 2 Word 2 6 Actual Value 2 INT16 RO Data set 2 Word 3 8 Reference 4 INTIS RW Dataset9 Word Data set 3 Word 3 A
13. warranty information EtherCAT is a Real Time Ethernet technology which aims to maximize the utilization of the full duplex Ethernet bandwidth It overcomes the overhead normally associated with Ethernet by employing on the fly processing hardware An EtherCAT bus consists of a master system and up to 65535 slave devices connected together with standard Ethernet cabling The slave devices process the incoming Ethernet frames directly extract or insert relevant data and transfer the frame to the next EtherCAT slave device The last slave device in the bus segment sends the fully processed frame back so that it is returned by the first slave to the master as a kind of response frame There are several protocols that can be used as the application layer One protocol technology applied to EtherCAT and RECA 01 is CANopen which defines SDOs Service Data Objects PDOs Process Data Objects and the Object Dictionary structure to manage the parameters Further information is available from the EtherCAT technology group www ethercat org RECA 01 EtherCAT amp Adapter module The RECA 01 EtherCAT Adapter module is an optional device for ABB drives which enables the connection of the drive to an EtherCAT network Through the RECA 01 EtherCAT Adapter module it is possible to Overview Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 16 give control commands to the drive
14. 18 otherwise including but not limited to any implied warranties of merchantability or fitness for a particular purpose If you have any questions concerning your ABB drive please contact the local distributor or ABB office The technical data information and specifications are valid at the time of printing The manufacturer reserves the right to modifications without prior notice Overview Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 19 Quick start up guide Overview This chapter presents the steps to take during the start up of the RECA 01 EtherCAT Adapter module WARNING Follow the safety instructions given in this manual and the Hardware Manual of the drive Mechanical installation e Insert the RECA 01 into its specified slot in the drive SLOT2 for ACS550 SLOT1 for ACS800 Fasten the two screws Electrical installation Connect the Ethernet cable RJ 45 connector to the RECA 01 module Standard CAT 5 UTP or STP cables can be used Avoid parallel runs with power e g motor cables Quick start up guide Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 20 Drive configuration Note The detailed procedure of activating the drive for communication with the module is dependent on the drive type Normally a parameter must be adjusted to activate the communication Refer to the Firmware Manual of the drive for inform
15. 8 723 4773 Web www clrwtr com Email info clrwtr com 69 Subindex 0 number of mapped objects 1 U16 INT16 U32 or INT32 Depends on parameter type of the drive 3 See the appropriate drive firmware manual DSP 402 profile objects The DSP 402 profile objects describe objects for monitoring and controlling frequency controllers The objects are described in the following table DSP 402 profile objects DSP 402 profile objects Index Tune hex yP 0x603F Error code U16 See chapter CoE Error codes on page 3 0x6040 oo Controlword RW See chapter Communication profiles Ox6041 0 Statusword U16 Ro 1 pages end ERR target 6 velocity 0x6043 VI velocity INT16 Instantaneous velocity provided by demand the ramp function Scaled to the value of the vl target velocity 0x6044 VI velocity INT16 See chapter Communication profiles actual value on page 33 0x6046 VI velocity min INT8 Number of entries max amount 1 IVI velocity min U32 RW Velocity minimum amount amount 2 VI velocity max U32 RW Velocity maximum amount amount CoE object dictionary Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 70 Index oe hex yP 0x6048 VI velocity INT8 Number of entries acceleration Slope of the acceleration ramp wi speed delta time x passe iss 5 0x6049 VI velocity INT8 Number of entries deceleration Slope of the deceleration
16. ABB Drives User s Manual EtherCAT Adapter Module RECA 01 Ai HD ED PA DID Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com EtherCAT Adapter Module RECA 01 User s Manual 3AUA0000043520 REV B EN EFFECTIVE 2010 04 23 2010 ABB Oy All Rights Reserved Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Safety instructions What this chapter contains This chapter states the general safety instructions that must be followed when installing and operating the RECA 01 EtherCAT Adapter module The material in this chapter must be studied before attempting any work on the unit In addition to the safety instructions given below read the complete safety instructions of the specific drive you are working on General safety instructions A WARNING All electrical installation and maintenance work on the drive should be carried out by qualified electricians The drive and adjoining equipment must be properly earthed Do not attempt any work on a powered drive After switching off the mains always allow the intermediate circuit capacitors 5 minutes
17. CR aes eee 48 NOGE AUGE SHE TNR REST ERECTO TTL TTE TT 48 LOGICA AGGKESSING o 9 wana nen Bene OE a B dedo SCR RO eed 49 SYNEManagels un 9 679 d a a awd ea 49 Syne manager channel 0 4 4 3533 ERR owed a E ES rua 49 Sync Manager channel m upra ti EC Pe node SOR Ee 49 Syne Manager Channel 2 ROC C e hana 49 SYNC Manager channel S 2 4 5m Rr RR eR Cs ce im Cr 50 MV LUG ING OO een T E E ETT T ETT CTI QOO TU 50 PD WAIEHAOG esas eea Be ae ee oo ee ee oe Se ee a 50 Sync manager watchdog 2 cee eee eee 50 EtherCAT state machine r EEEREN RERE EA 50 CANopen over EtherCAT CoE 6 0 51 Process Data Objects PDO 4e ua satt RO Cm ar betaine d Cae oda 52 Service Data Objects SDOS LL 54 Emergency Objects EMG YS assoli Ai eb m E oos aan 55 DIAGNOSICS ER i tanta ees esas eee a a we eee aes 57 EE INCICRHONSE sous truth tok A a ne 57 Table of contents Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 10 CoE object dIClIODary pO en 59 OvervieW eee Qasir en wo es ee Med b SALA oe aol eee LR 59 Communication profile objects LL 59 Communication profile Objects 59 Manufacturer specific profile objects eee 64 Manufacturer specific profile objects 2 222 mens 65 Drive Qala SC vun Sueca AC air aes teten Urge AGER ated eec 66 Deda BIS curn ii a are til Sad d 67 Drive actual signals and parameters 67 Drive signals and parameters 68 DSP 402 DOG
18. Configured address read FPRD Configured address write FPWR Configured address read write FPRW Broadcast read BRD Broadcast write BWR Logical read LRD Logical write LWR Logical read write LRW Auto increment phvsical read multiple write ARMW Configured address read multiple write FRMW Addressing modes and FMMUs There are a number of different addressing modes which can be used by the master to communicate with EtherCAT slaves As a full slave RECA 01 supports the following addressing modes Position addressing The slave device is addressed via its physical position in the EtherCAT segment Node addressing The slave device is addressed via a configured node address assigned by the master during the start up phase Communication Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 49 Logical addressing The slaves are not addressed individually but instead a section of the segment wide 4 GB logical address space is addressed This section may be used by any number of slaves Fieldbus Memory Management Units FMMUs handle the local assignment of physical slave memory addresses to logical segment wide addresses The slave FMMUS are configured by the master Each FMMU configuration contains a logical start address a physical memory start address a bit length and a type that specifies the direction of the mapping Input or output RECA 01 has four FMMUs Th
19. Device Description Files Device Description Files are XML files that specify the properties of the slave device for the EtherCAT master The description files contain information on the supported communication objects Device Description Files for ABB Drives are available through your local ABB representative and the ABB Library Master configuration Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 32 Master configuration Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 33 Communication profiles What this chapter contains This chapter describes the communication profiles used in the communication between the EtherCAT network the RECA 01 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 RECA 01 module the either master may employ either the CANopen DSP 402 Device Profile Drives and Motion Control profile or the ABB Drives profile The Control Word Status Word references and actual values of these profiles are described in the following sections The CANopen device profile DSP 402 This section describes the basic functionality of the DSP 402 profile The DSP 402 is a standardized device profile used for digital controlled motion products e g frequency converters and is
20. ODICCIS sarah 69 DSP 402 PIONIE ODJECIS sini ei 69 COE ENOF COGES sirena need ere ean a BC rare ine ia 73 VWnat nis Chapler contas 23333 83 br EeDE BR aan 73 FEO Ir OCS serene 73 OE SNOL COES isso sila ae E a Ur d 73 Definitions and abbreviations c rrr 81 technical Gala zur E ES aea PROP Pad uU E SQ ES ba uei E 83 What this chapter contains a3 RECA en ee nee energie 83 EINES AT TID ze diat i e ne Eur Era HOO am ae epe ran dera 84 Table of contents Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 11 Introduction What this chapter contains This chapter contains a description of the User s manual for the RECA 01 EtherCAT Adapter module Intended audience The manual is intended for people responsible for commissioning and using an RECA 01 EtherCAT Adapter module The reader is expected to have a basic knowledge of electrical fundamentals electrical wiring practices and how to operate the drive Before you start It is assumed that the drive is installed and ready to operate before starting the installation of the extension 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 What this manual contains This manual contains information on the w
21. P 402 communication profile assign the default TxPDO 6 to the input assignment 0x1C13 and the default RxPDO 6 to the output assignment 0x1C12 f you are using the ABB drives profile assign the default TxPDO 21 to the input assignment 0x1C13 and the default RxPDO 21 to the output assignment 0x1C 12 Quick start up guide Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 23 TestConfig tsm TwinCAT System Manager File Edit Actions View Options Help REC i BBP AS 3 32 a x es Baer ed mE SYSTEM Configuration ce I O Configuration EB 1 0 Devices Sync Manager PDO List i Eta Device 1 EtherCAT Flaqs Inder Size Name Fags sm su 2 0 General EtherCAT Process Data Startup CoE Online Online i Device 1 Image is Device 1 Image Info MbsDut OxTADO TxPDO 1 H 1 Inputs Mbxln 041405 40 TxPDO 6 3 n l Outputs Dutputs 0 1314 40 TxPDO 21 0 Inputs 0 1600 2 0 RxPDO 1 D InfoData Ea Drive 1 RECA 01 and ACS550 HQT TxPDO 6 FE l RxPDO 6 E Q WeState InfoData i Mappings Ox1614 40 RxPDO 21 7 PDO Assignment 0x1C12 PDO Content 041605 Default hex Ox6040 00 2 0 0 0 Controlword UINT Ox6042 00 2 0 2 0 VI target velocity INT D ppe Load PDO info from devic 7 PDO a Sync Unit Assignment Figure 3 Configuring process data in TwinCAT e The configuration will be transferred to the module when its state is changed
22. Start Stop Run enable etc feed a motor speed or torque reference to the drive give a process actual value or a process reference to the PID controller of the drive e read status information and actual values from the drive e reset a drive fault The EtherCAT commands and services supported by the RECA 01 EtherCAT Adapter module are discussed in the chapter Communication on page 47 Please refer to the user documentation of the drive as to which commands are supported by the drive The adapter module is mounted into an option slot on the motor control board if the drive See the drive manuals for module placement options The module is classified as a full EtherCAT slave Device Description files for ABB Drives are available through your local ABB representative and the ABB Library Ethernet connector X1 see chapter Electrical installation Fixing screw GND frame Ethernet connector X2 Diagnostic LEDs see chapter Diagnostics 5 L I L I C L I D rz L I L I L I L I LI O o L4 Eo 80000 finn e O d oe ok mma A 603 5333 m Be Az o A Top view Side view Figure 1 The RECA 01 Adapter module Overview Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 17 Compatibility The RECA 01 module is compatible with all master stations that support the EtherCAT protocol Delivery check The opti
23. TE Description 4 OFF 2 STA OFF inactive oo OFF2 ACTIVE 5 JOFF 3 STA 1 OFF3 inactive OFF3 ACTIVE SWC ON SWITCH ON INHIBITED iis o j SJS SIe GS NS M ALARM EN Warning Alarm EB No warning alarm OPERATING Actual value equals reference is Lr within tolerance limits i e in speed control speed error is 1096 max of the nominal motor speed pr sana value differs from reference Is outside pr sana limits REMOTE Eu Drive control location REMOTE EXT1 or EXT2 ES Drive control location LOCAL 10 ABOVE__ Actual frequency or speed equals or exceeds LIMIT supervision limit set by drive parameter Valid in both directions of rotation 0 Actua Actual frequency or speed within supervision limit or speed within Actual frequency or speed within supervision limit limit Codec CTRL PE Control Location EXT2 selected is BH External Control Location EXT1 selected 12 EXT RUN E NS External Run Enable signal received NABLE oo No External Run Enable signal received 1 kd L Reserved ki Communication error detected by fieldbus adapter module Fieldbus adapter communication OK Communication profiles Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 44 KI SWITCH ON cwse ABB Drives Power ON CW Bit0 0 Communication Profile NOT READY TO ABCD SWITCH ON SW Bit0 0 CW Control Word SW Status Word n Speed CW xxxx x1xx xxxx x110
24. able Format of the PDO mapping example for drive parameter 12 02 on page 54 Rx and Tx Sync Manager PDO assignments are configured with CoE objects 0x1C12 and 0x1C13 hex respectively By default PDO1 is enabled and assigned to the sync managers Communication Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 54 Format of the PDO mapping example for drive parameter 12 02 Type MSB LSB Description Index Sub index Object length in bits e g 0x400C hex e g 2 Drive e g 0x10 hex Drive parameter parameter group 12 16 bits group 12 16 bits 8 bits 8 bits Note The maximum number of I O parameters that can be simultaneously mapped for cyclic communication depends on the drive type and application For example ACS800 supports 12 inputs and 12 outputs and ACS550 supports 15 outputs and 15 inputs Service Data Objects SDOs Service Data Objects are mainly used for transferring non time critical data e g parameter values EtherCAT specifies both SDO services and SDO Information services SDO services provide read write access to the entries in the device CoE Object Dictionary SDO Information services allow the Object Dictionary itself to be read The services supported by RECA 01 are described in table Supported SDO and SDO Information services below oupported SDO and SDO Information services Service Function SDO Download Expedited Writes up to four octets to the
25. and to additional information Frequency Converter 0x01 hex Device name The constant fdt ela IS fdt ela 01 and ACxxxx The hardware version of the module x1008 Manufacturer Visible device name string 0x1009 Manufacturer Visible hardware string version CoE object dictionary Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 60 Index Tce hex yP 0x1010 Store U8 Largest supported subindex parameters If the value of bit O of the subindexes is 1 the device saves parameters on command Parameters can be saved by writing 0x657661 73 evas to the relevant subindex 1 Saveall U32 RW Stores all parameters to memory parameters 2 Save U32 RW Communication parameters are not communication stored in the module objects 0x1000 0x1A16 parameters 3 Save drive U32 RW All profile parameters are saved profile objects 0x603F Ox60FE 0x2001 0x200B parameters 4 Save drive U32 RW Store drive parameters parameters CoE object dictionary Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 61 Restore default U8 Largest supported subindex parameters Default parameters can be restored by writing 0x64616F6C daol to the relevant sub index Restore all U32 RW Restore all parameters parameters Restore U32 RW Communication parameters are not communication stored on the module obje
26. ation on the communication settings Power up the drive Configure the drive to communicate with the module With an ACS550 drive set parameter 98 02 COMM PROT SEL to EXT FBA With an ACS800 set parameter 98 02 COMM MODULE LINK to FIELDBUS Verify that the drive parameter group 51 is activated and that parameter 51 01 FBA TYPE is ETHERCAT Select either ABB Drives or DSP 402 communication with parameter 51 02 In ACS800 also set parameter 98 07 COMM PROFILE to ABB DRIVES or GENERIC DSP 402 Initiate a Fieldbus adapter parameter refresh with parameter 51 27 FBA PAR REFRESH Configure the drive to accept Start Stop Direction Reference Run Enable and Fault Reset from the module Examples of appropriate values with ACS550 are shown in following tables Example configuration with ACS550 using the ABB Drives profile below and Example configuration with ACS800 using the DSP 402 profile on page 21 Example configuration with ACS550 using the ABB Drives profile Drive parameter Example setting for ACS550 Quick start up guide Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 21 51 01 MODULE TYPE ETHERCAT 51 02 TRANSPARENT 1 TRANSPARENT ABB PROFILE MODE DRIVES 98 02 COMM PROT SEL EXT FBA Example configuration with ACS800 using the DSP 402 profile Drive parameter PROFILE MODE Master system configuration This section guides the user to configure the RECA 01 module
27. cks OFF2 OFF3 are active 1 OFF2_ KONG Emergency OFF coast to stop Proceed to OFF2 ACTIVE proceed to SWITCH ON INHIBITED 2 OFF3 CONTROL Emergency stop stop within time defined by drive parameter Proceed to OFF3 ACTIVE proceed to SWITCH ON INHIBITED Warning Ensure motor and driven machine can be stopped using this stop mode Communication profiles Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 41 Control Word of ABB Drives profile Value STATE Description Proceed to OPERATION ENABLED Note Run enable signal must be active see the 3 JINHIBIT OPERATION drive manuals If the drive is set to receive the Run enable signal from the fieldbus this bit activates the signal Inhibit operation Proceed to OPERATION INHIBITED 1 Normal operation Proceed to RAMP FUNCTION GENERATOR OUTPUT ENABLED Force Ramp Function Generator output to zero Drive ramps to stop current and DC voltage limits in force RAMP OUT ZERO RAMP HOLD 1 RAMP IN ZERO RESET 0 gt 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 by drive parameters Continue normal operation Heserved Enable ramp function Proceed to RAMP FUNCTION GENERATOR ACCELERATOR ENABLED Halt ramping Ramp Function Generator output held Normal operation Proceed to OPERATING
28. ctionary objects and drive parameters can be mapped for cyclical communication RECA 01 has three receive PDOs and three transmit PDOs Each PDO can have 0 8 application objects mapped inside it The default mappings for the PDOs are described in tables Default receive PDO mapping and Default transmit PDO mapping on page 53 Changing the mapping of the PDOs is only possible in the pre operational state Communication Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 53 Default receive PDO mapping Mapped object Rx PDO 1 Rx PDO 6 Rx PDO 21 0x6040 hex Control 0x2005 hex Word Transparent Control Word 0x6042 hex vl target 0x2006 hex velocity Transparent reference Tx PDO6 Tx PDO 21 0x6041 hex Status 0x2007 hex Word Transparent otatus Word 0x6044 hex vl velocity 0x2008 hex actual value Transparent actual value In EtherCAT the PDOs are transported inside Sync Manager Channel objects RECA 01 has two sync manager channels for process data SM 2 for output data Rx data and SM 3 for input data Tx data Changing the Sync manager PDO assignments is only possible in the pre operational state RECA 01 does not support transmitting PDOs acyclicly via the Mailbox interface The Rx PDO mappings are configured with CoE objects 0x1600 0x1605 and 0x1614 hex and Tx PDO mappings with objects Ox1A00 0x1A05 and 0x1A14 hex The format of the PDO mapping is described in t
29. cts 0x1000 0x1A16 parameters Restore drive U32 RW Restore all DSP 402 parameters profile objects 0x603F Ox60FE 0x2001 0x200B parameters Restore drive U32 RW Restore drive default parameters Vendor ID Value 0xB7 ABB Oy Product code U32 Drive dependent e g 0x201 ACS550 Index hex 0x1011 0x1018 GO Revision U32 Module software revision format OxXXXX XXXXh Serial number of the module DA Serial number U32 CoE object dictionary Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Index hex 0x1600 Type O Bj l Receive PDO1 U Mapping Mapped object U32 Co RW Number of mapped application objects 0 8 Default 0x6040 Control Word JJ W n Mapped object U32 Mapped objects 3 8 are empty by default 2 Receive PDO6 Mapping 1 Mapped object U32 RW 0x1605 8 Number of mapped application objects 0 8 Default 0x6040 Control Word s JJ NO EEEEEREEEEEEEERH JJ JJ JJ JJ JJ 48 8 3 2 33 222332223 253 Mapped object U32 Default 0x6042 VI target velocity NO n Mapped object U32 Mapped objects 3 8 are empty by default Receive PDO21 U8 Mapping Mapped object U32 0x1614 Number of mapped application objects 0 8 Default 0x2005 Transparent Control Word Default 0x2006 Transparent reference JJ JJ W 2 Map
30. ctual Value4 INTG RO Data set 4 Word 2 C Aa dweS JINTIS RO Dansta woda o e p tebe E Reference 49 INT16 RW Data set 32 Word 2 E Reference 50 INT16 Data set 32 Word 3 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 CoE object dictionary Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 68 use the same parameter mapping system The CoE Dictionary Index equals drive parameter group in hexadecimal format 4000 hex and the subindex is parameter index For example the index for the drive parameter 30 19 equals 1E hex 4000 hex 401E hex and the subindex 19 dec 13 hex The principle is demonstrated in following table Drive signals and parameters Note Drive parameter values written through the network are not automatically saved to the permanent memory of the drive A parameter save should be initiated in the drive to retain the changes after a power cycle Drive signals and parameters IE men Te m SCE NNNM ce eee MEZZ e mel ee Jem 8 9 JECC NCC Dom om pomo mpm oom CoE object dictionary Phone 800 894 0412 Fax 88
31. e EtherCAT master can use them for any purpose Sync managers oync managers control the access to the application memory Each channel defines a consistent area of the application memory RECA 01 has four sync manager channels Their functions are described below The mailbox protocol and process data are described later in this chapter Sync manager channel 0 Sync manager 0 is used for mailbox write transfers mailbox from master to slave The module supports mailbox sizes between 50 256 bytes he default is 192 bytes Sync manager channel 1 oync manager 1 is used for mailbox read transfers mailbox from slave to master The module supports mailbox sizes between 50 256 bytes he default is 192 bytes Sync manager channel 2 oync manager 2 is used for process output data It contains the Rx PDOs specified by the PDO assignment object 0x1C12 hex Communication Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 50 Sync manager channel 3 Sync manager 3 is used for process input data It contains the Tx PDOs specified by the PDO assignment object Ox1C13 hex Watchdogs The RECA 01 module provides two watchdogs with which the functionality of the module and connection can be monitored The watchdogs are configured and enabled by the EtherCAT master PDI watchdog The PDI watchdog monitors the module s CPU Each access from the CPU to the ESC EtherCAT Slave Controll
32. er resets this watchdog Sync manager watchdog The sync manager watchdog monitors the output sync managers If the output I O data is not updated by the master within the configured time the watchdog will timeout and reduce the state of the module from OP to SAFEOP The resolution of this watchdog is 1 ms Note EtherCAT by design provides no way for a slave to monitor the connection to the master if the slave has no output data Note he drive reaction to a communication fault must be configured separately Consult the drive manual for more information EtherCAT state machine RECA 01 implements the EtherCAT state machine mandatory for all EtherCAT devices The state machine is defined in following figure EtherCAT state machine The bootstrap state is not supported Communication Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 51 Pre Operational SP Safe Operational Operational Figure 7 EtherCAT state machine The EtherCAT module enters the INIT state directly after start up After this the module can be switched to the PRE OP state In the PRE OP state EtherCAT mailbox communication is allowed and drive parameters can be accessed by CoE SDOs OI After the master has configured the slave it can switch the module to state SAFE OP In this state input I O data PDOs is sent from the module to the EtherCAT master but there is no outpu
33. hapter CoE object dictionary page 59 Control Word of DSP 402 Lu EUN BE Enable voltage Quick Quick stop 2 EN Enable operation 4 BEEN function generator enable Description The functionality of bits 0 3 and 7 are described in table Operation of bits 0 3 and 7 of the DSP 402 Control Word on page 35 Force ramp function generator output to zero Drive ramps to stop current and DC voltage limits in force Normal operation Velocity reference is the output value of the ramp function generator Ramp function Ramp function generator output value is generator unlock locked to the current output value 1 Normal operation Ramp output value follows ramp input value Communication profiles Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 35 Bi Name Vaue Description Ramp function Ramp function generator input value is set generator use ref to zero 1 Normal operation Ramp function generator input is the ramp reference 7 Fault reset The functionality of bits 0 3 and 7 are described in table Operation of bits 0 3 and 7 of the DSP 402 Control Word 8 Halt not used LI 9 10 Reserved 11 15 Drive specific not used Operation of bits 0 3 and 7 of the DSP 402 Control Word Control Word bit Enable i Enable Switch State operation voltage on transitions i bit 0 voltage operation ope
34. ice 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 website and selecting Sales Support and Service network Product training For information on ABB product training navigate to ABB website and select Training courses Providing feedback on ABB Drives manuals Your comments on our manuals are welcome Go to ABB website and select Document Library Manuals feedback form LV AC drives Document library on the Internet You can find manuals and other product documents in PDF format on the Internet Go to ABB website and select Document Library You can browse the library or enter selection criteria for example a document code in the search field Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com
35. in the EtherCAT network using Beckhoff s TwinCAT System Manager If you are using another master system consult its manual for information on configuring the network e Select and import the Device Description File for the drive EtherCAT Device Description files are XML files containing configuration information of the drive The files can be obtained from your local ABB representative or from ABB website e Add the drive to the network configuration either manually or by scanning subdevices boxes in the EtherCAT device see figure Scan Boxes in TwinCAT on page 22 Quick start up guide Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 22 Er TestConfig tsm TwinCAT System Manager File Edit Actions View Options Help D wee oa tS BE AS Bm Ye EB SYSTEM Configuration E LO Configuration zB LO Devices N EtherCAT A Mappings a Append Bax YX Delete Device Online Reset Di Online Reload Config Mode only Online Delete Config Mode only Bl Export Device Ei Import Bax de Cub Cris Copy Ctrl HC E Paste Cobre Paste with Links AEG EE EV id Change Id x Disabled Change Ta Change Netld Figure 2 Scan Boxes in TwinCAT e Select the Process Data tab of the drive in TwinCAT PDOs can be configured and assigned to Sync Managers here see figure Configuring process data in TwinCAT on page 23 Basic examples e If you are using the DS
36. iring configuration and the use of the RECA 01 EtherCAT Adapter module It is assumed that the drive is installed and ready to operate before starting the installation of the adapter module For more information on the installation and start up procedures of the drive see the appropriate drive manuals Safety instructions are featured in the first few pages of this manual Introduction Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 12 Introduction Overview contains a short description of the EtherCAT protocol and the RECA 01 EtherCAT Adapter module a delivery checklist and information on the manufacturer s warranty Quick start up guide contains a short description of how to set up the RECA 01 EtherCAT Adapter module Mechanical installation contains placing and mounting instructions for the module Electrical installation contains wiring and instructions Drive configuration explains how to program the drive before the communication through the adapter module can be started Master configuration explains how to program the EtherCAT master before the communication through the adapter module can be started Communication profiles describes the communication profiles used in the communication between the EtherCAT network the RECA 01 module and the drive Communication contains a description of how data is transmitted through the RECA 01 module Diagnostics explains ho
37. om Email info clrwtr com 83 Technical data What this chapter contains This chapter contains the technical specifications of the RECA 01 EtherCAT Adapter module RECA 01 Enclosure 36 mm E LC O 22 Hmm Figure 8 Enclosure of RECA 01 Mounting Into an option slot on the control board of the drive Ss 1 e O C E EEA il Bi E IE ie in Degree of protection IP20 Ambient conditions The applicable ambient conditions specified for the drive hardware manual are in effect Settings e Through drive parameters Technical data Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 84 Connectors e 34 pin parallel bus connector e 2 HJ 45 connectors X1 and X2 Current consumption e 290 mA average 5 V supplied by the drive control board General e Estimated min lifetime 100 000 h e All materials are UL CSA approved e Complies with EMC Standards EN 50081 2 and EN 50082 2 EtherCAT link Compatible devices All EtherCAT compliant devices Medium 100 base TX e Termination Internal e Wiring CAT 5 UTP CAT 5 FTP or CAT 5 STP Recommended e Connector RJ 45 Maximum segment length 100 m Serial Communication Type Full duplex Transfer Rate 100 Mbit s Protocol EtherCAT Technical data Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Further information Product and serv
38. ommunication What this chapter contains This chapter describes the communication on an EtherCAT network EtherCAT frame structure In EtherCAT the data between the master and the slaves is transmitted in Ethernet frames An EtherCAT Ethernet frame consists of one or several EtherCAT telegrams each addressing individual devices and or memory areas The telegrams can be transported either directly in the data area of the Ethernet frame or within the data section of an UDP datagram transported via IP The EtherCAT frame structure is pictured in following figure EtherCAT frame structure Each EtherCAT telegram consists of an EtherCAT header the data area and a working counter which is incremented by all EtherCAT nodes that are addressed by the telegram and have exchanged associated data 48 Bit 48 Bit 16 Bit Embedded directly in Ethernet 1 n EtherCAT Telegrams Frame w EtherType 0x88A4 Ethernet H IP Header UDP H el le Or via UDP IP with UDP Port 0x88A4 0 12 Figure 6 EtherCAT frame structure Communication Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 48 EtherCAT Services EtherCAT specifies services for reading and writing data from the physical memory within the slaves RECA 01 supports the following EtherCAT services Auto increment phvsical read APRD Auto increment phvsical write APWR Auto increment phvsical read write APRW
39. on package for the RECA 01 EtherCAT Adapter module contains EtherCAT Adapter module type RECA 01 e two screws M3x10 e this manual Warrantv and liabilitv information The manufacturer warrants the equipment supplied against defects in design materials and workmanship for a period of twelve 12 months after installation or twentv four 24 months from date of manufacturing whichever first occurs The local ABB office or distributor mav grant a warrantv period different to the above and refer to local terms of liability as defined in the supply contract The manufacturer is not responsible for any costs resulting from a failure if the installation commissioning repair alternation or ambient conditions of the unit do not fulfil the requirements specified in the documentation delivered with the unit and other relevant documentation e units subjected to misuse negligence or accident e units comprised of materials provided or designs stipulated by the purchaser In no event shall the manufacturer its suppliers or subcontractors be liable for special indirect incidental or consequential damages losses or penalties This is the sole and exclusive warranty given by the manufacturer with respect to the equipment and is in lieu of and excludes all other warranties express or implied arising by operation of law or Overview Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com
40. part of the CANopen specification Additional information can be obtained from CAN CIA website 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 State machine DSP 402 communication profile on page 38 The Control Word is the principal means for controlling the drive from a fieldbus system It is sent by the fieldbus master to the drive through the adapter module The drive switches between its states according to the Communication profiles Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 34 bit coded instructions in the Control Word and returns status information to the master Supported mode of operation in the Status Word The DSP 402 profile offers a choice of several modes of operation These modes define the operation of the drive RECA 01 supports Velocity mode which is a basic operation mode used to control the velocity of the drive Control Word and Status Word of the DSP 402 profile The functionality of the Control Word is described in tables Control Word of DSP 402 below and Operation of bits 0 3 and 7 of the DSP 402 Control Word on page 35 The functionality of the Status Word is described in table Status Word of DSP 402 on page 36 The Control Word can be found in CoE object 0x6040 hex and the Status Word in CoE object 0x6041 hex see c
41. ped object U32 NO n Mapped object U32 Mapped objects 3 8 are empty by default 2 Transmit PDO1 U32 Mapping Mapped object U32 RW JJ 0x1A00 Number of mapped application objects 0 8 Default 0x6041 Status Word JJ n Mapped object U32 W Mapped objects 2 8 are empty by default 2 CoE object dictionary Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 6 Q Index hex 1A05 Transmit PDO6 U Mapping Mapped object U32 2 Mapped object U32 2 n Mapped object U32 n O x 00 RW Number of mapped application objects 0 8 W Default 0x6041 Status Word W Default 0x6044 VI velocity actual value Mapped objects 3 8 are empty by default Number of mapped application objects 0 8 Mapping 1 Mapped object U32 RW Default 0x2007 Transparent Status 1 Word 2 Mapped object U32 RW Default 0x2008 Transparent Actual 2 Value n Mappedobject U32 RW Mapped objects 3 8 are empty by fn default Svnc manager Number of entries communication ivpe Sync manager 0 communication type sync manager 1 communication type sync manager 2 communication type sd O D JJ JJ JJ JJ 8 8 8 8 83323 2 2 3 2 365 0x1A14 Transmit PDO21 Bos 00 0x1C00 Value Mailbox write 1 Value Mailbox read 2 Value Process data out 3 C OO CO 00 00 CO
42. ra 29 TMIODULEE TY PE utet eh riesen Ce oos 30 2 IRANSPARENT PROFILE MODE 005 30 Master configuration 1 0c ttn 31 What tnis chapter Conlalns 4x uae 2248002 SUE A ex E area hs 31 Conjigurino tie SYSTEMI qaas Tn a uod tdi i eh eie etc erbe 31 Device Description FILES 31 Communication profiles c rrr rhum 33 What this chapter contains x55 52 doe rep RR EGER S RR 33 Communication profiles clle 33 The CANopen device profile DSP 402 0 cee es 33 Device Control state machine llle 33 Supported mode of operation o 34 Table of contents Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Control Word and Status Word of the DSP 402 profile 34 Reference of the DSP 402 profile llle 39 Actual value of the DSP 402 profile 39 ABB Drives communication profile 39 The control word and the status Word 39 Control Word and Status Word of the ABB Drives profile 40 BIST MOQETLU TTC TITO TT TL TDI ET 45 SCI een ne a ER a ARI ee 45 ACIUAPVQIUCS ated a ors Go nee eee Biene Ge 46 SCAUNG c T rcm 46 GOMMUNICAUON 535 ru yere xU RR re oU Reb rn 47 What this chapter contains 47 EtherCAT frame structure 47 made bes en ee een a rat er en at 48 Addressing modes and FMMUs 0 cee eee eee 48 POSIIONAAALESSING 43 axi x ch Arne eo Shae Rn Ca
43. ramp we speed delta time 0x604A mE velocity quick INT8 Number of entries stop olope of the deceleration ramp wl speed delta time 0x604C c dimensions Number of entries The dimension factor affects the scaling of other objects 0x6042 0x6043 0x6044 0x6046 0x6048 0x6049 0x604A The parameter can only be modified in the PRE OP state Vi dimensions INT32 RW The numerator of the scaling factor factor Default 1 numerator VI dimensions INT32 RW The denominator of the scaling factor factor Default 1 denominator 0x6060 Modes of INT8 RW The current mode of operation operation Always set to 2 Velocity mode CoE object dictionary Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 71 Index Tuo hex yP 0x6061 Modes of INT8 A read only copy of object 0x6060 operation display 0x6078 Mud INT16 id The actual output current value CoE object dictionary Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 2 CoE object dictionary Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com CoE Error codes What this chapter contains This chapter contains a list of the CANopen over EtherCAT error codes Error codes Error codes can be read from the objects 0x200B and 0x603F hex Additionally when the error occurs an EMCY object containing the code is transmitted to the
44. ration X Bits marked with X are irrelevant See figure State machine DSP 402 communication profile on page 36 Communication profiles Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Q 6 When Control Word bit 3 Enable operation is 1 the drive does not stay in the SWITCHED ON state but immediately transitions to state OPERATION ENABLED Status Word of DSP 402 Value Description Not ready to switch ON Ready to switch ON Not switched ON Switched ON Operation not enabled Ready to switch ON ee eee NN dE 5 Quick stop Switch on disabled 7 Warning Operation enabled No fault Fault No high voltage applied to drive 1 High voltage applied to drive Quick stop is active Normal operation Switch on enabled Switch on disabled No warning alarms 1 Warning Alarm is active ACx550 No External Run Enable signal received ACx550 External Run Enable signal received Drive specific ACS800 User settable Drive control location REMOTE EXT1 or EXT2 Drive control location LOCAL Remote 1 Target reached 1 Actual value differs from reference Internal limit active Internal limit not active 1 Internal limit active Communication profiles Actual value equals reference 10 11 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 37 BT e ve Drive specific m REESE External control location EXT 1
45. rofile Communication profiles Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 39 Reference of the DSP 402 profile In the velocity operation mode the reference is called Target velocity CoE object 0x6042 hex It is a 16 bit word containing a sign bit and a 15 bit integer A negative reference indicating reversed direction of rotation is formed by calculating the two s complement from the corresponding positive reference The reference is used to control the speed of the drive The unit of the target velocity is rpm This value can be scaled with the VI dimension factor object CoE object 0x604C hex Reference to drive Target velocity VI dimension factor The scaling is 1 by default Actual value of the DSP 402 profile In the velocity operation mode the actual value is called Control effort CoE object 0x6044 hex It is a 16 bit word containing a sign bit and a 15 bit integer A negative reference indicating reversed direction of rotation is formed by calculating the two s complement from the corresponding positive reference The actual value is used by the master to monitor the actual speed of the drive The unit of the control effort is rpm This value can be scaled with the VI dimension factor object CoE object 0x604C hex Drive actual speed Control effort VI dimension factor The scaling is 1 by default ABB Drives communication profile The control word and the s
46. s presented below LINK LINK ACTIVITY 2 4 A ACTIVITY 1 ETHERCAT B ETHERCAT ERROR RUN Function Off No link Green Module is connected to Ethernet Flickering There is traffic on Ethernet L The green EtherCAT RUN LED indicates the status of the EtherCAT network state machine gt gt O Off The device is in init state Green Blinking The device is in pre operational state Flashing rate about 2 5 Hz Green Single flash The device is in safe operational state Single flash is one short flash approx 200 ms followed by a long off phase approx 1000 ms Green On The device is in operational state ETHERCAT RUN Diagnostics Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 58 LINK LINK ACTIVITY 2 4 ACTIVITY 1 ETHERCAT G ETHERCAT ERROR RUN The red EtherCAT ERROR LED indicates the presence of any errors Off No error Blinking General Configuration Error Single flash Slave device application has changed the EtherCAT state autonomously Parameter Change in the AL status register is set to 0x01 hex change error Single flash is one short flash approx 200 ms followed by a long off phase approx 1000 ms Double flash A sync manager watchdog timeout has occurred Double flash is two short flashes approx 200 ms each separated by an off phase approx 200 ms and then a long off phase approx 1000 ms
47. selected ACx550 External control location EXT2 selected ACS800 User settable 15 Drive specific ACx550 Not used ACS800 User settable The functionality of the vendor specific bits in ACS800 can vary according to the control program In the Standard control program the bits are configured with drive parameters 92 07 92 08 and 92 09 Communication profiles Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 38 from any state V CW Control Word START FAULT REACTION SW Status Word ACTIVE SW xxxxxxxxxO0xx1 111 AR State transition Power on Fault reaction 0 self initialisation completed V NOT READY FAULT TO SWITCH ON SW xxxxxxxxx0xx0000 SW xxxxxxxxx0xx1000 1 I Mj eee IN 15 CW XXXXXXXX1XXXXXXX EE V V SWITCH ON gt DISABLED L SW xxxxxxxxx1xx0000 2 A 1 READY TO 7 SWITCH ON SW xxxxxxxxx01x0001 CW xxxxxxxx0xxxx110 CW xxxxxxxx0xxxx01x or CW xxxxxxxx0xxxxx0x CW xxxxxxxxOxxxx01x or CW XXXXXXXXOXXXXX0X CW xxxxxxxx0xxxx111 3 A V 6 CW xxxxxxxx0xxxx110 CW xxxxxxxxOxxxx110 8 SWITCHED ON SW xxxxxxxxx01x0011 Quick stop A completed CW xxxxxxxxO0xxxxxOx V 5 CW xxxxxxxx0xxx0111 Suo oe gt gt SW xxxxxxxxx01x0111 SW xxxxxxxxx0xx0111 CW xxxxxxxxO0xxxxxOx CW xxxxxxxx0xxxx01x CW xxxxxxxxOxxx1 111 RI Figure 4 State machine DSP 402 communication p
48. slave slave the negotiated number of octets SDO Upload Normal Reads up to a negotiated number of octets from the slave Upload SDO Segment Reads additional data if the object size is greater than the negotiated number of octets Communication Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 55 Service Abort EN Transfer EE ee abort of service in case of an erroneous condition Get OD List 000000 OD List Reads a list of available indices a list of available indices Get LI SN Description M details of an index Get Entry Description Reads details of an subindex Emergency Objects EMCYs Emergency objects are used for sending fault information from the communication module and the drive to the EtherCAT network They are transmitted whenever a fault occurs in the drive or the module Only one emergency object is transmitted per fault EMCY objects are transmitted via the Mailbox interface There are a number of error codes specified for different events The error codes are listed in the chapter CoE Error codes on page 73 Communication Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 56 Communication Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 57 Diagnostics LED indications The RECA 01 module is equipped with four diagnostic LEDs The description of the LEDs i
49. t I O data from the master to the module In order to communicate Output I O data the master must switch the module to the OP state CANopen over EtherCAT CoE The application layer communication protocol in EtherCAT is based on the CANopen DS 301 communication profile and is called CANopen over EtherCAT or CoE The protocol specifies the Object Dictionary in the module as well as communication objects for exchanging process data and acyclic messages HECA 01 implements the following message types Communication Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 52 Process Data Object PDO The PDO object is used for cyclic I O communication i e process data e Service Data Object SDO The SDO object is used for acyclic data transmission Emergency Object EMCY The EMCY object is used for error reporting when a fault has occurred in the drive or module The object dictionary is described in chapter CoE object dictionary on page 59 Process Data Objects PDO Process Data Objects PDOs are used for exchanging time critical process data between the master and the slave Tx PDOs are used to transfer data from the slave to the master and Rx PDOs to transfer data from the master to the slave PDO mapping defines which application objects are transmitted inside a PDO These typically include the Control and Status Words References and Actual Values but most CoE di
50. tatus 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 on the Control Word and returns status information to the master in the Status Word Communication profiles Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 40 The contents of the Control Word and the Status Word are detailed in tables Control Word of ABB Drives profile and Status Word of the ABB Drives profile respectively The drive states are presented in the ABB Drives profile state machine see figure State machine ABB Drives communication profile on page 44 The ABB Drives profile Control Word can be found in CoE object 0x2005 hex Transparent Control Word and the Status Word in CoE object 0x2007 hex Transparent Status Word Control Word and Status Word of the ABB Drives profile The following table presents the Control Word of the ABB Drives communication profile The upper case boldface text refers to the states shown in figure State machine ABB Drives communication profile on page 44 Control Word of ABB Drives profile Bit Name jValue STATE Description OFF1 Proceed to READY TO OPERATE CONTROL otop along currently active deceleration ramp Proceed to OFF1 ACTIVE proceed to READY TO SWITCH ON unless other interlo
51. ter 51 27 command from the drive Drive configuration Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 30 The RECA 01 configuration parameters Alternative settings Default setting MODULE TYPE Read only ETHERCAT TRANSPARENT 0 Profile mode DSP 402 0 Profile mode PROFILE MODE 1 Transparent mode DSP 402 ABB Drives 1 MODULE TYPE This parameter shows the module type as detected by the drive The value cannot be adjusted by the user If this parameter is undefined the communication between the drive and the module has not been established 2 TRANSPAHENT PROFILE MODE This parameter is used for choosing either the transparent ABB Drives or the DSP 402 communication profile This selection can also be changed with CoE object 0x2400 hex Drive configuration Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 31 Master configuration What this chapter contains This chapter gives information on configuring the EtherCAT master to communicate with the RECA 01 EtherCAT Adapter module Configuring the system After the RECA 01 EtherCAT Adapter has been mechanically and electrically installed according to the instructions in previous chapters and initialized by the drive the master system must be prepared for communication with the module Please refer to the master system documentation for more information
52. tion After the RECA 01 EtherCAT 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 ABB drives can receive control information from multiple sources including digital inputs analogue inputs the drive control panel and acommunication module e g RETA 01 ABB drives allow the user to separately determine the source for each type of control information Start Stop Direction Reference Fault Reset etc In order to give the fieldbus master station the most complete control over the drive the communication module must be selected as source for this information The detailed procedure of activating the drive for communication with the module is dependent on the drive type Normally a parameter must be adjusted to activate the communication Please refer to the drive documentation As communication between the drive and the RECA 01 is established several configuration parameters are copied to the drive These parameters must be checked first and adjusted if necessary see table The HECA 01 configuration parameters on page 30 The alternative selections for these parameters are discussed in more detail below Note The new settings take effect only when the module is powered up the next time or when the module receives a Fieldbus Adapter parameter refresh Drive parame
53. to discharge before working on the frequency converter the motor or the motor cable It is good practice to check with a voltage indicating instrument that the drive is in fact discharged before beginning work The motor cable terminals of the drive are at a dangerously high voltage when mains power is applied regardless of motor operation There can be dangerous voltages inside the drive from external control circuits even when the drive mains power is shut off Exercise appropriate care when working on the unit Neglecting these instructions can cause physical injury or death Safety instructions Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Safety instructions Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Table of contents Safety INSIHUCHONS aus ibi rS o utes oium usn Ir 5 What this chapter contains 5 General safety instructions LL 5 TaDIE OFCONIEeNIS 2 22 32 a eee 7 INIFOQUCHON issa ai bass adu wem ao da bd 11 WnatthiS chablerconlalllS 226 444 2 RE PUE EEUU e mc Se dus s 11 Intended audiente x 26020528 REI RR AC Riten 11 BelOhe VOU SIAT id a quid ee eri D ea opera ex bu usu Be ea 11 What this manual contains 11 Terms USSG NINS MANUAl 32 ce ERE Paar a aede x 13 Communication module leen 13 Data sets and data wordS cen oce do cac UY eee e Ce b 13 RECA 01 CANopen Adapter module ssl
54. w to trace faults with the status LEDs on the RECA 01 module CoE object dictionary describes the CANopen over EtherCAT Object Dictionary used by the module CoE Error codes contains reference tables for decoding CoE error messages Definitions and abbreviations explains definitions and abbreviations concerning the EtherCAT protocol family Technical data contains information on physical dimensions connectors of the module and the specification of the EtherCAT link Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 13 Terms used in this manual Communication module Communication module often abbreviated COMM MODULE or COMM is a parameter name parameter selection name for a device e g a fieldbus adapter through which the drive is connected to an external serial communication network The communication with the communication module is activated with a drive parameter see the appropriate drive firmware manual Data sets and data words Each data set consists of three 16 bit words i e data words The Control Word sometimes called the Command Word and the otatus Word References and Actual Values see chapter Communication profiles on page 33 are types of data words the contents of some data words are user definable RECA 01 CANopen Adapter module The RECA 01 CANopen Adapter module is one of the optional fieldbus adapter modules available for ABB drives The RECA 01 is

ABB RECA-01 EtherCAT Fieldbus Adapter Modules User`s Manual

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