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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
6-21
Standardised Device
Profile Area
Index
(Hex)
Sub-
index
Name
T
ype
Attri-
bute
Information
6040
0
Control Word
Unsigned16
RW
Data set 1 W
ord 1.
6041
0
Sta
tus W
ord
Unsigned16
RO
Data se
t 2 W
ord 1.
6060
0
Modes of Operatio
n
Integer16
RW
Operati
on mode.
6061
0
Modes of Operation Displ
ay
Integer16
RO
Shows the current
mode of op
eration.
52
54
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
4
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ABB NCAN-02 Specifications
General
Brand
ABB
Model
NCAN-02
Category
Control Unit
Language
English
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