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ABB CANopen Adapter Module NCAN-02

Telephone:+86-15305925923

contacts:Mr.Wang

Email:wang@kongjiangauto.com

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.

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Telephone:+86-15305925923
contacts:Mr.Wang
Email:wang@kongjiangauto.com

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

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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