RCAN-01 and ACS800/ACS550 Quick start-up guide

ABB Oy (FM)

Supported operation modes:

* CANopen DS-402 GENERIC in ACS800 par.98.7, explanation oI the state-machine in the
RCAN-01 User`s Manual

* Transparent ABB DRIVES in ACS800 par.98.7, explanation oI the state-machine in the
drive manual

The ACS550 detects the operation mode automatically.

Supported PDO`s:

PDO1 (DS-402) 2byte
PDO6 (DS-402) 4byte
PDO21 (Transparent) 8byte(max)
PDO22 (Transparent) 8byte(max)
PDO23 (Transparent) 8byte(max)

ACS800/550 start-up sequence and parameter settings examples:

- Install RCAN-01 EDS Iile in the PLC

The operation mode (CANopen DS-402 or Transparent) can be set by ACS800/ACS550 par.51.26. As
deIault this parameter is set to obey the PLC conIiguration (index 0x2004 Transparent/ProIile mode).

The CANopen DS-402 Control word is index 0x6040 and status word is index 0x6041.
The Transparent Control word is index 0x2005 and status word is index 0x2007.

Mount the module according to the manual, set rotary switches beIore mounting (rotary switches are
easier to reach).
Set the Baud rate and node number in the PLC to match the rotary switches on the RCAN-01 module.

Connect the Fieldbus connector (X1 Network) according to the RCAN-01 User's Manual.

Activate the Fieldbus module Irom ACS800/ACS550 par.98.2.

Select communication proIile ABB Drives or Generic in the ACS800 in par.98.7 to match the PLC
hardware conIiguration settings (In the ACS550 this is not necessary).


Example 1: GENERIC DRIVES PROFILE (CANopen DS-402)

10.01 EXT1 STRT/STP/DIR COMM.CW (COMM in ACS550)
11.03 EXT REF1 SELECT COMM.REF (COMM in ACS550)
16.01 RUN ENABLE YES (Not sel in ACS550)
16.04 FAULT RESET SEL COMM.CW (COMM in ACS550)
98.02 COMM. MODULE LINK FIELDBUS (COMM PROT SEL and EXT FBA in
ACS550)
98.07 COMM PROFILE GENERIC (in ACS800 only)
51.01 MODULE TYPE CANopen (Read Only)
51.02 NODE ADDRESS 8
51.03 BAUDRATE 1000

51.27 Par. reIresh ReIresh

NOTE: The new settings made in parameter group 51 will take effect only when the
module is powered up the next time or when the module receives a refresh
command in par. 51.27.

As deIault the PDO1 is activated. This must be inactivated and the COB-ID must be set Ior the
Receive PDO6 and the Transmit PDO6. This can be done only in pre-operational state.
The screen shots below show the receive PDO`s and the same must be made to the transmit
PDO`s.



Deactivating PDO1 Receive


Activating PDO 6 Receive



The transmission type must be selected in index 0x1405 subindex 2, in this example it is set to
synchronous data transmission, which means that the updating is triggered by a SYNC object
that must be activated.


Activating the SYNC object

At start-up the module is in pre-operational state and only SDO and NMT commands are
possible. Operational command must be given to the module to activate PDO`s.

The start/stop commands and reIerence are according to DS-402 ProIile. See RCAN-01 User`s
Manual Ior a description oI the CANopen state-machine.
The reIerence value is given in rpm Ior positive direction and rpm Ior negative direction oI
the rotation.


Example 2: ABB DRIVES PROFILE (Transparent)

10.01 EXT1 COMMANDS COMM.CW (COMM in ACS550)
10.02 EXT2 COMMANDS COMM.CW (COMM in ACS550)
11.02 EXT1/EXT2 SEL COMM.CW (COMM in ACS550)
11.03 REF1 SELECT COMM.REF (COMM in ACS550)
16.01 RUN ENABLE COMM.CW (COMM in ACS550)
16.04 FAULT RESET SEL COMM.CW (COMM in ACS550)
98.02 COMM. MODULE LINK FIELDBUS (COMM PROT SEL and EXT FBA in
ACS550)
98.07 COMM PROFILE ABB DRIVES (in ACS800 only)
51.01 MODULE TYPE CANopen (Read Only)
51.02 NODE ADDRESS 8
51.03 BAUDRATE 1000

51.27 Par. reIresh ReIresh

NOTE: The new settings made in parameter group 51 will take effect only when the
module is powered up the next time or when the module receives a refresh
command in par. 51.27.

In this example PDO21 is used (4 words in and 4 words out). If PDO22 and PDO23 are
also used, up to 12 words in/out can be mapped.

As deIault the PDO1 is activated. This must be inactivated and the COB-ID must be set Ior the
Receive PDO21 and the Transmit PDO21. This can be done only in pre-operational state.
The screen shots below show the receive PDO`s and the same must be made to the transmit
PDO`s.



Deactivating PDO1 Receive.


Deactivating PDO1 transmit.



Setting the 0x1614 sub 0 (Number oI entries) to 4



Setting mappedObj1 to 0x20050010
(0x2005transparent control word, 0x00subindex 0, 0x1016bit word)

Setting mappedObj2 to 0x20060010 (transparent reIerence speed)
Setting mappedObj3 to 0x400c0310 (par.1203 constant speed 2) *)
Setting mappedObj4 to 0x400c0410 (par.1204 constant speed 3)

*)
CANopen index drive par group 16384 e.g 12 16384 16396 ~ 0x400c
CANopen subindex drive par index e.g 03 ~ 0x03


Setting the 0x1a14 sub 0 (Number oI entries) to 4

Setting mappedObj1 to 0x20070010
(0x2007transparent status word, 0x00subindex 0, 0x1016bit word)

Setting mappedObj2 to 0x20080010 (transparent actual speed)
Setting mappedObj3 to 0x400c0310 (par.1203 constant speed 2)
Setting mappedObj4 to 0x400c0410 (par.1204 constant speed 3)



Setting the PDO21 receive parameter COB-ID to 0x408



Setting the Transmit COB-ID to 0x388

The control word can be Iound in the receive COB-ID 0x408 Iirst word, second word is speed
reIerence, third word const speed 2 and Iourth word is const speed 3.

The status word can be Iound in the transmit COB-ID 0x388 Iirst word, second word is actual
speed, third word const speed 2 and Iourth word is const speed 3.

At start-up the module is in pre-operational state and only SDO and NMT commands are
possible. Operational command must be given to the module to activate PDO`s.

The start/stop commands and reIerence are according to the ABB Drives ProIile. See
ACS800/ACS550 Firmware manual Ior a description oI the ABB Drives Communication
ProIile.
The reIerence value /- 20000dec corresponds to par.11.05/11.08 (ext reI1 max/ext reI2 max)
Iorward and backwards. The min/max 16 bit integer values that can be given through the
Fieldbus are 32768dec and 32767dec