ABB FEPL-02 Ethernet POWERLINK User Manual
  1. Manuals
  2. Brands
  3. ABB Manuals
  4. Adapter
  5. FEPL-02 Ethernet POWERLINK
  6. User manual
ABB FEPL-02 Ethernet POWERLINK User Manual

ABB FEPL-02 Ethernet POWERLINK User Manual

Hide thumbs Also See for FEPL-02 Ethernet POWERLINK:
Table of Contents

Advertisement

Quick Links

Download this manual
—
OPTION FOR ABB DRIVES, CONVERTERS AND INVERTERS
FEPL-02 Ethernet POWERLINK adapter
module
User's manual

Advertisement

Table of Contents
loading

Related Manuals for ABB FEPL-02 Ethernet POWERLINK

Summary of Contents for ABB FEPL-02 Ethernet POWERLINK

  • Page 1 — OPTION FOR ABB DRIVES, CONVERTERS AND INVERTERS FEPL-02 Ethernet POWERLINK adapter module User’s manual...
  • Page 2 Internet. See section Document library on the Internet on the inside of the back cover. For manuals not available in the Document library, contact your local ABB representative. The code below opens an online listing of the manuals applicable to the...

  • Page 3: Effective: 2018

    User’s manual FEPL-02 Ethernet POWERLINK adapter module Table of contents 1. Safety instructions 4. Mechanical installation 5. Electrical installation 6. Start-up 3AUA0000123527 Rev B  2018 ABB Oy All Rights Reserved. EFFECTIVE: 2018-03-16...

  • Page 5: Table Of Contents

    Example topology of the Ethernet POWERLINK link ..22 FEPL-02 Ethernet POWERLINK adapter module ... 23 Layout of the FEPL-02 adapter module ....24 4.
  • Page 6 Speed control using the CiA 402 velocity mode (vl) ..41 Speed and torque control using ABB Drives communication profile......43 Starting up ACSM1 drives .
  • Page 7 State machine ....... . 82 ABB Drives communication profile ..... . . 83 Control word and Status word .
  • Page 8 8 Table of contents 8. Communication protocol What this chapter contains ......91 Ethernet POWERLINK communication cycle .
  • Page 9 Table of contents 9 CiA 402 profile objects ....... 122 12.

  • Page 10: Table Of Contents

    10 Table of contents...

  • Page 11: Safety Instructions

    Safety instructions 11 Safety instructions What this chapter contains The chapter contains 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.

  • Page 12: Safety In Installation

    12 Safety instructions General warning tells you about conditions, other than those caused by electricity, which can cause injury or death, or damage to the equipment. 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.

  • Page 13: About The Manual

    The manual provides information on installing, commissioning and using the FEPL-02 Ethernet POWERLINK adapter module. Applicability This manual applies to the FEPL-02 Ethernet POWERLINK adapter module, software version 1.0 or later. Target audience This manual is intended for people who plan the installation, install, start up, use and service the adapter module.

  • Page 14: Compatibility

    14 About the manual Compatibility The FEPL-02 Ethernet POWERLINK adapter module is compatible with different ABB drives and solar inverters. • ACS355 • ACSM1 • ACH580 • ACS580 • ACS850 • ACQ810 • ACS880. The FEPL-02 Ethernet POWERLINK adapter module is compatible with all master stations that support the Ethernet POWERLINK protocol.

  • Page 15: Related Manuals

    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 FEPL-02 Ethernet POWERLINK 3AUA0000123527 adapter user’s manual...

  • Page 16: Contents

    16 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 Ethernet POWERLINK network and the FEPL- 02 module contains a short description of the Ethernet POWERLINK network and the adapter module.

  • Page 17: Terms And Abbreviations Used In This Manual

    One of the optional fieldbus adapter modules POWERLINK adapter available for ABB drives. FEPL-02 is a device module through which an ABB drive is connected to an Ethernet POWERLINK network. 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.
  • Page 18 18 About the manual Term/abbreviation Explanation Managing Node; A node capable of managing the SCNM mechanism in a POWERLINK network. Object Dictionary A local storage of all communication objects recognized by the device. Open Systems Interconnection. Process Data Object; Used for transmitting time critical data, such as control commands, references and actual values.

  • Page 19: Cybersecurity Disclaimer

    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.
  • Page 20 20 About the manual...

  • Page 21: Overview Of The Ethernet Powerlink Network And The Fepl-02 Module

    POWERLINK network and the FEPL-02 module What this chapter contains This chapter contains a short description of the Ethernet POWERLINK network and the FEPL-02 Ethernet POWERLINK adapter module. Ethernet POWERLINK network Ethernet POWERLINK is a communication profile for Real Time Ethernet.

  • Page 22: Example Topology Of The Ethernet Powerlink Link

    22 Overview of the Ethernet POWERLINK network and the FEPL-02 module The Ethernet POWERLINK network applies the same protocol technology as CANopen. It defines Service Data Objects (SDO), Process Data Objects (PDO) and the Object Dictionary structure to manage the parameters. The Ethernet POWERLINK network may have a star, tree, daisy chain or ring structure.

  • Page 23: Fepl-02 Ethernet Powerlink Adapter Module

    FEPL-02 Ethernet POWERLINK adapter module The FEPL-02 Ethernet POWERLINK adapter module is an optional device for ABB drives which enables the connection of the drive to an Ethernet POWERLINK network. The module is classified as a full Ethernet POWERLINK slave.

  • Page 24: Layout Of The Fepl-02 Adapter Module

    24 Overview of the Ethernet POWERLINK network and the FEPL-02 module  Layout of the FEPL-02 adapter module Description See chapter Lock Mechanical installation Mounting screw Mechanical installation Connector X1 to Ethernet Electrical installation POWERLINK Connector X2 to Ethernet Electrical installation POWERLINK Diagnostic LEDs Diagnostics...

  • Page 25: Mechanical Installation

    Mechanical installation 25 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 FEPL adapter module to the drive. See also, the applicable drive hardware manual.

  • Page 26: Installing The Adapter Module

    26 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 to hold the adapter module in place.
  • Page 27 Mechanical installation 27 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.
  • Page 28 28 Mechanical installation...

  • Page 29: Electrical Installation

    Electrical installation 29 Electrical installation What this chapter contains This chapter contains: • general cabling instructions • instructions on connecting the adapter module to the Ethernet POWERLINK network. WARNING! Obey the safety instructions. See chapter Safety instructions on page 11. If you ignore the safety instructions, injury or death can occur.

  • Page 30: General Cabling Instructions

    30 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 adapter module to the Ethernet POWERLINK network 1. Connect the network cables to the two RJ-45 connectors (X1 and X2) on the adapter module.

  • Page 31: Start-Up

    Start-up 31 Start-up What this chapter contains: This chapter contains: • information on configuring the drive for operation with the adapter module • drive-specific instructions and examples on starting up the drive with the adapter module • example of configuring the master station for communication with the adapter module.

  • Page 32: Drive Configuration

    32 Start-up Drive configuration The following information applies to all drive types compatible with the adapter module, unless otherwise stated.  Ethernet POWERLINK connection configuration After the adapter module has been installed according to the instructions in chapters Mechanical installation Electrical installation, you must prepare the drive for communication with the module.

  • Page 33: Fepl-02 Configuration Parameters - Group A (Group 1)

    Profile Selects the communication profile for the 0 = CiA 402 network connection. 0 = CiA 402 CANopen device profile CiA 402 1 = ABB Drives ABB Drives profile profile 2 = Transparent16 Transparent 16 profile 3 = Transparent32 Transparent 32 profile Node ID Defines the node number of the device.
  • Page 34 34 Start-up Name/Value Description Default T16 scale Defines the reference multiplier/actual value 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 (eg, DCU or FBA) and a 16-bit transparent Reference 1/Actual value 1.
  • Page 35 Start-up 35 Name/Value Description Default X2 MDI/MDIX Defines the cable type connected to the 0 = Auto port. The auto MDI/MDIX detection feature is enabled by default. For each port, you can disable auto MDI/MDIX and designate the port as MDI port or designate the port as MDIX port.
  • Page 36 36 Start-up Name/Value Description Default FBA A/B par table Read-only. Displays the parameter table 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 z = correction number in format axyz, where a = major revision number...
  • Page 37 Start-up 37 Name/Value Description Default FBA A/B comm Read-only. Displays the common program SW ver revision of the adapter module in format axyz, where: a = major revision number xy = minor revision number z = correction number or letter. Common program revision of the adapter module FBA A/B appl SW...

  • Page 38: Fepl-02 Configuration Parameters - Group B (Group 2)

    38 Start-up FEPL-02 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 • parameter group 53 in ACSM1, ACS380, ACS580 and ACS850 •...

  • Page 39: Control Locations

    Start-up 39  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, the adapter module). ABB drives allow the user to separately determine the source for each type of control information (Start, Stop, Direction, Reference, Fault reset, etc.).

  • Page 40: Starting Up Acs355 Drives

    40 Start-up 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 FEPL configuration parameters in group 51. • Select the communication profile with parameter 5102. •...

  • Page 41: Parameter Setting Examples - Acs355

    Start-up 41  Parameter setting examples – ACS355 Speed control using the CiA 402 velocity mode (vl) This example shows how to configure a speed control application that uses the velocity mode (vl) of the CiA 402 profile. When configuring the master, you need to map the following objects to the transmit and receive PDOs.
  • Page 42 42 Start-up Drive parameter Setting for ACS355 Description drives 1001 EXT1 10 = COMM Selects the fieldbus interface as COMMANDS the source of the start and stop commands for external control location 1. 1102 EXT1/EXT2 SEL 0 = EXT1 Enables external control location 1/2 selection through the fieldbus.

  • Page 43: Speed And Torque Control Using Abb Drives Communication Profile

    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.
  • Page 44 44 Start-up Drive parameter Setting for ACS355 Description drives 5103 FB PAR 3 Defines the address of the (NODE ID) device. 3018 COMM FAULT 1 = FAULT Enables fieldbus communication FUNC fault monitoring. 3019 COMM FAULT 3.0 s Defines the fieldbus TIME communication break supervision time.
  • Page 45 Start-up 45 The start sequence for the parameter example above is given below. Control word: • Reset the fieldbus communication fault (if active). • Enter 47Eh (1150 decimal) → READY TO SWITCH ON • Enter 47Fh (1151 decimal) → OPERATING (Speed mode) C7Fh (3199 decimal) →...

  • Page 46: Starting Up Acsm1 Drives

    46 Start-up Starting up ACSM1 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA 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 the adapter module and communication between the adapter module and the drive.

  • Page 47: Parameter Setting Examples - Acsm1

    Start-up 47  Parameter setting examples – ACSM1 Position control with the CiA 402 profile position mode (pp) 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 profile position mode (pp) of the CiA 402 profile.
  • Page 48 48 Start-up The table below gives the recommended drive parameter settings. Drive parameter Setting for ACSM1 Description drives 50.01 FBA ENABLE ENABLE Enables communication between the drive and the fieldbus adapter module. 50.02 COMM LOSS Fault Enables fieldbus communication FUNC fault monitoring.
  • Page 49 Start-up 49 The start sequence for the parameter example above is given below. Control word: • Reset the fieldbus communication fault (if active). • Enter 0Eh (14 decimal) → SWITCH ON DISABLED. • Enter 0Fh (15 decimal) → OPERATION ENABLED. •...

  • Page 50: Starting Up Acs850 Drives

    50 Start-up Starting up ACS850 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA 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 the adapter module and communication between the adapter module and the drive.

  • Page 51: Parameter Setting Examples - Acs850

    Start-up 51  Parameter setting examples – ACS850 Speed control using the CiA 402 velocity mode (vl) This example shows how to configure a speed control application that uses the velocity mode (vl) of the CiA 402 profile. When configuring the master, you need to map the following objects to the transmit and receive PDOs.
  • Page 52 52 Start-up Drive parameter Setting for ACS850 Description drives 10.01 Ext1 start func Selects the fieldbus interface as the source of the start and stop commands for external control location 1. 12.03 Ext1 ctrl mode Speed Selects the speed control mode for external control location EXT1.

  • Page 53: Speed Control Using The Abb Drives Communication

    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 the state machine on page 87. Reference 1 (REF1) value ±20000 (decimal) corresponds to the reference set with parameter 19.01 (Speed scaling) in the forward...
  • Page 54 54 Start-up Drive parameter Setting for ACS850 Description drives 51.02 FBA par2 0 (= CiA 402) Selects the CANopen device (PROFILE) profile CiA 402. 51.03 FBA par3 Defines the address of the (NODE ID) device. 51.27 FBA par refresh Refresh Validates the FEPL configuration parameter settings.

  • Page 55: Starting Up Acs380, Acs580 And Acs880 Drives

    Start-up 55 Starting up ACS380, ACS580 and ACS880 drives 1. Power up the drive. 2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA A enable. The selection must correspond to the slot where the adapter module is installed.

  • Page 56: Parameter Setting Examples - Acs380, Acs580 And Acs880

    This example shows how to configure a speed control application that uses the ABB Drives communication profile. The start/stop commands and reference are according to the ABB Drives profile. For more information, see the state machine on page 87.
  • Page 57 51.01 FBA type 136 = ETH Pwrlink Displays the type of the fieldbus adapter module. 51.02 Profile 1 = ABB Drives profile Selects the ABB Drives profile. 51.03 Node ID Defines the address of the device. 51.27 FBA par refresh...

  • Page 58: Configuring The Master Station

    Ethernet POWERLINK master. The description files contain information on the supported communication objects. Download the XDD file from the Document library (www.abb.com/drives).  Configuring a B&R PLC This example shows how to configure the PLC with B&R Automation Studio PC software, version 3.0.90.18, so that it can be...
  • Page 59 Start-up 59 3. Create or modify the connection settings to reflect the serial connection to the PLC. Then, on the Serial tab, right-click the connection and click Connect. 4. On the File menu, click New Project... to create a new project for your PLC, or click Open Project...

  • Page 60: Adding The .Xdd File

    60 Start-up Adding the .xdd file 1. On the Tools menu, click Import Fieldbus Device..2. Select the correct .xdd file for your drive and click Open.

  • Page 61: Associating The Adapter Module With The Plc

    Start-up 61 3. Wait until the .xdd file has been imported. Associating the adapter module with the PLC When the .xdd file has been imported, add the adapter module to the list of the POWERLINK devices associated with the PLC. 1.
  • Page 62 62 Start-up If the Physical View window is not visible, you can open it by selecting View → Project Explorer → Physical view. The POWERLINK window opens, displaying a list of the devices connected to the Powerlink interface (IF3) of the PLC.
  • Page 63 Start-up 63 2. To add the adapter module, right-click the IF3 list entry, and then click Insert….
  • Page 64 64 Start-up 3. In the Select controller module dialog box, select the entry for the adapter module and your drive, and then click Next >.
  • Page 65 Start-up 65 4. In the Module Parameter dialog box, type the node number of the adapter module, and then click Next >. The adapter module is now displayed in the POWERLINK window, as well as in the Physical View. You can close the POWERLINK window.

  • Page 66: Mapping Objects Required For Controlling The Drive

    66 Start-up Mapping objects required for controlling the drive 1. In the Physical View window, right-click the entry for the adapter module, and then click Open I/O Configuration.
  • Page 67 2. In the I/O Configuration window, choose the objects that you want to map into the PDOs by selecting cyclic transmission types for these objects. The selections displayed in the example below allow you to control the drive and monitor its status using the ABB Drives profile.

  • Page 68: Building A Project And Transfering It To The Plc

    68 Start-up Building a project and transfering it to the PLC 1. On the Project menu, click Build Configuration. 2. In the Project Build dialog box, click Transfer.
  • Page 69 Start-up 69 3. In the Project transfer dialog box, click OK. 4. Wait for the transfer to finish.
  • Page 70 70 Start-up When the transfer is finished, the PLC starts up in the RUN mode.

  • Page 71: Forcing Values

    Start-up 71 Forcing values When Automation Studio is set to the Monitor mode, you can use the window to force values to the control word and speed reference variables. This way, the fieldbus control of the drive can be tested without writing a complete PLC program. 1.
  • Page 72 3. To force values, select the respective check box in the Force column, type the value into the Force Value column, and then press Enter to validate the value. For example, to start the drive using the ABB Drives control word, type values 16#4FF, 16#47E and 16#47F, in this order.

  • Page 73: Communication Profiles

    You can configure the adapter module to provide either the CANopen CiA 402 (Device Profile Drives and Motion Control) profile or the ABB Drives profile. Both are converted to the native profile (eg, DCU or FBA) by the adapter module. In addition, two Transparent profiles –...
  • Page 74 1 (group A) The following sections describe the Control word, the Status word, references and actual values for the CANopen device profile CiA 402 and the ABB Drives communication profile. See the drive manuals for details on the native communication profiles.

  • Page 75: Canopen Device Profile Cia 402

    Communication profiles 75 CANopen device profile CiA 402 The CiA 402 profile is a standardized device profile used for digital controlled motion products (for example, drives) and is part of the CANopen specification. Additional information can be obtained at www.can-cia.org. ...

  • Page 76: Profile Torque Mode

    76 Communication profiles Profile torque mode In the profile torque operation mode, the target torque value is processed via a trajectory generator on the adapter module, which generates a linear ramp on the torque command value to the drive. The torque command value is object 0x6071 Target torque (0.1%). The torque ramp slope is set with object 0x6087 Torque slope (0.1% / s).

  • Page 77: Process Data Scaling

    Communication profiles 77  Process data scaling Torque data Torque data is expressed in 0.1% of nominal torque, eg, value 10 = 1% torque. Velocity data Velocity data is expressed in position increments per second (inc/s). The scaling for the velocity mode is different from other velocity data.

  • Page 78: Control Word And Status Word

    78 Communication profiles  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 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.
  • Page 79 Communication profiles 79 Bit Velocity Profile Profile Profile Homing mode position velocity torque mode mode mode mode Ramp func- Change set Reserved Reserved Reserved tion genera- immediately tor unlock Ramp func- Absolute / Reserved Reserved Reserved tion genera- relative tor use ref. The CiA 402 state machine is controlled by commands issued via Control word bits 7, 3…0.

  • Page 80: Status Word Contents

    80 Communication profiles Status word contents The following table describes the functionality of the Status word of the CiA 402 profile. Name Value Description Ready to switch on Not ready to switch on Ready to switch on Switched on Not switched on Switched on Operation enabled Operation not enabled...
  • Page 81 Communication profiles 81 Name Value Description 14…15 Drive-specific The following table describes the operation mode specific bits of the Status word of the CiA 402 profile: Bit Velocity Profile Profile Profile Homing mode position velocity torque mode mode mode mode Reserved Set-point Speed Reserved Homing...

  • Page 82: State Machine

    82 Communication profiles State machine The state machine for the CiA 402 communication profile is shown below. From any state (13) CW: Control word FAULT REACTION START ACTIVE SW: Status word SW: xxxxxxxxx0xx1111 Power-on, Fault reaction State transition self-initialization completed NOT READY FAULT TO SWITCH ON...

  • Page 83: Abb Drives Communication Profile

    The drive states are presented on page 87. Control word contents The table below shows the contents of the Control word for the ABB Drives communication profile. The upper case boldface text refers to the states shown in the state machine on page 87. Name...
  • Page 84 84 Communication profiles Name Value STATE/Description INHIBIT_ Proceed to OPERATION ENABLED. OPERATION Note: Run enable signal must be active; see drive documentation. If the drive is set to receive the Run enable signal from the fieldbus, this bit activates the signal. Inhibit operation.

  • Page 85: Status Word Contents

    Drive-specific (For information, see the drive documentation.) Status word contents The table below shows the contents of the Status word for the ABB Drives communication profile. The upper case boldface text refers to the states shown in the state machine on page 87.
  • Page 86 86 Communication profiles Name Value STATE/Description ALARM Warning/Alarm No warning/alarm OPERATION. Actual value equals reference SETPOINT (= is within tolerance limits, ie, in speed control, speed error is 10% max. of nominal motor speed). Actual value differs from reference (= is outside tolerance limits).

  • Page 87: State Machine

    Communication profiles 87 State machine The state machine for the ABB Drives communication profile is shown below. SWITCH-ON ABB Drives MAINS OFF INHIBITED (SW Bit6=1) communication Power ON (CW Bit0=0) profile NOT READY TO SWITCH ON (SW Bit0=0) = Control word...

  • Page 88: References

    ABB drives can receive control information from multiple sources including analog and digital inputs, the drive control panel and a communication module (for example, FEPL-02). To have the drive controlled through the fieldbus, the module must be defined as the source for control information, for example, reference.

  • Page 89: Actual Values

    Communication profiles 89  Actual values Actual values are 16-bit words containing information on the operation of the drive. The functions to be monitored are selected with a drive parameter. Scaling Actual values are scaled as shown below. Note: The values of REF1 MAX and REF2 MAX are set with drive parameters.
  • Page 90 90 Communication profiles...

  • Page 91: Communication Protocol

    Communication protocol 91 Communication protocol What this chapter contains This chapter describes the Ethernet POWERLINK communication protocol for the adapter module. Ethernet POWERLINK communication cycle In an Ethernet POWERLINK network, one of the nodes, for example, a PLC, motion controller or industrial PC, is designated to function as the Managing Node (MN), the master in the network.

  • Page 92: Ethernet Powerlink State Machine

    92 Communication protocol An Ethernet POWERLINK cycle consists of three phases. During the start phase, the MN sends a Start of Cycle Frame (SoC) signal to all CNs to synchronize the devices. Payload data exchange then proceeds in the second phase, the isochronous phase. The third phase, the asynchronous phase, allows the transfer of large packets that are not time-critical, for example, parametrization data.

  • Page 93: Nmt_Gs_Communicating

    Communication protocol 93 In the NMT_GS_RESET_CONFIGURATION substate, the node address of the device is identified, and it is determined whether the device is configured as a MN or CN. The FEPL-02 module is a CN, and thus, it enters the NMT CN state machine in the NMT_GS_COMMUNICATING superstate.

  • Page 94: The Nmt_Cs_Preoperational States

    94 Communication protocol The NMT_CS_PREOPERATIONAL states NMT_CS_PREOPERATIONAL_1 is one of the substates in the superstate NMT_CS_EPL_MODE. Transition from NMT_CS_NOT_ACTIVE to NMT_CS_PRE_OPERATIONAL_1 is triggered by a SoA or SoC frame being received. In this state, the CN may send a frame only if the MN has authorized it to do so by a SoA command.

  • Page 95: Nmt_Cs_Stopped

    Communication protocol 95 NMT_CS_STOPPED This state is used for the controlled shutdown of a selected CN while the system is still running. In this state, the CN does not participate in cyclic frame exchange, but it still observes SoA frames. NMT_GS_INITIALISATION NMT_CS NMT CN State Machine...

  • Page 96: Ds 301 And Ds 402 Specification

    96 Communication protocol DS 301 and DS 402 specification The application layer communication protocol in the FEPL-02 module is based on the CANopen DS 301 communication profile and DS 402 device profile for drives and motion control. The protocol specifies the Object Dictionary in the adapter module, as well as communication objects for exchanging process data and acyclic messages.

  • Page 97: Service Data Objects

    Communication protocol 97 The Rx PDO is mapped by writing to the 0x1600 object. By default, there is no parameter mapped to the Rx PDO. Choose which parameters are exchanged by the Rx PDO. Note: The maximum number of I/O parameters that can be simultaneously mapped for cyclic communication depends on the drive type and application.

  • Page 98: Network Management Services

    98 Communication protocol Network Management Services Ethernet POWERLINK Network Management (NMT) is node- oriented and follows a master/slave relationship. The adapter module is administered as an NMT slave by the master. Ethernet POWERLINK defines five categories of NMT services: • NMT State Command Services •...

  • Page 99: Error Entry Specification

    Communication protocol 99 The StatusResponse service is used by the MN to query the current status of CNs that are not communicating isochronously. It is used for error signaling in runtime. If an error occurs, the EN (Error New) flag in the PRes frame is toggled. This notifies the MN that an error has occurred, and the MN polls the CN for a StatusResponse that includes error information.
  • Page 100 100 Communication protocol...

  • Page 101: Diagnostics

    Diagnostics 101 Diagnostics What this chapter contains This chapter explains how to trace faults with the status LEDs on the adapter module. Fault and warning messages For the fault and warning messages concerning the adapter module, see the drive firmware manual.

  • Page 102: Led Indications

    Connection to host OK Blinking red Communication to host lost temporarily HOST Flashing orange, Internal file system error. The error may alternating with be cleared by cycling drive power. If the the MODULE error persists, contact your local ABB flashing orange representative.
  • Page 103 Blinking green NMT_CS_STOPPED Error Flashing orange, Internal file system error. The error may be cleared by cycling drive power. If the alternating with error persists, contact your local ABB the HOST representative. flashing orange Blinking green TX/RX activity Green Link(s) are active.
  • Page 104 104 Diagnostics...

  • Page 105: Technical Data

    Technical data 105 Technical data What this chapter contains This chapter contains the technical specifications of the adapter module and the Ethernet POWERLINK link.

  • Page 106: Fepl-02

    106 Technical data FEPL-02 The figure below shows the enclosure of the adapter module from the front and side. Installation Into an option slot on the drive control unit. Degree of protection IP20 Ambient conditions The applicable ambient conditions specified for the drive in its manuals are in effect.

  • Page 107: Ethernet Powerlink Link

    Technical data 107 Ethernet POWERLINK link Compatible devices All Ethernet POWERLINK compliant devices. Medium 100Base-TX • Wiring: CAT 5 UTP, CAT 5 FTP* or CAT 5 STP* (*Recommended) • Connector: RJ-45 • Termination: Internal • Maximum segment length: 100 m Topology Star, tree, or daisy chain Transfer rate...
  • Page 108 108 Technical data...

  • Page 109: Appendix A - Canopen Object Dictionary

    Appendix A – CANopen Object Dictionary 109 Appendix A – CANopen Object Dictionary What this chapter contains The CANopen Object Dictionary contains all the configuration data of the adapter module. Object Dictionary structure The objects in the Object Dictionary can be accessed with SDO services, and many of the dictionary objects can be mapped for cyclic communication in PDOs.
  • Page 110 110 Appendix A – CANopen Object Dictionary Explanations for the abbreviations in the columns of the tables are given below: Index Object index (hex) Subindex (hex) Type Data type • U64 = 64-bit unsigned integer • U32 = 32-bit unsigned integer (0 … 2 - 1) •...

  • Page 111: Communication Profile Objects

    Appendix A – CANopen Object Dictionary 111 Communication profile objects The objects in the communication profile section describe the basic Ethernet POWERLINK properties of the adapter module. The objects are described in the following table. Index Name Type Acc. Def. Information 1000 Device type...
  • Page 112 112 Appendix A – CANopen Object Dictionary Index Name Type Acc. Def. Information 1008 Device name VSTR Device name. The constant string is FEPL-02 and <drive name>. 1009 Hardware VSTR Board revision, eg, A version 100A Software VSTR Firmware name and version version 1010 Store...
  • Page 113 Def. Information 1018 Identity Number of entries Range: 1…4 Vendor ID Value 0xB7 = ABB Drives Product code Product code read from the drive. Eg, value 0x1F7 = ACS355, 0x20A = ACSM1 speed, 0x20B = ACSM1 motion, 0x21C = ACS850, 0x259 = ACS880.
  • Page 114 114 Appendix A – CANopen Object Dictionary Index Name Type Acc. Def. Information 1030 Interface Number of entries Group Interface Interface index of the physical Index interface. Always 1. Interface VSTR Textual string containing Description information about the interface Interface 1 = Other Type 6 = Ethernet CSMA/CD...
  • Page 115 Appendix A – CANopen Object Dictionary 115 Index Name Type Acc. Def. Information 1400 Receive PDO Number of entries Communica- tion Node ID Node ID of the node transmitting the corresponding PRes. Range: 0…254 Mapping version 1600 Receive PDO Number of mapped application Mapping objects.
  • Page 116 116 Appendix A – CANopen Object Dictionary Index Name Type Acc. Def. Information 1C0B Loss of SoC Number of entries. Range: 0…3 Cumulative Increased by 1 every time a count loss of SoC is detected. Threshold Increased by 8 every time a count loss of SoC is detected, decreased by 1 on every...
  • Page 117 Appendix A – CANopen Object Dictionary 117 Index Name Type Acc. Def. Information 1F83 EPL version Always 0x20 1F8C Current NMT state 1F93 EPL Node ID Number of entries. Range: 2…3 Node ID Currently active node ID. Range: 1…240, 253, 254 Node ID by BOOL Always 1...
  • Page 118 118 Appendix A – CANopen Object Dictionary Index Name Type Acc. Def. Information Pres Act Configured PRes payload data Payload Limit slot size in octets sent by the The payload data slot size plus headers gives the size of the PRes frame.

  • Page 119: Manufacturer-Specific Profile Objects

    Appendix A – CANopen Object Dictionary 119 Manufacturer-specific profile objects The manufacturer-specific profile objects contain the control and status words, references and actual values for the ABB Drives profile and the Transparent profiles, as well as diagnostic data. The objects are described in the following table.
  • Page 120 120 Appendix A – CANopen Object Dictionary Index Name Type Access Information 2201 Vendor-specific fault code 2203 Vendor-specific fault code...

  • Page 121: Actual Signals And Parameters Of The Drive

    Appendix A – CANopen Object Dictionary 121 Actual signals and parameters of the drive 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.

  • Page 122: Cia 402 Profile Objects

    122 Appendix A – CANopen Object Dictionary CiA 402 profile objects The CiA 402 profile objects describe objects for monitoring and controlling frequency controllers. The objects are described in the following table. Index Name Type Acc. Def. Information 603F Error code CiA 402 error code of the last error which occurred in the drive.
  • Page 123 Appendix A – CANopen Object Dictionary 123 Index Name Type Acc. Def. Information 6046 vi velocity min Minimum and maximum max amount velocity absolute value settings for the velocity operation mode (vl) min abs Velocity absolute value velocity minimum max abs Velocity absolute value velocity maximum...
  • Page 124 124 Appendix A – CANopen Object Dictionary Index Name Type Acc. Def. Information 605C Disable 0 = coast stop operation 1 = ramp stop (default) code 605D Halt option vl mode. code 1 = force ramp generator input to zero (default) 2…4 = force ramp generator output to zero Note: Halt does not cause the...
  • Page 125 Appendix A – CANopen Object Dictionary 125 Index Name Type Acc. Def. Information 6076 Motor rated Nominal torque of the motor in torque 6077 Torque actual Operational when torque value feedback is available from the drive 6078 Current actual Actual output current value 607A Target position...
  • Page 126 126 Appendix A – CANopen Object Dictionary Index Name Type Acc. Def. Information 60FE Digital outputs Number of entries Physical Drive-specific outputs Bitmask Drive-specific 60FF Target velocity Effective in the profile velocity (pv) operation mode...

  • Page 127: Appendix B - Canopen Error Codes

    Appendix B – CANopen error codes 127 Appendix B – CANopen error codes What this chapter contains This chapter contains a list of the CANopen error codes. Error codes Error codes can be read from objects 0×2201 and 0×603F (hex). Additionally, the MN can query the status of the CN with the StatusResponse service.
  • Page 128 128 Appendix B – CANopen error codes Error code (hex) Meaning 2121 Earth leakage phase L1 2122 Earth leakage phase L2 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...
  • Page 129 Appendix B – CANopen error codes 129 Error code (hex) Meaning 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...
  • Page 130 130 Appendix B – CANopen error codes Error code (hex) Meaning 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...
  • Page 131 Appendix B – CANopen error codes 131 Error code (hex) Meaning 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...
  • Page 132 132 Appendix B – CANopen error codes Error code (hex) Meaning 5454 S4 = manufacturer specific 5455 S5 = manufacturer specific 5456 S6 = manufacturer specific 5457 S7 = manufacturer specific 5458 S8 = manufacturer specific 5459 S9 = manufacturer specific 5500 Data storage 5510...
  • Page 133 Appendix B – CANopen error codes 133 Error code (hex) Meaning 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...
  • Page 134 134 Appendix B – CANopen error codes Error code (hex) Meaning 8500 Position controller 8600 Positioning controller 8611 Following error 8612 Reference limit 8700 Sync controller 8800 Winding controller 9000 External error F000 Additional functions F001 Deceleration F002 Sub-synchronous run F003 Stroke operation F004...

  • Page 135: Appendix C - Identresponse Frame

    Appendix C – IdentResponse Frame 135 Appendix C – IdentResponse Frame What this chapter contains This chapter contains the contents of the IdentResponse Frame.

  • Page 136: Nmt Service Slot Structure Of Identresponse

    136 Appendix C – IdentResponse Frame NMT Service Slot structure of IdentResponse Octet offset Bit offset NMTStatus Reserved EPLVersion Reserved 6…9 FeatureFlags 10…11 12…13 PollInSize 14…15 PollOutSize 16…19 ResponseTime 20…21 Reserved 22…25 DeviceType 26…29 VendorID 30…33 ProductCode 34…37 RevisionNumber 38…41 SerialNumber 42…49 VendorSpecificExtension1...

  • Page 137: Nmt Service Slot Data Fields Of Identresponse

    Appendix C – IdentResponse Frame 137 NMT Service Slot data fields of IdentResponse Field Abbr. Description Priority Flags: Indicates the priority of the requested asynchronous frame (see 4.2.4.1.2.3) RequestToSend Flags: Indicates the number of pending requests to send at the CN. The value C_DLL_MAX_RS indicates C_DLL_MAX_RS or more requests, 0 indicates no pending requests.
  • Page 138 138 Appendix C – IdentResponse Frame Field Abbr. Description DeviceType Reports the CN’s Device Type. (NMT_DeviceType_U32) VendorID Reports the CN’s Vendor ID, index. (NMT_IdentityObject_REC.Vendorid_ U32) ProductCode prdc Reports the CN’s Product Code, index. (NMT_IdentityObject_REC.ProductCo de_U32) RevisionNumber Reports the CN’s Revision Number. (NMT_IdentityObject_REC.RevisionN o_U32) SerialNumber...
  • Page 139 Appendix C – IdentResponse Frame 139 Field Abbr. Description IPAddress Reports the current IP address value of the CN. (NWL_IpAddrTable_Xh_REC.Addr_IP SubnetMask Reports the current IP subnet mask value of the CN. (NWL_IpAddrTable_Xh_REC.NetMas k_IPAD) DefaultGateway Reports the current IP default gateway value of the CN. (NWL_IpAddrTable_Xh_REC.DefGat eway_IPAD) HostName...
  • Page 140 140 Appendix C – IdentResponse Frame...

  • Page 141: Further Information

    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.
  • Page 142 3AUA0000123527B © Copyright 2018 ABB. All rights reserved. Specifications subject to change without notice.

Table of Contents