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ABB
Control Unit
NCAN-02
ABB NCAN-02 User Manual
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Chapter 6 – Communicatio
n
NCAN-02 Installation and Start-up
Guide
6-11
The CANopen S
tate
Machine
CW: xxxxxxxx1xxx
xxxx
from any state
FAULT REACTI
ON
ACTIVE
SW: xxxxxxxxx0xx1111
Fault reaction
completed
FAULT
SW: xxxxxxxxx0xx1000
START
Power-on,
self-initialisation
NOT READY
SW: xxxxxxxxx0xx0000
TO SWITCH ON
Initialised
successfully
SWITCH-ON
SW: xxxxxxxxx1xx0000
DISABLED
READY TO
SW: xxxxxxxxx01x0001
SWITCH ON
CW: xxxxxxxxxx
xxx01x
CW: xxxxxxxxx
xxxx110
SWITCHED ON
SW: xxxxxxxxx01x0011
CW: xxxxxxxxxx
xxx110
CW: xxxxxxxxxx
xxx111
CW: xxxxxxxxx
xxxx01x
or
CW: xxxxxxxxx
xxxxx0x
OPERATION
SW: xxxxxxxxx01x0111
CW: xxxxxxxxxxxx0111
CW: xxxxxxxxxxxx1111
ENABLED
CW: xxxxxxxxxxx
xx110
QUICK STOP
SW: xxxxxxxxx0xx0111
ACTIVE
Quick stop
completed
CW: xxxxxxxxxx
xxx01x
CW: xxxxxxxxxxx
xxx0x
CW: Control Word
SW: Status Word
42
44
Table of Contents
Default Chapter
5
Safety Instructions
5
Warnings and Notes
5
General Safety Instructions
6
Table of Contents
7
Chapter 1 - Introduction to this Guide
11
Overview
11
Intended Audience
11
What this Guide Contains
11
Terms and Abbreviations Used in this Guide
12
Chapter 2 - Overview
15
Overview
15
Canopen
15
The NCAN-02 Canopen Adapter Module
16
Compatibility
17
Delivery Check
17
Warranty and Liability Information
17
Chapter 3 - Mechanical Installation
19
Overview
19
Mounting Outside the Drive
19
Mounting Inside the Drive
20
Chapter 4 - Electrical Installation
21
Overview
21
General Cabling Instructions
21
Earthing the Module
21
DIP Switch Settings
22
NCAN-02 Connections
24
Drive Connection
24
Canopen Connection
25
Chapter 5 - Programming
27
Overview
27
Configuring the CAN Controller and Network
27
Configuring the Drive
27
Control Locations
31
Chapter 6 - Communication
33
Overview
33
CAN Data Frame
33
NCAN-02 Boot-Up Sequence
34
Process Data Objects (PDO)
36
PDO1 Rx
37
PDO1 Tx
38
PDO2 Rx
39
PDO2 Tx
40
PDO3 Rx
40
PDO3 Tx
41
PDO4 Rx
41
PDO4 Tx
42
The Canopen State Machine
43
Service Data Objects (SDO)
44
The NCAN Object Dictionary
45
Communication Profile Area
45
Manufacturer-Specific Profile Area
50
Standardised Device Profile Area
53
Chapter 7 - Diagnostics
55
Overview
55
Status Leds
55
Appendix A - Canopen Error Codes
57
Acs 400
58
ACS 600 - Standard Application Prg. V2.8/3.0
61
ACS 600 - Motion Control Application Prg
62
ACS 600 - Crane Application Program
63
Acs 1000
64
Dcs 400
64
Dcs 500
65
Dcs 600
66
Appendix B - Technical Data
67
DDCS Link
67
Canopen Network
68
Appendix C - Ambient Conditions
71
Ambient Conditions, Operation
71
Ambient Conditions, Storage
71
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ABB NCAN-02 Specifications
General
Brand
ABB
Model
NCAN-02
Category
Control Unit
Language
English
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