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ABB RECA-01 User Manual

Manual is about: EtherCAT Adapter Module RECA-01

Summary of RECA-01

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    Abb drives user’s manual ethercat® adapter module reca-01.

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    Ethercat® is registered trademark and patented technology, licensed by beckhoff automation gmbh, germany..

  • Page 3: User’S Manual

    Ethercat® adapter module reca-01 user’s manual 3aua0000043520 rev b en effective: 2010-04-23 © 2010 abb oy. All rights reserved..

  • Page 5: Safety Instructions

    Safety instructions 5 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 a...

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    Safety instructions 6.

  • Page 7: Table of Contents

    Table of contents 7 table of contents safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 what this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 general safety instructions . . . . . . . . ....

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    Table of contents 8 quick start-up guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 mechanical installation . . . . . . . . . . . . . . . . ...

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    Table of contents 9 control word and status word of the dsp 402 profile . . . . . . . . . . . . . . . . 34 reference of the dsp 402 profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 actual value of the dsp 402 profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....

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    Table of contents 10 coe object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 communication profile objects . . . . . . . . . . . . . ...

  • Page 11: Introduction

    Introduction 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 ex...

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    Introduction 12 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. Mec...

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    Introduction 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 co...

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    Introduction 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 www.Abb.Com/drives and selecting...

  • Page 15: Overview

    Overview 15 overview what this chapter contains this chapter contains a short description of the ethercat® protocol and the reca-01 ethercat® adapter module, a delivery checklist and warranty information. Ethercat ethercat® is a real time ethernet technology which aims to maximize the utilization of...

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    Overview 16 • 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 • reset a drive fa...

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    Overview 17 compatibility the reca-01 module is compatible with all master stations that support the ethercat® protocol. Delivery check the option package for the reca-01 ethercat® adapter module contains: • ethercat® adapter module, type reca-01 • two screws (m3x10) • this manual. Warranty and liab...

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    Overview 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 a...

  • Page 19: Quick Start-Up Guide

    Quick start-up guide 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 • insert the reca-01 i...

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    Quick start-up guide 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 information on the co...

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    Quick start-up guide 21 example configuration with acs800 using the dsp 402 profile master system configuration this section guides the user to configure the reca-01 module in the ethercat® network using beckhoff's twincat system manager. If you are using another master system, consult its manual fo...

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    Quick start-up guide 22 figure 2. Scan boxes in twincat • 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: • if you are using the dsp 402 communication profil...

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    Quick start-up guide 23 figure 3. Configuring process data in twincat • the configuration will be transferred to the module when its state is changed 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..

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    Quick start-up guide 24.

  • Page 25: Mechanical Installation

    Mechanical installation 25 mechanical installation what this chapter contains 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. Mounting the reca-01 module is to be insert...

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    Mechanical installation 26.

  • Page 27: Electrical Installation

    Electrical installation 27 electrical installation what this chapter contains this chapter contains • general cabling instructions • 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. Sw...

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    Electrical installation 28.

  • Page 29: Drive Configuration

    Drive configuration 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 configuration after the reca-01 ethercat® adapter module has been mechanically and electrically installed acc...

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    Drive configuration 30 the reca-01 configuration parameters 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 transparen...

  • Page 31: Master Configuration

    Master configuration 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 insta...

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    Master configuration 32.

  • Page 33: Communication Profiles

    Communication profiles 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 comman...

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    Communication profiles 34 bit-coded instructions in the control word, and returns status information to the master in the status word. Supported mode of operation the dsp 402 profile offers a choice of several modes of operation. These modes define the operation of the drive. Reca-01 supports veloci...

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    Communication profiles 35 operation of bits 0…3 and 7 of the dsp 402 control word x: bits marked with x are irrelevant * see figure state machine, dsp 402 communication profile on page 38. 6 ramp function generator use ref. 0 ramp function generator input value is set to zero. 1 normal operation: ra...

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    Communication profiles 36 ** 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 bit name value description 0 ready to switch on 0 not ready to switch on 1 ready to switch on...

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    Communication profiles 37 * 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. 12…13 reserved 14 drive specific 0 acx550: external control location ex...

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    Communication profiles 38 figure 4. State machine, dsp 402 communication profile cw: xxxxxxxx1xxxxxxx from any state fault reaction active sw: xxxxxxxxx0xx1111 fault reaction completed fault sw: xxxxxxxxx0xx1000 start power-on, self-initialisation not ready sw: xxxxxxxxx0xx0000 to switch on initiali...

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    Communication profiles 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 ca...

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    Communication profiles 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 drive...

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    Communication profiles 41 3 inhibit_ operation 1 proceed to operation enabled. Note: run enable signal must be active; see the drive manuals. If the drive is set to receive the run enable signal from the fieldbus, this bit activates the signal. 0 inhibit operation. Proceed to operation inhibited. 4 ...

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    Communication profiles 42 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 . 10 remote_ cmd 1 fieldbus control enabled 0 control word 0 or...

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    Communication profiles 43 4 off_2_sta 1 off2 inactive 0 off2 active 5 off_3_sta 1 off3 inactive 0 off3 active 6 swc_on_ inhib 1 switch-on inhibited 0 – 7 alarm 1 warning/alarm 0 no warning/alarm 8 at_ setpoint 1 operating. Actual value equals reference = is within tolerance limits, i.E. In speed con...

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    Communication profiles 44 figure 5. State machine, abb drives communication profile mains off power on (cw bit0=0) (sw bit6=1) (sw bit0=0) from any state (cw=xxxx x1xx xxxx x110) (sw bit1=1) n(f)=0 / i=0 (sw bit2=0) a b c d (cw bit3=0) operation inhibited off1 (cw bit0=0) (sw bit1=0) (sw bit0=1) (cw...

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    Communication profiles 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 ...

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    Communication profiles 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 0...

  • Page 47: Communication

    Communication 47 communication 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 ethe...

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    Communication 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 physical read (aprd) • auto increment physical write (apwr) • auto increment physical read wri...

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    Communication 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 m...

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    Communication 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 0x1c13 (hex). Watchdogs the reca-01 module provides two watchdogs, with which the functionality of the module and connection can be monitored. The wat...

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    Communication 51 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. After t...

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    Communication 52 • process data object (pdo) •the pdo object is used for cyclic i/o communication, i.E. Process data. • 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...

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    Communication 53 default receive pdo mapping default transmit pdo mapping 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...

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    Communication 54 format of the pdo mapping (example for drive parameter 12.02) 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...

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    Communication 55 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 ...

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    Communication 56.

  • Page 57: Diagnostics

    Diagnostics 57 diagnostics led indications the reca-01 module is equipped with four diagnostic leds. The description of the leds is presented below. Name function led 1: link / act ivit y 1 off: no link green: module is connected to ethernet flickering: there is traffic on ethernet the green etherca...

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    Diagnostics 58 the red ethercat error led indicates the presence of any errors. Led 3: etherca t error 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 0×01 ...

  • Page 59: Coe Object Dictionary

    Coe object dictionary 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 communica...

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    Coe object dictionary 60 0×1010 0 store parameters u8 ro largest supported subindex. If the value of bit 0 of the subindexes is 1, the device saves parameters on command. Parameters can be saved by writing 0x65766173 ("evas") to the relevant subindex. 1 save all parameters u32 rw stores all paramete...

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    Coe object dictionary 61 0×1011 0 restore default parameters u8 ro largest supported subindex. Default parameters can be restored by writing 0x64616f6c ("daol") to the relevant sub index. 1 restore all parameters u32 rw restore all parameters. 2 restore communication (objects 0×1000… 0×1a16) paramet...

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    Coe object dictionary 62 0×1600 0 receive pdo1 mapping u8 rw number of mapped application objects (0…8). 1 mapped object #1 u32 rw default: 0×6040 control word n mapped object #n u32 rw mapped objects 3…8 are empty by default. 0×1605 0 receive pdo6 mapping u8 rw number of mapped application objects ...

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    Coe object dictionary 63 0×1a05 0 transmit pdo6 mapping u8 rw number of mapped application objects (0…8). 1 mapped object #1 u32 rw default: 0×6041 status word 2 mapped object #2 u32 rw default: 0×6044 vi velocity actual value n mapped object #n u32 rw mapped objects 3…8 are empty by default. 0×1a14...

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    Coe object dictionary 64 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 tabl...

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    Coe object dictionary 65 manufacturer specific profile objects index (hex) sub- index name type attri- bute information 0×2001 0 velocity control parameter set u8 ro number of entries 1 gain u16 rw unit: 0.01 2 integration time constant u16 rw unit: 0.1 s 3 derivation time constant u16 rw unit: 0.1 ...

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    Coe object dictionary 66 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 appli...

  • Page 67

    Coe object dictionary 67 drive data sets 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 ...

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    Coe object dictionary 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 subinde...

  • Page 69

    Coe object dictionary 69 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 subindex 0 = number of mapped objects. (1 u16, int16,...

  • Page 70

    Coe object dictionary 70 0×6048 0 vi velocity acceleration int8 ro number of entries slope of the acceleration ramp = delta speed / delta time. 1 delta speed u32 rw 2 delta time u16 rw 0×6049 0 vi velocity deceleration int8 ro number of entries slope of the deceleration ramp = delta speed / delta ti...

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    Coe object dictionary 71 0×6061 0 modes of operation display int8 ro a read only copy of object 0×6060 0×6078 0 current actual value int16 ro the actual output current index (hex) sub- index name type attri- bute information.

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    Coe object dictionary 72.

  • Page 73: Coe Error Codes

    Coe error codes 73 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 0×200b and 0×603f (hex). Additionally, when the error occurs, an emcy object containing the code is transmitted t...

  • Page 74

    Coe error codes 74 2131 short circuit phases l1-l2 2132 short circuit phases l2-l3 2133 short circuit phases l3-l1 2200 internal current 2211 internal current no. 1 2212 internal current no. 2 2213 overcurrent in ramp function 2214 overcurrent in the sequence 2220 continuous overcurrent 2221 continu...

  • Page 75

    Coe error codes 75 3112 mains overvoltage phase l2 3113 mains overvoltage phase l3 3120 mains undervoltage 3121 mains undervoltage phase l1 3122 mains undervoltage phase l2 3123 mains undervoltage phase l3 3130 phase failure 3131 phase failure l1 3132 phase failure l2 3133 phase failure l3 3134 phas...

  • Page 76

    Coe error codes 76 4000 temperature 4100 ambient temperature 4110 excess ambient temperature 4120 too low ambient temperature 4130 temperature supply air 4140 temperature air outlet 4200 temperature device 4210 excess temperature device 4220 too low temperature device 4300 temperature drive 4310 exc...

  • Page 77

    Coe error codes 77 5300 operating unit 5400 power section 5410 output stages 5420 chopper 5430 input stages 5440 contactors 5441 contactor 1 = manufacturer specific 5442 contactor 2 = manufacturer specific 5443 contactor 3 = manufacturer specific 5444 contactor 4 = manufacturer specific 5445 contact...

  • Page 78

    Coe error codes 78 ... From 2…14 corresponding 630f data record no. 15 6310 loss of parameters 6320 parameter error 6330 ethercat® module configuration error 7000 additional modules 7100 power 7110 brake chopper 7111 failure brake chopper 7112 overcurrent brake chopper 7113 protective circuit brake ...

  • Page 79

    Coe error codes 79 8000 monitoring 8100 communication 8300 torque control 8311 excess torque 8312 difficult start up 8313 standstill torque 8321 insufficient torque 8331 torque fault 8400 rotational speed controller 8500 position controller 8600 positioning controller 8611 following error 8612 refer...

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    Coe error codes 80

  • Page 81

    Definitions and abbreviations 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...

  • Page 82

    Definitions and abbreviations 82.

  • Page 83: Technical Data

    Technical data 83 technical data what this chapter contains this chapter contains the technical specifications of the reca-01 ethercat® adapter module. Reca-01 enclosure: figure 8. Enclosure of reca-01 mounting: into an option slot on the control board of the drive. Degree of protection: ip20 ambien...

  • Page 84

    Technical data 84 connectors: • 34-pin parallel bus connector • 2 rj-45 connectors (x1 and x2) current consumption: • 290 ma average (5 v), supplied by the drive control board. General: • estimated min. Lifetime: 100 000 h • all materials are ul/csa approved. • complies with emc standards en 50081-2...

  • Page 85: Further Information

    Further information product and service 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 www.Abb.Com/drives an...

  • Page 86

    Abb oy ac drives p.O. Box 184 fi-00381 helsinki finland telephone +358 10 22 11 fax +358 10 22 22681 internet www.Abb.Com abb inc. Automation technologies drives & motors 16250 west glendale drive new berlin, wi 53151 usa telephone 262 785-3200 800-help-365 fax 262 780-5135 abb beijing drive systems...