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Description
This chapter states the safety instructions that must be followed when
installing and operating the NCAN-02 CANopen Adapter Module.
The material in this chapter must be studied before attempting any
work on, or with, the unit.
ABB CANopen Adapter Module NCAN-02
CAN Controller Area Network.
CiA CAN in Automation International Users and Manufacturers Group.
CMS CAN Message Specification; one of the service elements of the CAN
Application Layer in the CAN Reference Model.
COB Communication Object; a unit of transportation on a CAN network.
Data is sent across a network inside a COB. The COB itself is part of
the CAN message frame.
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
drive documentation).
Data Sets and
Data Words
Data sets are clusters of data sent through the DDCS link between the
NCAN-02 Adapter Module and the drive. Each data set consists of
three 16-bit words, i.e. data words. The Control Word (sometimes
called the Command Word) and the Status Word, References and
Actual Values (see Chapter 6) are types of data words; the contents of
some data words are user-definable.
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 through your local ABB
representative. A listing of an EDS file can also be found in Chapter 5.
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.
NCAN-02 CANopen
Adapter Module
The NCAN-02 Adapter Module is one of the optional fieldbus adapter
modules available for ABB drives. The NCAN-02 is a device through
which the drive is connected to a CANopen serial communication bus.
NMT Network Management; one of the service elements of the CAN
Application Layer in the CAN Reference Model. It performs
initialisation, configuration and error handling on a CAN network.
Object Dictionary A local storage of all Communication Objects (COB) recognised by a
device.
OSI Open Systems Interconnection.
Parameter A parameter is an operating instruction for the drive. Parameters can
be read and programmed with the drive control panel, or through the
NCAN-02 Module.
PDO Process Data Object; a type of COB. 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; a type of COB. Used for transmitting non-time critical data, such as parameters.
This chapter contains a short description of the CANopen protocol and
the NCAN-02 Adapter Module, a delivery checklist, and warranty
information.
CANopen CANopen is a higher-layer protocol based on the CAN (Control Area
Network) serial bus system and the CAL (CAN Application Layer).
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 DS-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 NCAN-02 fulfils CiA
(CAN in Automation) standard DSP-402 (Drives and Motion Control),
supporting the ‘Manufacturer Specific’ operating mode only.
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 as follows:
The maximum theoretical number of nodes is 127. However, in
practice, the maximum number depends on the capabilities of the CAN
transceivers used.
Further information can be obtained from the CAN in Automation
International Users and Manufacturers Group (www.can-cia.de).
Baud Rate Max. Bus
Length Baud Rate Max. Bus
Length
1 Mbit/s 25 m 125 kbit/s 500 m
800 kbit/s 50 m 50 kbit/s 1000 m
500 kbit/s 100 m 20 kbit/s 2500 m
250 kbit/s 250 m 10 kbit/s 5000 m
The NCAN-02
CANopen Adapter
Module
The NCAN-02 CANopen Adapter Module is an optional device for
ABB drives which enables the connection of the drive to a CANopen
system. Through the NCAN-02 Module it is possible to:
• Give control commands to the drive
(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
• Read status information and actual values from the drive
• Change drive parameter values
• Reset a drive fault.
The communication objects and functions supported by the NCAN-02
are discussed in Chapter 6.
The adapter module is mounted onto a standard mounting rail inside or
outside the drive unit, depending on drive type and configuration. See
the drive manuals for module placement options.
Figure 4-1 The construction of the CANopen network and the face of
the NCAN-02 Module.
Screw terminal block X1
for external power supply connection
Fibre optic connectors
for drive connection:
TXD = Transmitter
RXD = Receiver
ABB Drive
ABB Drive
CAN Nodes
Status LEDs
(For descriptions see Chapter 7)
NCAN-02 CANopen ADAPTER
MS
0V UC EXT
SHLD CAN_L GND CAN_H
RESET
TXD
RXD
5 678
1234
Reset Button
for initialisation of module
Screw terminal block X2
for bus cable connection
(For descriptions see Chapter 4)
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