Setup
- PLC: B&R X90CP174.24-00, AR J4.93, Automation Studio 4.12.6
- X90 built-in CAN (IF8) as native CANopen master/manager
- Slave: ABB ACS880 + FCAN-01 CANopen adapter (option slot 3), CiA 402 profile
- Control via controlword 6040h / statusword 6041h / vl velocity 6042h·6044h (hand-written ST, no mapp Motion)
- The same drive + motor works correctly from a B&R X20 (X20IF1041 + Hilscher CANopen DTM master).
Problem
Every time the X90 master establishes communication (power-up/reconnect), several ACS880 parameters reset to defaults:
- Motor data (group 99) → warning A6A5 “No motor data”
- Supply voltage (95.01) → A6A6 “Supply voltage unselected”
- Control location / reference (20.01, 22.11) revert to default
After this, an ID run fails with fault FF61 and the motor runs far below the commanded speed.
With the X90 CAN cable physically disconnected, the ID run completes and the motor runs correctly — so the reset is caused by the X90 master’s startup behaviour.
What I found
Comparing the working X20 (Hilscher DTM) vs X90 native manager for this node:
- X20 downloads only communication objects (PDO/SYNC/EMCY/guard).
- X90 additionally downloads ABB drive application parameters every boot (20.01, 50.01, 51.02 … via 0x4000+group objects).
- Both send Reset-Node + config download; X20 uses node guarding, X90 uses heartbeat.
- Removing the X90 drive-parameter downloads stopped the group-99 wipe, but groups 20/22 still reset and the FBA slot assignment is unstable.
Questions
- Why does the X90 native CANopen manager reset/restore ACS880 parameters on startup when the X20 Hilscher DTM does not?
- How do I configure the X90 CANopen manager so it does not reset the slave or download drive parameters on startup?
- Is an NMT Reset-Node or a CANopen “Restore default parameters” (object 1011h) being sent, and how do I suppress it?
