ABB Drives

User’s Manual
ControlNet Adapter Module
RCNA-01
 ControlNet Adapter Module
RCNA-01

User’s Manual

3AFE64506005 Rev B
EN
EFFECTIVE: 21.10.2008

© 2008 ABB Oy. All Rights Reserved.

 5

Safety instructions

Overview
This chapter states the general safety instructions that must be
followed when installing and operating the RCNA-01 ControlNet
Adapter module.
The material in this chapter must be studied before attempting any
work on the unit.
In addition to the safety instructions given below, read the
complete safety instructions of the specific drive you are working
on.

General safety instructions

WARNING! All electrical installation and maintenance work on the
drive should be carried out by qualified electricians.
The drive and adjoining equipment must be properly earthed.
Do not attempt any work on a powered drive. After switching off
the mains, always allow the intermediate circuit capacitors to
discharge for 5 minutes before working on the frequency
converter, the motor or the motor cable. It is good practice to
check (with a voltage indicating instrument) that the drive is in fact
discharged before beginning work.
The motor cable terminals of the drive are at a dangerously high
voltage when mains power is applied, regardless of motor
operation.
There can be dangerous voltages inside the drive from external
control circuits even when the drive mains power is shut off.
Exercise appropriate care when working on the unit. Neglecting
these instructions can cause physical injury or death.

Safety instructions
6

Safety instructions
 7

Table of contents

Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Table of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Intended audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
What this manual contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Conventions used in this guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . 13

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Network overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
The RCNA-01 ControlNet Adapter module . . . . . . . . . . . . . . . . . . . . . . . . . 16
Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Delivery check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Warranty and liability information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Table of contents
8

General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

MacID selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
RCNA-01 connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
ControlNet connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Network access port connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Configuring the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
ControlNet connection configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Introduction to ControlNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Object modelling and functional profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Assembly object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Class objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Identity Object, Class 0x01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Assembly Object, Class 0x04 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
ControlNet Object, Class 0xF0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Motor Data Object, Class 0x28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Control Supervisor Object, Class 0x29 . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
AC/DC-Drive Object, Class 0x2A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Vendor Specific Object, Class 0x90 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Vendor Specific ControlNet Configuration, Class 0x91 . . . . . . . . . . . . . . . 57

Fault tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
RCNA-01 status codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Installation problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Drive setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
PLC programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Scanner fault indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Table of contents
 9

Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
RCNA-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Fieldbus link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Table of contents
10

Table of contents
 11

Introduction

Overview
This chapter contains a description of the User’s Manual for the
RCNA-01 ControlNet Adapter module.

Intended audience
The guide is intended for the people who are responsible for
installing, commissioning and using a ControlNet Adapter module
with an ABB drive. The reader is expected to have a basic
knowledge of electrical fundamentals, electrical wiring practices,
the drive, the use of the drive control panel, and the ControlNet
protocol.

What this manual contains

The installation and start-up of the RCNA-01 ControlNet Adapter
module are introduced in this manual.
It is assumed that the drive is installed and ready to operate before
starting the installation of the adapter module. For more
information on the installation and start-up procedures of the drive,
please refer to its user documentation.
Safety instructions are featured in the first few pages of this
guide.
Introduction contains a short description of the guide.
Overview contains a short description of the ControlNet protocol
and the RCNA-01 ControlNet Adapter module, a delivery checklist
and information on the manufacturer’s warranty.
Mechanical installation contains placing and mounting
instructions for the module.
Electrical installation contains wiring, earthing and node address
setting instructions.

Introduction
12

Programming explains how to program the drive before the

communication through the adapter module can be started.
Communication contains a description of the ControlNet
functionality supported by the RCNA-01.
Fault tracing describes how to diagnose the ControlNet
connection during installation, commissioning, and normal
operation.
Technical data contains information on physical dimensions,
configurable settings and connectors of the module and a
specification of the fieldbus link.

Conventions used in this guide

Communication Module
Communication Module is a name for a device (e.g. a fieldbus
adapter) through which the drive is connected to an external serial
communication network (e.g. a fieldbus). The communication with
the communication module is activated by a drive parameter.
Data Words
The Control Word (sometimes called the Command Word) and the
Status Word, References and Actual Values (see chapter
Communication) are types of data words; the contents of some
data words are user-definable. For information, see the drive
documentation.
Input
In this manual, the word ‘input’ is used to describe data flow to the
ControlNet Scanner.
MacID
Every node on ControlNet network has to have a unique identifier.
This node number is called MAC ID (Media Access Control
Identification).

Introduction
 13

RCNA-01 ControlNet Adapter module

The RCNA-01 Adapter module is one of the optional fieldbus
adapter modules available for ABB drives. The RCNA-01 is a
device through which an ABB drive is connected to a ControlNet
serial communication bus.
Output
In this manual, the word ’output’ is used to describe data flow from
the ControlNet Scanner.
Parameter
A parameter is an operating instruction for the drive. Parameters
can be read and programmed with the drive control panel, or
through the RCNA-01 module.

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
Sales, Support and Service network.

Product training
For information on ABB product training, navigate to
www.abb.com/drives and select Training courses.

Providing feedback on ABB Drives manuals

Your comments on our manuals are welcome. Go to
www.abb.com/drives and select Document Library – Manuals
feedback form (LV AC drives).

Introduction
14

Introduction
 15

Overview

Overview
This chapter contains a short description of ControlNet network,
the RCNA-01 Adapter module, a delivery checklist, and warranty
information.
Further information can be obtained from www.controlnet.org.

Network overview
The media for the fieldbus is a RG-6 quad shielded cable or fibre
with support for media redundancy. The RCNA-01 Adapter
module supports only RG-6 quad shielded cable (coax) for the bus
connection. ControlNet is flexible in topology options (bus, tree,
star) to meet various application needs. The fieldbus speed is 5
Mbits/s.

ControlNet technical features summary

Transmission Support for bus, star or tree topologies
technique: RG-6 quad shield cable
Optional media redundancy
Support for fibre optic cabling (Not supported
by RCNA)
Data rate 5 Mbit/s
Medium access: Peer-to-peer
Producer/Consumer
Multicasts of both inputs and peer-to-peer data
Multi-Scanner

Overview
16

ControlNet technical features summary

Bus length: 250 m (coax) with 48 nodes
1000 m (coax) with two nodes
5000 m (coax) with repeaters
3000 m fibre
30000 m (fibre) with repeaters
Process data: Time-deterministic
Repeatable

The RCNA-01 ControlNet Adapter module

The RCNA-01 ControlNet Adapter module can not originate
connections on its own, but a scanner node can open a
connection towards it. The ControlNet protocol is implemented
according to the ControlNet international specification for a
Communication adapter (profile number 12).
Through the RCNA-01 ControlNet Adapter 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
• read and write drive parameter values
• reset a drive fault.
A connection to the RCNA-01 ControlNet Adapter can be opened
from a ControlNet scanner. The size of the connection can be up
to 450 bytes in each direction.
MacID (Node address) is selected by two decimal rotary switches.
The range is 1 to 99.

Overview
 17

The module is equipped with two BNC contacts for connection to

ControlNet. If redundant operation is desired, both connectors are
used, otherwise connector A or B is used.
The module is also equipped with a NAP (Network access port) for
temporary connection of configuration tools, e.g. a PC card. The
minimum Network update time (NUT) of the module is 5 ms.
The adapter module is mounted into an option slot inside the
drive. See the Hardware Manual of the drive for module
placement options.

Scanner
Slave Fixing screw
stations (frame)
(GND)

Network access port

Bus connectors
(Line A and B)

MacID
(node address selection)
ABB Drive
switches

Diagnostic LEDs
(chapter Fault tracing)
ABB Drive

Figure 1. The construction of the ControlNet link and the layout of

the RCNA-01 Adapter module

Compatibility
The RCNA-01 is compatible with all scanners working according
to the ControlNet International ControlNet specifications.

Overview
18

Delivery check
The option package for the RCNA-01 ControlNet Adapter module
contains:
• ControlNet Adapter module, type RCNA-01
• two screws (M3x10)
• this manual.

Warranty and liability information

The manufacturer warrants the equipment supplied against
defects in design, materials and workmanship for a period of
twelve (12) months after installation or twenty-four (24) months
from date of manufacturing, whichever first occurs. The local ABB
office or distributor may grant a warranty period different to the
above and refer to local terms of liability as defined in the supply
contract.
The manufacturer is not responsible for
• any costs resulting from a failure if the installation,
commissioning, repair, alternation, or ambient conditions of the
drive do not fulfil the requirements specified in the
documentation delivered with the unit and other relevant
documentation
• units subjected to misuse, negligence or accident
• units comprised of materials provided or designs stipulated by
the purchaser.
In no event shall the manufacturer, its suppliers or subcontractors
be liable for special, indirect, incidental or consequential damages,
losses or penalties.
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 at the time of printing. The
manufacturer reserves the right to modifications without prior
notice.

Overview
 19

Mechanical installation

WARNING! Follow the safety instructions given in this manual and

in the Hardware Manual.

Mounting
The RCNA-01 is to be inserted into its option slot inside the drive.
The module is held in place with plastic retaining clips and two
screws. The screws also provide the earthing of the I/O cable
shield connected to the module, and interconnect the GND signals
of the module and the control board of the drive.
On installation of the module, the signal and power connection to
the drive is automatically made through a 34-pin connector.
Mounting procedure:
• Insert the module carefully into its position inside the drive until
the retaining clips lock the module into position.
• Fasten the two screws (included) to the stand-offs.
• Set the bus termination switch of the module to the required
position.

Note: Correct installation of the screws is essential for fulfilling the

EMC requirements and for proper operation of the module.

Mechanical installation
20

Mechanical installation
 21

Electrical installation

Overview
This chapter contains:
• general cabling instructions
• instructions on setting the module node address number
• instructions for connecting the module to the ControlNet bus.

WARNING! Before installation, switch off the drive power supply.

Wait five minutes to ensure that the capacitor bank of the drive is
discharged. Switch off all dangerous voltages connected from
external control circuits to the inputs and outputs of the drive.

General cabling instructions

Bus cables are specified in chapter Technical data.
Arrange the bus cables as far away from the motor cables as
possible. Avoid parallel runs. Use bushings at cable entries.

MacID selection
The MacID (Node address) is set with the two rotary decimal
switches in the front of the module. The range is 1 to 99. The
value is read from the switches right after completion of the
initialisation procedure, and they shall not be changed during
operation. If changed, a minor fault will be detected and the MacID
will not change until the next power-up or the module receives a
‘Fieldbus Adapter parameter refresh’ command from the drive.

Electrical installation
22

9
90 10
1
9
90 10
1

7 8

7 8
23

23
2
2

8
8

3
3

7
7
456 4 456 4
6 5 6 5

10x 1x

Figure 2. Node address selection

RCNA-01 connections

ControlNet connection
The bus cable is connected to the BNC connectors A and/or B on
the RCNA-01. If redundant operation is desired, both connectors
are used, otherwise connector A or B is used.
ControlNet bus termination
The ControlNet bus line must be terminated with 75 ohm resistor.
See fieldbus details in chapter Technical data.

Network access port connection

The module is also equipped with a NAP (Network access port) for
temporary connection of configuration tools, e.g. a PC card. The
minimum Network update time (NUT) of the module is 5 ms.

Electrical installation
 23

Programming

Overview
This chapter gives information on configuring the RCNA-01
ControlNet Adapter module.

Configuring the system

After the RCNA-01 ControlNet Adapter module has been
mechanically and electrically installed according to the instructions
in chapters Mechanical installation and Electrical installation, the
drive must be prepared for communication with the module and
Scanner.
Please refer to the Scanner documentation for information on
configuring the system for communication with the RCNA-01.
Configuration (EDS) files for the RCNA-01 are available at
www.abb.com.

ControlNet connection configuration

The detailed procedure of activating the module for
communication with the drive is dependent on the drive type.
(Normally, a parameter must be adjusted to activate the
communication. See the drive documentation.)
As communication between the drive and the RCNA-01 is
established, several configuration parameters are copied to the
drive. These parameters (shown in Table 1. The RCNA-01
configuration parameters) must be checked first and adjusted if
necessary. The alternative selections for these parameters are
discussed in more detail below the table.

Note: The new settings take effect only when the module is
powered up or when the module receives a ‘Fieldbus Adapter
parameter refresh’ command from the drive.

Programming
24

Note: The grouping, numbering, and adjustment procedure of

parameters vary from drive to drive. See the drive documentation
for information.

Control locations
ABB drives can receive control information from multiple sources
including digital inputs, analogue inputs, the drive control panel
and a communication module (e.g. RCNA-01). ABB drives allow
the user to separately determine the source for each type of
control information (Start, Stop, Direction, Reference, Fault Reset,
etc.). In order to give the fieldbus Scanner the most complete
control over the drive, the communication module must be
selected as source for this information. See the user
documentation of the drive for information on the selection
parameters.
Table 1. The RCNA-01 configuration parameters
Fieldbus Parameter name Alternative settings Default
par. no. setting
1 MODULE TYPE* ControlNet ControlNet
2 Module MacID 0...99 99
3 Module Baud rate 5 = 5 MBit/s 5
4 HW/SW Option 0 = Hardware 0
1 = Software
5 Stop Function 0 = Ramp stop 0
1 = Coast stop
6 Output Instance 20 ... 121 20
7 Input Instance 70 ... 171 70
8 Output I/O Par 1 0 ... 32767 0
9 Output I/O Par 2 0 ... 32767 0
10 Output I/O Par 3 0 ... 32767 0
11 Output I/O Par 4 0 ... 32767 0

Programming
 25

12 Input I/O Par 1 0 ... 32767 0

13 Input I/O Par 2 0 ... 32767 0
14 Input I/O Par 3 0 ... 32767 0
15 Input I/O Par 4 0 ... 32767 0
16 Output I/O Par 5 0 ... 32767 0
17 Output I/O Par 6 0 ... 32767 0
18 Output I/O Par 7 0 ... 32767 0
19 Output I/O Par 8 0 ... 32767 0
20 Output I/O Par 9 0 ... 32767 0
21 Input I/O Par 5 0 ... 32767 0
22 Input I/O Par 6 0 ... 32767 0
23 Input I/O Par 7 0 ... 32767 0
24 Input I/O Par 8 0 ... 32767 0
25 Input I/O Par 9 0 ... 32767 0
26 VSA I/O Size 1 … 32 2
* Parameter 1 (MODULE TYPE) is read-only.

Note: The Default values are used when the module is connected
to the drive for the first time. The parameters in the fieldbus group
must be set up for the current application.

01 MODULE TYPE
Shows the connected communication option module type.
02 Module MacID
Selects the MAC ID for the node.
0 … 99
On a ControlNet network, each node is identified by a unique node
number. This node number is between 0 and 99, and it is called
MAC ID.

Programming
26

Note: When parameter 04 HW/SW Option is set to 0=HW this

parameter is read-only and its value is set by rotary switches. See
chapter Electrical installation.

03 Module Baud rate

Indicates the baud rate of the ControlNet interface. The baud rate
is fixed to 5 MBit/s.
5 = 5 MBit/s
04 HW/SW Option
Defines the selection source of module MacID.
0 = selection of MAC ID via the rotary switches enabled.
1 = selection of MAC ID via parameter 02 and via the ControlNet
Object enabled (see chapter Communication sub-section
ControlNet Object, Class 0xF0).
05 Stop Function
Defines the method for stopping the motor.
0 = Ramp stop: the motor decelerates along the active
deceleration ramp.
1 = Coast stop: the motor comes to a stop by coasting.
06 Output Instance
07 Input Instance
These parameters define the preferred output and input
assemblies respectively.
The instances 20, 70, 21 and 71 are so-called Drive Profile
instances as defined in the ControlNet specification (AC/DC Drive
profile). The instances 121 and 171 correspond to instances 21
and 71, but contain additional space for user-mapped data. The
instances 100, 101, 102 and 103 are so-called vendor-specific
instances as defined by ABB, i.e. the control word, status word,
speed reference and speed actual value are defined by the ABB
Drives communication profile.

Programming
 27

The static/dynamic property indicates whether the data length of

the instance is fixed or adjustable.
Output instances
Instance Assembly Static/Dynamic
20 Basic speed control output Static
21 Extended speed control output Static
100 User transparent assembly Static
102 Vendor specific assembly Dynamic
121 Extended speed control plus Dynamic
drive parameters

Input instances
Instance Assembly Static/Dynamic
70 Basic speed control input Static
71 Extended speed control input Static
101 User transparent assembly Static
103 Vendor specific assembly Dynamic
171 Extended speed control plus Dynamic
drive parameters
The following table shows the possible combinations of output and
input instances.
Possible instance combinations
Communication profile
Output instance Input instance
to be used
70 Generic Drive profile
71 Generic Drive profile
20
103 Generic Drive profile
171 Generic Drive profile
70 Generic Drive profile
71 Generic Drive profile
21
103 Generic Drive profile
171 Generic Drive profile

Programming
28

Possible instance combinations

Communication profile
Output instance Input instance
to be used
101 ABB Drives profile
100
103 ABB Drives profile
101 ABB Drives profile
102
103 ABB Drives profile
70 Generic Drive profile
71 Generic Drive profile
121
103 Generic Drive profile
171 Generic Drive profile
Selecting an invalid combination will reset the module and
automatically configure the instances as follows:
1) If the output instance is invalid, instance 20 will be selected.
2) If the output instance is valid, but the input instance is invalid,
the default input instance will be selected as follows:
Output instance Default input instance
20 70
21 71
100 101
102 103
121 171
08 Output I/O Par 1
Defines the data word or drive parameter that can be set with
Assembly object instances 102 and 121 (see chapter
Communication subsection VENDOR SPECIFIC assembly).

Programming
 29

The content is defined by a decimal number in the range of 0 to

32767 as follows:
0 not used
1 - 99 data set area of the drive
101 - 9999 parameter area of the drive
10000 - 32767 not supported by the drive

The data set area is allocated as follows:

1 data set 1 word 1
2 data set 1 word 2
3 data set 1 word 3
4 data set 2 word 1
5 data set 2 word 2
6 data set 2 word 3
7 data set 3 word 1
...
99 data set 33 word 3

The parameter area is allocated as follows:

Parameter number with format xxyy, where xx is the parameter
group number (1 to 99) and yy is the parameter number index
inside the group (01 to 99).
09 to 11 Output I/O Par 2 to Output I/O Par 4
See parameter 08 Output I/O Par 1.
12 Input I/O Par 1
Defines the data word or drive parameter that can be read with
Assembly object instances 103 and 171 (see chapter
Communication subsection VENDOR SPECIFIC assembly).

Programming
30

The content is defined by a decimal number in the range of 0 to

32767 as follows:
0 not used
1 - 99 data set area of the drive
101 - 9999 parameter area of the drive
10000 - 32767 not supported by the drive

The data set area is allocated as follows:

1 data set 1 word 1
2 data set 1 word 2
3 data set 1 word 3
4 data set 2 word 1
5 data set 2 word 2
6 data set 2 word 3
7 data set 3 word 1
...
99 data set 33 word 3

The parameter area is allocated as follows:

Parameter number with format xxyy, where xx is the parameter
group number (1 to 99) and yy is the parameter number index
inside the group (01 to 99).
13 to 15 Input I/O Par 2 to Input I/O Par 4
See parameter 12 Input I/O Par 1.
16 to 20 Output I/O Par 5 to Output I/O Par 9
See parameter 08 Output I/O Par 1.
21 to 25 Input I/O Par 5 to Input I/O Par 9
See parameter 12 Input I/O Par 1.

Programming
 31

26 VSA I/O Size

Defines the number of user-mapped data words in Vendor Specific
assemblies (instances 102, 103, 121 and 171). The value of this
parameter directly specifies the size (in words) of instances 102
and 103, whereas the size of instances 121 and 171 will be the
value of this parameter plus two words.
1 … 32

Note: The Vendor Specific ControlNet Configuration object, Class

0x91, is activated when the VSA I/O size is set to 10 or larger.

Programming
32

Programming
 33

Communication

Overview
This chapter describes the ControlNet communication protocol for
the RCNA-01 and the configuration of the scanner. For detailed
information on ControlNet communication, refer to ControlNet
specifications.

Introduction to ControlNet
The interface from the fieldbus towards the RCNA-01 is based on
the standard ControlNet objects and vendor specific objects.
The RCNA-01 has the following objects included:
Object Name Class
Identity Object 0x01
Assembly Object 0x04
Connection Manager Object 0x06
ControlNet Object 0xF0
Motor Data Object 0x28
Control Supervisor Object 0x29
AC/DC Drive Object 0x2A
Vendor Specific Object 0x90
Vendor Specific ControlNet 0x91
Configuration

Object modelling and functional profiles

One of the main features of ControlNet is object modelling. A
group of objects can be described with a Functional Profile. The
RCNA-01 realises the ControlNet International AC/DC Drive
Functional Profile with additional features.

Communication
34

Assembly object
I/O Assembly Instances may also be referred to as Block Transfer
of data. Intelligent devices realising a Functional Profile, such as
the RCNA-01, have several objects. Since it is not possible to
transmit more than one object data through a single connection, it
is practical and more efficient to group attributes from different
objects into a single I/O connection using the Assembly object.
The Assembly object acts as a tool for grouping these attributes.
The Assembly selections described above are in fact Instances of
the Assembly object class. The RCNA-01 uses Static assemblies
(in other words, fixed groupings of different object data only),
except for the Vendor Specific Assembly. These are predefined
and cannot be changed.
The following tables describe the predefined assembly instances
supported by the RCNA-01.

Note: Add 4 extra bytes (2 words) to all the input assemblies; for
example, the total size of Input Assembly Instance 70 is 4 bytes +
4 extra bytes = 8 bytes. For output assemblies, the extra bytes
must not be added.
The configuration parameter 26 VSA I/O SIZE must be configured
without these extra bytes.

BASIC SPEED CONTROL assembly

The BASIC SPEED CONTROL assembly is defined by the
ControlNet AC/DC Drive Profile. The format of the output
assembly is:
Instance 20 (Output assembly)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Fault reset Run fwd
1
2 Speed Reference (Low Byte) *
3 Speed Reference (High Byte) *
* Scaling of Speed Reference is configured by Speed Scale attribute in AC/
DC-Drive Object (class 0x2A, instance 0x01, attribute 0x16), and it defaults
to 1 rpm.

Communication
 35

The format of the input assembly is:

Instance 70 (Input assembly)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Running 1 Faulted
1
2 Speed Actual Value (Low Byte) *
3 Speed Actual Value (High Byte) *
* Scaling of Speed Actual Value is configured by Speed Scale attribute in
AC/DC-Drive Object (class 0x2A, instance 0x01, attribute 0x16), and it
defaults to 1 rpm.

Note: If the BASIC SPEED CONTROL or the EXTENDED SPEED

CONTROL assembly is used, it must be ensured that the fieldbus
is selected as the drive control source and fieldbus specific
(Generic Drive profile) Control/Status Word format is selected
instead of ABB Drives profile.

EXTENDED SPEED CONTROL assembly

The EXTENDED SPEED CONTROL assembly is defined by the
ControlNet AC/DC Drive Profile. The format of the output
assembly is:
Instance 21 (Output assembly)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 NetRef NetCtrl Fault Run Run
Reset Reverse Forward
1
2 Speed Reference (Low Byte) *
3 Speed Reference (High Byte) *
* See BASIC SPEED CONTROL assembly for information on speed
reference scaling.

Communication
36

The format of the input assembly is:

Instance 71 (Input assembly)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 At Ref Ctrl Ready Running Running Warn- Faulted
Refer- From From Reverse Forward ing
ence Net Net
1 Drive State
2 Speed Actual Value (Low Byte) *
3 Speed Actual Value (High Byte) *
* See BASIC SPEED CONTROL assembly for information on speed actual
value scaling.

USER TRANSPARENT assembly

USER TRANSPARENT assembly allows the use of the ABB
Drives communication profile. The format of the output assembly
is:
Instance 100 (Output assembly)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Control Word (Low Byte)
1 Control Word (High Byte)
2 Speed Reference (Low Byte) *
3 Speed Reference (High Byte) *
* Refer to Drive User's Manual for scaling.

The format of the input assembly is:

Instance 101 (Input assembly)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Status Word (Low Byte)
1 Status Word (High Byte)
2 Speed Actual Value (Low Byte) *
3 Speed Actual Value (High Byte) *
* Refer to Drive User's Manual for scaling.

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 37

VENDOR SPECIFIC assembly

VENDOR SPECIFIC assembly allows the use of the ABB Drives
communication profile. The format of the output assembly is:
Instance 102 (Output assembly)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Output I/O 1 (Low Byte)
1 Output I/O 1 (High Byte)
2 Output I/O 2 (Low Byte)
3 Output I/O 2 (High Byte)
4 Output I/O 3 (Low Byte)
5 Output I/O 3 (High Byte)
6 Output I/O 4 (Low Byte)
7 Output I/O 4 (High Byte)
8 Output I/O 5 (Low Byte)
9 Output I/O 5 (High Byte)
10 Output I/O 6 (Low Byte)
11 Output I/O 6 (High Byte)
12 Output I/O 7 (Low Byte)
13 Output I/O 7 (High Byte)
14 Output I/O 8 (Low Byte)
15 Output I/O 8 (High Byte)
16 Output I/O 9 (Low Byte)
17 Output I/O 9 (High Byte)
The value of Output I/O 1 to 9 sets the data word or drive
parameter defined by Output I/O Par 1 to 9 respectively. See
chapter Programming.
Output I/O 10 to 32 can be configured through the Vendor Specific
ControlNet Configuration object, Class 0x91.

Note: the max number of output I/O’s supported by the drive

depends on the drive type and application.

Communication
38

The format of the input assembly is:

Instance 103 (Input assembly)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Input I/O 1 (Low Byte)
1 Input I/O 1 (High Byte)
2 Input I/O 2 (Low Byte)
3 Input I/O 2 (High Byte)
4 Input I/O 3 (Low Byte)
5 Input I/O 3 (High Byte)
6 Input I/O 4 (Low Byte)
7 Input I/O 4 (High Byte)
8 Input I/O 5 (Low Byte)
9 Input I/O 5 (High Byte)
10 Input I/O 6 (Low Byte)
11 Input I/O 6 (High Byte)
12 Input I/O 7 (Low Byte)
13 Input I/O 7 (High Byte)
14 Input I/O 8 (Low Byte)
15 Input I/O 8 (High Byte)
16 Input I/O 9 (Low Byte)
17 Input I/O 9 (High Byte)
The value of Input I/O 1 to 9 is read from the data word or drive
parameter defined by Input I/O Par 1 to 9 respectively. See
chapter Programming.
Input I/O 10 to 32 can be configured through the Vendor Specific
ControlNet Configuration object, Class 0x91.

Note: the max number of output I/O’s supported by the drive

depends on the drive type and application.

Note: If the BASIC SPEED CONTROL or the EXTENDED SPEED

CONTROL assembly is used, it must be ensured that the fieldbus
is selected as the drive control source and fieldbus specific
(Generic Drive profile) Control/Status Word format is selected
instead of ABB Drives profile.

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 39

EXTENDED SPEED CONTROL PLUS DRIVE PARAMETERS

assembly
EXTENDED SPEED CONTROL PLUS DRIVE PARAMETERS
assembly allows the use of ControlNet AC/DC Drive Profile with
additional user-mapped parameters. The format of the output
assembly is:
Instance 121 (Output assembly)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 NetRef NetCtrl Fault Run Run
Reset Reverse Forward
1
2 Speed Reference (Low Byte) *
3 Speed Reference (High Byte) *
4 Output I/O 1 (Low Byte)
5 Output I/O 1 (High Byte)
6 Output I/O 2 (Low Byte)
7 Output I/O 2 (High Byte)
8 Output I/O 3 (Low Byte)
9 Output I/O 3 (High Byte)
10 Output I/O 4 (Low Byte)
11 Output I/O 4 (High Byte)
12 Output I/O 5 (Low Byte)
13 Output I/O 5 (High Byte)
14 Output I/O 6 (Low Byte)
15 Output I/O 6 (High Byte)
16 Output I/O 7 (Low Byte)
17 Output I/O 7 (High Byte)
18 Output I/O 8 (Low Byte)
19 Output I/O 8 (High Byte)
20 Output I/O 9 (Low Byte)
21 Output I/O 9 (High Byte)
* See BASIC SPEED CONTROL assembly for information on speed
reference scaling.

The value of Output I/O 1 to 9 sets the data word or drive

parameter defined by Output I/O Par 1 to 9 respectively. See
chapter Programming.

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40

Input I/O 10 to 32 can be configured through the Vendor Specific

ControlNet Configuration object, Class 0x91.

Note: The maximum number of input I/O's supported by the drive

depends on the drive type and application.

The format of the input assembly is:

Instance 171 (Input assembly)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 At Ref Ctrl Ready Running Running Warn- Faulted
Refer- From From Reverse Forward ing
ence Net Net
1 Drive state
2 Speed Actual Value (Low Byte) *
3 Speed Actual Value (High Byte) *
4 Input I/O 1 (Low Byte)
5 Input I/O 1 (High Byte)
6 Input I/O 2 (Low Byte)
7 Input I/O 2 (High Byte)
8 Input I/O 3 (Low Byte)
9 Input I/O 3 (High Byte)
10 Input I/O 4 (Low Byte)
11 Input I/O 4 (High Byte)
12 Input I/O 5 (Low Byte)
13 Input I/O 5 (High Byte)
14 Input I/O 6 (Low Byte)
15 Input I/O 6 (High Byte)
16 Input I/O 7 (Low Byte)
17 Input I/O 7 (High Byte)
18 Input I/O 8 (Low Byte)
19 Input I/O 8 (High Byte)
20 Input I/O 9 (Low Byte)
21 Input I/O 9 (High Byte)
* See BASIC SPEED CONTROL assembly for information on speed actual
value scaling.

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 41

The value of Input I/O 1 to 9 is read from the data word or drive
parameter defined by Input I/O Par 1 to 9 respectively. See
chapter Programming.
Input I/O 10 to 32 can be configured through the Vendor Specific
ControlNet Configuration object, Class 0x91.

Note: The maximum number of output I/O's supported by the

drive depends on the drive type and application.

Class objects
Legend Data type
UINT8 Unsigned Integer 8 bit
UINT16 Unsigned Integer 16 bit
SINT16 Signed Integer 16 bit
UINT32 Unsigned Integer 32 bit
BOOL Boolean value

Identity Object, Class 0x01

This object provides identification of and general information about
the device.
Services Supported
Service Code No. Service Name
0x01 Get attribute all
0x05 Reset

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42

Class attributes
ID# Attribute Services Description Default, Data
name Min, Max type
0x01 Vendor ID Get Identification of the 46 UINT16
device vendor
0x02 Device Get Identification of the 2 UINT16
Type general product type
0x03 Product Get Assigned vendor code Drive UINT16
Code to describe the device dependent
(e.g. 101)
0x04 Revision Get Revision of the item Array
the Identity Object [UINT8
represents UINT8]
0x05 Status Get Summary Status of 0, 0, 255 UINT16
the Device
0x06 Serial Get Serial Number of the N/A, N/A, UINT32
Number DeviceNet module N/A
0x07 Product Get Product identification, RCNA-01 Short
Name Max 32 characters and ACSxxx String

Attribute explanations
Vendor ID
Vendor IDs are managed by ControlNet International. The ABB
Vendor ID is 46.
Device Type
The list of device types is managed by ControlNet International. It
is used to identify the device profile that a particular product is
using.
Product Code
Every ABB drive type or application of the drive has a dedicated
product code.

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 43

Revision
Revision attribute, which consists of Major and Minor Revisions,
identifies the Revision of the item the Identity Object is
representing.
Status
This attribute represents the current status of the entire device. Its
value changes as the state of the device changes. The Status
attribute is a WORD, with the following bit definitions:
Bit(s) Type/Name Definition
0 Owned TRUE indicates the device (or an object within
the device) has an owner. Within the Master/
Slave paradigm the setting of this bit means that
the Predefined Master/Slave Connection Set
has been allocated to a master. Outside the
Master/Slave paradigm the meaning of this bit is
to be defined.
1 Reserved, set to 0.
2 Configured TRUE indicates the application of the device has
been configured to do something that differs
from the “out–of–box” default. This does not
include configuration of the communications.
3 Reserved, set to 0.
4, 5, Vendor–specific
6, 7
8 Minor TRUE indicates the device detected a
Recoverable recoverable problem. The problem does not
Fault cause the device to go into a faulted state.
9 Minor TRUE indicates the device detected a
Unrecoverable unrecoverable problem. The problem does not
Fault cause the device to go into a faulted state.
10 Major TRUE indicates the device detected a problem
Recoverable which caused the device to go into the “Major
Fault Recoverable Fault” state.
11 Major TRUE indicates the device detected a problem
Unrecoverable which caused the device to go into the “Major
Fault Unrecoverable Fault” state.
12,13, Reserved, set to 0.
14,15

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44

Serial Number:
This attribute is a number used in conjunction with the Vendor ID
to form a unique identifier for each device on ControlNet.
Product Name:
This text string should represent a short description of the product/
product family represented by the product code in attribute 3.

Assembly Object, Class 0x04

The Assembly Object binds attributes of multiple objects which
allows data to or from each object to be sent or received over a
single connection. Assembly objects can be used to bind input
data or output data. The terms “input“ and “output” are defined
from the network´s point of view. An input will produce data on the
network and an output will consume data from the network.
Services Supported
Service Code No. Service Name
0x0E Get Attribute Single
0x10 Set Attribute Single

Only the instances selected by configuration parameters 06

(Output Instance) and 07 (Input Instance) can be accessed
through this class. Write requests (Set service) are rejected if the
assembly instance is linked with an active I/O connection and the
scanner is in Run mode. Writes to the instances containing actual
data from drive will have no effect.

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 45

Instance Attribute Service Description

0x14 3 Get/Set Accesses assembly instance 20 as a byte
(20) array.
0x15 3 Get/Set Accesses assembly instance 21 as a byte
(21) array.
0x46 3 Get/Set Accesses assembly instance 70 as a byte
(70) array. Set has no effect, since instance 70
contains actual data from the drive.
0x47 3 Get/Set Accesses assembly instance 71 as a byte
(71) array. Set has no effect, since instance 71
contains actual data from the drive.
0x64 3 Get/Set Accesses assembly instance 100 as a byte
(100) array.
0x65 3 Get/Set Accesses assembly instance 101 as a byte
(101) array. Set has no effect, since instance 101
contains actual data from the drive.
0x66 3 Get/Set Accesses assembly instance 102 as a byte
(102) array.
0x67 3 Get/Set Accesses assembly instance 103 as a byte
(103) array. Set has no effect, since instance 103
contains actual data from the drive.
0x79 3 Get/Set Accesses assembly instance 121 as a byte
(121) array.
0xAB 3 Get/Set Accesses assembly instance 171 as a byte
(171) array. Set has no effect, since instance 171
contains actual data from the drive.

ControlNet Object, Class 0xF0

Services Supported
Service Code No. Service Name
0x05 Reset
0x0E Get Attribute Single
0x4C Get and Clear

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46

Class attributes
ID# Attribute Services Description Value Data type
name
0x02 Max Get Maximum instance Node UINT
instance number specific

Instance 0x01, Attributes

ID# Attribute Services Description Data
name type
0x81 Current link Get Attribute Current link configuration Struct of
config Single parameters 34 bytes
0x82 Diagnostic Get_Attribute_ Diagnostic counters Struct of
counters Single 42 bytes
Get_And_
Clear
Buffer errors Buffer event counter UINT
Error log Bad Mac frame log Byte[8]
Event Diagnostic counters Struct of
counters 32 bytes
Good frames Good Mac frames Byte[3]
transmitted transmitted (LSB first)
Good frame Good Mac frames received Byte[3]
received (LSB first)
Selected Framing errors detected on USINT
channel frame active receive channel
errors
Channel A Framing errors detected on USINT
frame errors channel A
Channel B Framing errors detected on USINT
frame errors channel B
Aborted MAC frames aborted during USINT
frames transmission (transmit
transmitted underflows)
Highwaters LCC transmit underflow and USINT
LCC receiver underflow

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 47

ID# Attribute Services Description Data

name type
NUT overflow No unscheduled time in NUT USINT
(all time used for scheduled
transmissions)
Slot overloads More scheduled data queued USINT
for one NUT than allowed by
sched_max_frame
parameter.
Blockages Single Lpacket size exceeds USINT
sched_max_frame
parameter.
Non Two or more nodes could not USINT
concurrence agree whose turn it is to
transmit.
Aborted Incomplete MAC frames USINT
frames received.
received
Lonely Number of times nothing USINT
counter heard on network for 8 or
more NUT’s.
Duplicate Mac frame received from USINT
Node node with local nodes MacID.
Noise hits Noise detected that locked USINT
modem rx PLL.
Collisions Rx data heard just when USINT
transmit started.
Mod MAC ID MAC ID of the current USINT
moderator node.
Non lowman Moderator frames heard from USINT
mods non-lowman nodes.
Rouge count Rouge events detected. USINT
Unheard MAC frames being heard but USINT
moderator no moderators being heard.
Vendor USINT
specific
Reserved Reserved Byte[4]
Vendor USINT
specific

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48

ID# Attribute Services Description Data

name type
Vendor USINT
specific
Reserved Reserved Byte
0x83 Station status Station status Struct of
6 bytes
SMAC ver MAC implementation USINT
Vendor USINT
specific
Channel state Channel LED’s redundancy Byte
warning and active bits
0x84 Mac ID Get_Attribute_ Mac ID switch and current Struct of
Single settings 4 bytes
Mac ID Current Mac ID USINT
current
Mac ID Mac ID switch setting USINT
switches
Mac ID Mac ID switch setting BOOL
changed changed since reset
Reserved Reserved USINT
0x86 Error log Get_Attribute_ Driver firmware buffer error Struct of
Single counts and troublesome 10 bytes
node list
Buffer errors Buffer event counter UINT
Error log Byte[8]

Motor Data Object, Class 0x28

This object serves as a database for motor parameters.
Services Supported
Service Code No. Service Name
0x0E Get Attribute Single
0x10 Set Attribute Single

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 49

Instance 0x01, Attributes

ID# Attribute Services Description Motor Default, Data
name Type Min, Max type
0x03 Motor Type Get 1 - PM DC Motor AC/DC 7, 1, 10 UINT
2 - FC DC Motor
3 - PM Synchronous Motor
4 - FC Synchronous Motor
5 - Switched Reluctance
Motor
6 - Wound Rotor Induction
Motor
7 - Squirrel Cage Induction
Motor
8 - Stepper Motor
9 - Sinusoidal PM BL Motor
10 - Trapezoidal PM BL
Motor
0x06 Rated Get/Set Rated Stator Current from AC/DC UINT
Current motor nameplate.
0x07 Rated Get/Set Rated Base Voltage from AC/DC UINT
Voltage motor nameplate.
0x08 Rated Get/Set Rated Power at Rated AC/DC UINT
Power Frequency
0x09 Rated Get/Set Rated Electrical Frequency AC UINT
Frequency
0x0C Pole Count Get Number of poles in the AC UINT
motor
0x0F Base Get/Set Nominal Speed at rated AC/DC UINT
Speed frequency from nameplate

Control Supervisor Object, Class 0x29

The object models all the management functions for devices
within the ‘Hierarchy of Motor Control Devices’. The behaviour of
motor control devices is described in Table 2. Run/Stop event
matrix and Figure 3. State transition diagram.

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50

Services Supported
Service Code No. Service Name
0x05 Reset
0x0E Get Attribute Single
0x10 Set Attribute Single

Instance 0x01, Attributes

ID# Attribute Services Description Data
name type
0x03 Run 1 1) Get, Set 0 = Stop, 1 = Run BOOL
2)
0x04 Run 2 Get, Set 0 = Stop, 1 = Run BOOL
0x05 Net Control 2) Get, Set 0 = Local Control, 1 = Network Control BOOL
0x06 State Get 1 = Start/up, 2 = Not_ready, 3 = Ready, UINT8
4 = Enabled, 5 = Stopping, 6 = FaultStop,
7 = Faulted
0x07 Running 1 3) Get 0 = Stopped, 1 = Running BOOL
4)
0x08 Running 2 Get 0 = Stopped, 1 = Running BOOL
0x09 Ready Get 1 = Ready, Enabled or Stopping BOOL
0 = Other state
0x0A Faulted Get 0 = Not faulted, 1 = Fault occurred BOOL
0x0B Warning Get 0 = No Warnings present, 1 = Warning BOOL
0x0C FaultRst Get, Set 0 → 1 Fault Reset BOOL
0x0D Fault Code Get The fault that caused the last transition to UINT16
the Faulted state.
0x0F CtlFromNet Get 0 = NetControl disabled BOOL
1 = NetControl enabled
0x11 Force Fault Get, Set 0 → 1 Force a fault BOOL
0x12 Force Status Get 0 = Not Forced BOOL
Non-zero = Forced

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 51

ID# Attribute Services Description Data

name type
0x14 Net Idle Get, Set Action taken when the master goes to idle UINT8
state in Generic drive profile
0 = Stop
1 = Freeze (keep running)
2 = Fault
1) Supported only with assembly instances 20, 21 and 121
2)
Supported only with assembly instances 21 and 121
3)
Supported only with assembly instances 70, 71 and 171
4) Supported only with assembly instances 71 and 171

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52

Table 2. Run/Stop event matrix

RunFwd RunRev Trigger event Run type
0 0 Stop N/A
0→1 0 Run RunFwd
0 0→1 Run RunRev
0→1 0→1 No Action N/A
1 1 No Action N/A
0→1 1 Run RunRev
1 1→0 Run RunFwd

Non Existent Power off

Power on

ALM=1
Startup Faulted

Power on

FaultRst
Not Ready DEC=0
ALM=1
Power-on AND Fault Stop
Power-on AND not RDY
RDY
Ready DEC=0

FWD OR REV FWD OR REV Stopping ALM=1

DEC=1
Enabled
ALM=1

Figure 3. State transition diagram

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 53

AC/DC-Drive Object, Class 0x2A

This object models the functions specific to an AC or DC Drive.
Services Supported
Service Code No. Service Name
0x0E Get Attribute Single
0x10 Set Attribute Single

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54

Instance 0x01, Attributes

ID# Attribute Services Description Data

name type
0x03 At Reference Get Frequency arrival BOOL
2)
0x04 NetRef Get, Set Requests torque or speed reference BOOL
to be local or from the network.
0 = Set Reference not DN Control
1 = Set Reference at DN Control
Note that the actual status of torque
or speed reference is reflected in
attribute 29, RefFromNet.
0x06 Drive mode Get, Set 0 = Vendor specific UINT8
1 = Open Loop Speed
2 = Closed Loop Speed
3 = Torque Control
0x07 Speed Actual Get Units RPM/2SpeedScale SINT16
SpeedScale
0x08 SpeedRef Get, Set Units RPM/2 SINT16
0x12 AccelTime Get, Set Units msec/2TimeScale UINT16
TimeScale
0x13 DecelTime Get, Set Units msec/2 UINT16
0x16 Speed Scale Get, Set Speed scaling factor UINT8
0x17 Current Scale Get, Set Current scaling factor UINT8
0x18 Torque Scale Get, Set Torque scaling factor UINT8
0x1A Power Scale Get, Set Power scaling factor UINT8
0x1B Voltage Scale Get, Set Voltage scaling factor UINT8
0x1C Time Scale Get, Set Time scaling factor UINT8
0x1D Ref From Net Get Reflecting attribute 4 BOOL
0x1F Field I or IV Get, Set Always to be set to 0 -
2)
Supported only with assembly instance 21

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 55

Vendor Specific Object, Class 0x90

Services Supported
Service Code No. Service Name
0x0E Get Attribute Single
0x10 Set Attribute Single

Instance 0x00, Attributes

ID# Attribute Services Description Data
name type
0x02 Max instance Get Maximum number of instances UINT16
in this Class

The Vendor Specific Object, Class 0x90, enables access of drive

parameter and data sets.
To access drive parameters Instance and Attribute correspond to
the drive parameter Group and Index in the following way.
• Instance = parameter Group (1...99)
• Attribute = parameter Group (1...99)
For example, Parameter 99.01 is accessed as follows:
• Class = 144 = 0x90
• Instance = 99 = 0x63
• Attribute = 1 = 0x01
To access data sets Instance is always 100. Attribute corresponds
to a specific data word.
For example, data set 2 word 1 is accessed as follows
• Class = 144 = 0x90
• Instance = 100 = 0x64
• Attribute = 4 = 0x04

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Instance 0x01, Attributes

ID# Attribute name Services Description
0x01 Parameter Index Get, Set Group 1 Index 1
0x02 Parameter Index Get, Set Group 1 Index 2
...
0x63 Parameter Index Get, Set Group 1 Index 99

Instance 0x02, Attributes

ID# Attribute name Services Description
0x01 Parameter Index Get, Set Group 2 Index 1
0x02 Parameter Index Get, Set Group 2 Index 2
...
0x63 Parameter Index Get, Set Group 2 Index 99
...

Instance 0x63, Attributes

ID# Attribute name Services Description
0x01 Parameter Index Get, Set Group 99 Index 1
0x02 Parameter Index Get, Set Group 99 Index 2
...
0x63 Parameter Index Get, Set Group 99 Index 99

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 57

Instance 0x64, Attributes

ID# Attribute name Services Description
0x01 Data word index Get, Set Data Set 1 Word 1
0x02 Data word index Get, Set Data Set 1 Word 2
0x03 Data word index Get, Set Data Set 1 Word 3
0x04 Data word index Get, Set Data Set 2 Word 1
0x05 Data word index Get, Set Data Set 2 Word 2
0x06 Data word index Get, Set Data Set 2 Word 3
0x07 Data word index Get, Set Data Set 3 Word 1
...
0x63 Data word index Get, Set Data Set 33 Word 3

Vendor Specific ControlNet Configuration, Class 0x91

This object is used when more I/O data than listed in Table 1. The
RCNA-01 configuration parameters of the Configuration chapter
needs to be handled. In this object 32 words of Input and Output
data can be used. The configuration of the I/O parameters in this
object is identical to the configuration of the I/O parameters in
Table 1. Please note this class is only used when configuration
parameter “VSA I/O size“ is set to 10 or larger.

Note: All input and output parameters must be set via Class 0x91.

Communication
58

Services Supported
Service Code Service Name
No.
0x05 This Reset command will clear all attributes in
one instance to zero. I.e. a reset of Class 91,
Instance 1 will set all output parameters to zero.
0x0E Get Attribute Single
0x10 Set Attribute Single

Instance and Attributes

Two instances are supported by Class 0x91:
• Instance 1 for Output parameters.
• Instance 2 for Input parameters.

Instance 0x01, Attributes

ID# Attribute name Default, Data type
Min, Max
0x01 Output I/O parameter 1 0, 0, 32767 UINT16
0x02 Output I/O parameter 2 0, 0, 32767 UINT16
0x03 Output I/O parameter 3 0, 0, 32767 UINT16
0x04 Output I/O parameter 4 0, 0, 32767 UINT16
...
0x20 Output I/O parameter 32 0, 0, 32767 UINT16

Communication
 59

Instance 0x02, Attributes

ID# Attribute name Default, Data type
Min, Max
0x01 Input I/O parameter 1 0, 0, 32767 UINT16
0x02 Input I/O parameter 2 0, 0, 32767 UINT16
0x03 Input I/O parameter 3 0, 0, 32767 UINT16
0x04 Input I/O parameter 4 0, 0, 32767 UINT16
...
0x20 Input I/O parameter 32 0, 0, 32767 UINT16

Communication
60

Communication
 61

Fault tracing

RCNA-01 status codes

The status of the ControlNet module is indicated by a ‘fieldbus
status’ parameter in the drive application program (refer to the
drive documentation).
IDLE
The drive could not initiate communication with the ControlNet
Module.
EXECUT. INIT
The module is initialising and performing self-test.
TIME-OUT
The ControlNet Module has stopped communicating with the
drive.
CONFIG ERROR
The ControlNet Module has not accepted the configuration file
downloaded from the drive. Check compatibility of module and
drive file version number.
OFF-LINE
The module has completed its power-up sequence, and is waiting
for a ControlNet Scanner or the Manager software to establish a
connection.
ON-LINE
The ControlNet module is connected and communicating with a
ControlNet Scanner or Manager software.
RESET
The drive has initiated a reset command to the module.

Fault tracing
62

Module
Host Indication
status

Channel B Channel A

Name Colour Function

A and B: OFF Steady - Module is not initialised.
A and B: RED Steady - Faulted unit, must be restarted or
repaired
A and B: RED/GREEN Alternating - Self testing bus controller
Channel A and Channel B

A and B: RED Flashing - Incorrect node configuration,

duplicate MacID etc.
A or B: OFF Steady - Channel is disabled, depending
on network configuration.
A or B: GREEN Steady - Normal operation of channel
A or B: GREEN Flashing - Temporary errors (node will
self correct) or
node is not configured to go on-line
A or B: RED Flashing - Media fault or no other nodes
on the network
A or B: RED/GREEN Alternating - Incorrect network
configuration
GREEN Flashing - Module is waiting for
Host Indication

initialisation.
GREEN Steady - Module is initialised.
RED Steady - Major fault, module must be
restarted

Fault tracing
 63

Module
Host Indication
status

Channel B Channel A

Name Colour Function

GREEN Steady - Link functional
Module

GREEN Flashing - Waiting for PLC connection

status

RED Steady - Link lost permanently.

RED Flashing - Link lost temporarily

Installation problems
Verify all the connections on the module:
• Check that the ControlNet cables are connected to the BNC
connectors as described in chapter Electrical installation.
• Check that the RCNA-01 module is properly inserted into the
option slot.
• Check the fastening of the RCNA-01 module with the 2 screws.

Drive setup
The fieldbus parameter group is not shown on the panel:
• Enable the RCNA-01 by setting the appropriate drive
parameter.
The RCNA-01 is using default values:
• Verify that the fieldbus parameter group is set up correctly. If so,
turn off and on the power to the drive or issue a ‘Fieldbus
Adapter parameter refresh’ command. This will make the
module re-read its setup parameters.

Fault tracing
64

Drive actual values can be read, but the control commands (start/
stop or reference) do not go through:
• Check that the control location parameters of the drive are set to
use the RCNA-01 as the source of the required command.
• Check that the drive is in REMOTE control.

PLC programming
The PLC program is beyond ABB Drives support. Contact the
manufacturer for assistance.

Scanner fault indications

Refer to scanner documentation.

Fault tracing
 65

Technical data

RCNA-01
Enclosure:
34 mm
95 mm

20 62 mm
mm

Mounting: Into an option slot inside the drive

Degree of protection: IP 20
Settings: Through drive parameters and/or rotary switches
Ambient conditions: The applicable ambient conditions specified
for the drive in its Hardware Manual are in effect.
Connectors:
• 34-pin parallel bus connector
• Two BNC contacts for ControlNet connection
• NAP, Network Access Port for temporary connection of
configuration tools

Technical data
66

Current consumption:
• 260 mA max. (5 V), supplied by the control board of the drive
General:
• Estimated min. lifetime: 100 000 h
• All materials are UL/CSA approved
• Complies with EMC Standards EN 50081-2 and EN 50082-2

Fieldbus link
Compatible devices: Any ControlNet scanner
Medium: RG-6 quad shielded cable (coax)
• Termination: 75 Ω, 1%, Metal Film, 1/4 W
• Maximum Bus Length: 250 m (48 nodes), 1000 m (2 nodes) or
5000 m (with repeaters)
Topology: Bus, star or tree
Transfer rate: 5 MBit/s
Protocol: ControlNet

Technical data
 3AFE64506005 Rev B / EN
EFFECTIVE: 21.10.2008

ABB Oy ABB Inc.

AC Drives Automation Technologies
P.O. Box 184 Drives & Motors
FIN-00381 HELSINKI 16250 West Glendale Drive
FINLAND New Berlin, WI 53151
Telephone +358 10 22 11 USA
Telefax +358 10 22 22681 Telephone 262 785-3200
Internet www.abb.com 800-HELP-365
Telefax 262 780-5135