Parker EtherCAT AC20 Series Technical Manual
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Parker EtherCAT AC20 Series Technical Manual

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DOC-0017-07-EN-A
27.03.2023
1 (58)
AC20 Series
EtherCAT– Communication Option
Technical Manual
DOC-0017-07-EN-A 27.03.2023
DOC-0017-07-EN: AC20 Series - EtherCAT Option

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Summary of Contents for Parker EtherCAT AC20 Series

  • Page 1 DOC-0017-07-EN: AC20 Series - EtherCAT Option AC20 Series DOC-0017-07-EN-A EtherCAT– Communication Option 27.03.2023 Technical Manual 1 (58) DOC-0017-07-EN-A 27.03.2023...

  • Page 2: Safety

    DOC-0017-07-EN: AC20 Series - EtherCAT Option 1 Safety IMPORTANT: Please read this information BEFORE installing the equipment. 1.1 Intended Users This manual is to be made available to all persons who are required to install, configure or service equipment described herein, or any other associated operation. The information given is intended to highlight safety issues, and to enable the user to obtain maximum benefit from the equipment.

  • Page 3: Safety Information

    DOC-0017-07-EN: AC20 Series - EtherCAT Option Risk Assessment Under fault conditions, power loss or unintended operating conditions, the drive may not operate as intended. In particular: Stored energy might not discharge to safe levels as quickly as suggested and can still be present •...
  • Page 4 DOC-0017-07-EN: AC20 Series - EtherCAT Option Safety & EMC Requirements Where there is a conflict between safety and EMC requirements, personnel safety shall always take precedence. WARNING! Ignoring the following may result in injury or damage to equipment: Never perform high voltage resistance checks on the wiring without first disconnecting the inverter from the circuit being tested.

  • Page 5: Manufacturing Location

    Parker Hannifin Manufacturing Germany GmbH & Co KG - Sitz: Bielefeld - Amtsgericht: Bielefeld HRA 15699 Partner liable to unlimited extent: Parker Hannifin GmbH, Sitz Bielefeld, Amtsgericht Bielefeld HRB 35489 Geschäftsführung der PARKER Hannifin GmbH: Dr.-Ing. Hans-Jürgen Haas, Kees Veraart, Chairman of the board: Dr.-Ing. Gerd Scheffel DOC-0017-07-EN-A 27.03.2023...

  • Page 6: Waste Electrical And Electronic Equipment (Weee)

    Parker Hannifin Company, together with local distributors and in accordance with EU directive 2002/96/EC, undertakes to withdraw and dispose of its products, fully respecting environmental considerations. For more information about how to recycle your Parker supplied waste equipment, please contact your local Parker Service Centre.

  • Page 7: Table Of Contents

    DOC-0017-07-EN: AC20 Series - EtherCAT Option 4 Table of Contents Safety ..............................2 Intended Users ..........................2 Application Area .......................... 2 Personnel ............................ 2 Product Warnings ........................2 Safety Information ........................3 Manufacturing Location ........................5 Waste Electrical and Electronic Equipment (WEEE) ............... 6 Table of Contents ..........................

  • Page 8: Introduction

    DOC-0017-07-EN: AC20 Series - EtherCAT Option 5 Introduction 5.1 Product Features • CANopen over EtherCAT (CoE) • DS301 compliant • Ethernet RJ45 connectors • Network cycle time down to 100µs • Fast data transfer: Up to 1486 bytes of process data in each direction •...

  • Page 9: Installation

    DOC-0017-07-EN: AC20 Series - EtherCAT Option 6 Installation DANGER! RISK OF ELECTRIC SHOCK Terminal covers, main covers, and cover fixings must remain in place while the drive is energized. These should only be removed once the supply to the unit and/or system has been disconnected, and the residual energy in the DC link capacitors has been discharged.

  • Page 10: Fitting The Option

    DOC-0017-07-EN: AC20 Series - EtherCAT Option 6.2 Fitting the Option Frames 2 – 5 The Communication Interface Option Cards are intended to be customer installed. The control module housing cover will need to be removed prior to option card installation. 1.
  • Page 11 DOC-0017-07-EN: AC20 Series - EtherCAT Option 5. Remove and discard the Comms Option break-out feature in the control module housing by cutting the 7x bridges using suitable small side cutters. 6. Remove the Comms Interface Option card from its packaging. 7.
  • Page 12 DOC-0017-07-EN: AC20 Series - EtherCAT Option Frame 6 – 10 On Frames 6 – 10, the lower terminal cover will need to be removed prior to option card installation. 1. Remove the Comms Interface Option card from its packaging. 2. Slide the Comms Card along the PCB using the connector features for alignment.

  • Page 13: Network

    DOC-0017-07-EN: AC20 Series - EtherCAT Option 7 Network 7.1 Network Connector and Cable Specification Two RJ45 Ethernet sockets are provided. The IN socket is connected to the master or the preceding slave coming from the direction of the master. The OUT socket is connected to the IN socket of the next slave, if there is one.

  • Page 14: Led Indications

    EtherCAT state change autonomously Red, 2 flash Sync Manager watchdog timeout Application controller failure Module in EXCEPTION Flickering Booting error detected Failure. Contact Parker technical support Link/Activity LED These LEDs indicate the EtherCAT link status and activity. LED Status Description Comments No Link Link not sensed or No power.

  • Page 15: Configuration

    DOC-0017-07-EN: AC20 Series - EtherCAT Option 8 Configuration The option comms configuration is accessible through the keypad under the menu Option Comms, through DSE Lite function block Option Comms Config or through the webserver following the path Home > Engineer > Communications > Option Comms. The AC20 EtherCAT option requires configuration of both communication parameters and process data mapping.
  • Page 16 DOC-0017-07-EN: AC20 Series - EtherCAT Option Configuration with DSE Lite When performing an online configuration, the fitted option card will automatically be selected. In offline mode, display your configuration page in DSE Lite and click the plus sign [+] at the left of function block Option Comms Config to see set communication parameters.
  • Page 17 DOC-0017-07-EN: AC20 Series - EtherCAT Option Access the AC20 webserver by typing the IP-Address of the drive into the web browser. The drive must be in configuration state. Set the EtherCAT Option comms parameters as shown below. AC20 Webserver view when Master mapping is TRUE AC20 Webserver view when Master mapping is FALSE DOC-0017-07-EN-A 27.03.2023 17 (58)

  • Page 18: Process Data

    DOC-0017-07-EN: AC20 Series - EtherCAT Option 8.2 Process Data AC20 parameters implementation The AC20 device implements CANopen over EtherCAT. The CANopen over EtherCAT (CoE) protocol enables the complete CANopen profile family to be utilized via EtherCAT. CANopen is object-based, meaning AC20 node has an object dictionary, which contains communication objects.
  • Page 19 DOC-0017-07-EN: AC20 Series - EtherCAT Option Set process data using AC20 input and output mapping tables These tables are two parameter arrays in which AC20 parameter numbers may be added. The parameter 2566 MASTERMAPPING must be set to FALSE. Read Mapping: The read process data represents cyclic data sent from the PLC to the AC20, this is mapped into the table Option Comms Input Mapping.
  • Page 20 DOC-0017-07-EN: AC20 Series - EtherCAT Option Set process data from EtherCAT master The ESI file defines the list of manufacturer specific objects. Each object corresponds to an AC20 parameter. When configuring the PLC, the objects may be mapped to the process data objects (PDO) as required. These objects map to the process data in the order in which they are added.

  • Page 21: Acyclic Data Exchange

    AC20 EtherCAT option is associated with an Electronic Slave Interface (ESI file) in XML format, which holds a description of the device and its functions. ESI files for the AC20 EtherCAT option may be downloaded from www.parker.com Some masters do not require an ESI file and can automatically extract the configuration description from the slave.

  • Page 22: Example Configuration And Programming

    DOC-0017-07-EN: AC20 Series - EtherCAT Option 9 Example Configuration and Programming 9.1 AC20 Motor Control Application Use DSE Lite to create, parameterize and configure user defined applications or parameterize and connect fixed motor control blocks in the application. Download the application into the drive then connect to the PLC to read/write the value of the parameters.

  • Page 23: List Of Process Data

    DOC-0017-07-EN: AC20 Series - EtherCAT Option 9.2 List of process data Read / Write Process Data mapping list for master/PLC AC20 Input Mapping Data Type Comments PLC Module 1212 Input Demultiplexer 1 WORD Control Word 2061 Input B Value Func 1 REAL Speed Setpoint 0584 Digin Invert...

  • Page 24: Programming Using Codesys Platform

    Codesys website. Prior knowledge of Codesys software is assumed. EtherCAT ESI File Installation • Download the AC20 EtherCAT option comms ESI file from the Parker website. Start Codesys and from menu select Tools > Device Repository • From Device Repository tab, click on Install, Select AC20 XML device description file then click •...
  • Page 25 DOC-0017-07-EN: AC20 Series - EtherCAT Option Create a project Launch Codesys and select New Project from the start page. In the New Project Tab select • project type and define properties, then click on OK. Select Codesys Control Win V3 as controller and select programming language, then press OK. DOC-0017-07-EN-A 27.03.2023 25 (58)
  • Page 26 DOC-0017-07-EN: AC20 Series - EtherCAT Option Set the Gateway Double-click the Device (Codesys Control Win V3). In device tab select Communication settings and click on Scan network to find the required node. From the Scan network pane click the required node to make it the active path. Note: If the node is not found, make sure the soft PLC is in “Start PLC”...
  • Page 27 DOC-0017-07-EN: AC20 Series - EtherCAT Option The EtherCAT Master device and an EtherCAT task will be added. Click on Browse… to find the • target network adapter. The gateway must be active (see previous section). Build and download into the Controller •...
  • Page 28 DOC-0017-07-EN: AC20 Series - EtherCAT Option Add AC20 EtherCAT Slave Scan for Device Right-click EtherCAT Master and select Scan for Devices • Select device found and click on Copy All Devices to Project. • 28 (58) DOC-0017-07-EN-A 27.03.2023...
  • Page 29 DOC-0017-07-EN: AC20 Series - EtherCAT Option Add Device Manually Right-click on EtherCAT_Master and select Add Device… Select the device • Anybus_CompactCom_40_EtherCAT and click on Add Device and then Close. DOC-0017-07-EN-A 27.03.2023 29 (58)
  • Page 30 DOC-0017-07-EN: AC20 Series - EtherCAT Option Configure Process Data Mapping Option 1: Using AC20 Input and output mapping tables The parameter 2566 MASTERMAPPING must be set to FALSE to prevent the PLC from • overwriting the mapping. • Through the mapping tables from the keypad, DSE Lite or Webserver, add parameter numbers into the appropriate table.
  • Page 31 DOC-0017-07-EN: AC20 Series - EtherCAT Option Build and download the project into the PLC then go online, from slave “Expert Process Data” Tab, • click on “Load PDO Info from The Device” to load the configured I/O mapping table into the project.
  • Page 32 DOC-0017-07-EN: AC20 Series - EtherCAT Option The ”Receive PDO Mapping” now contains the objects from output mapping table of the device • Option 2 : From PLC The parameter 2566 MASTERMAPPING must be set to TRUE to allow the PLC to transfer the •...
  • Page 33 DOC-0017-07-EN: AC20 Series - EtherCAT Option Click on “Expert Process Data” to open the pane, make sure “PDO configuration” is checked. • Select the ”Expert Process Data” pane, in ”PDO list” Pane select ”Transmit PDO Parameter” or • ”Receive PDO Parameter”, then in ”PDO Content” click ”Insert” and select items from the object directory in the opened tab and click OK.
  • Page 34 DOC-0017-07-EN: AC20 Series - EtherCAT Option After process data mapping configuration, compile the project then select EtherCAT I/O Mapping • and assign a name to the variables. 34 (58) DOC-0017-07-EN-A 27.03.2023...
  • Page 35 DOC-0017-07-EN: AC20 Series - EtherCAT Option Create a program to transfer data In the example ladder code below, in Network 1 the data is read from drive to PLC and in Network 2 the PLC writes data to the drive. DOC-0017-07-EN-A 27.03.2023 35 (58)
  • Page 36 DOC-0017-07-EN: AC20 Series - EtherCAT Option Read / Write parameters Acyclically The acyclic read / Write services can be achieved using the functions ”ETC_CO_SdoRead” and ”ETC_CO_SdoWrite”. Add function block Library: From project tree, double-click on “Library Manager”, then Click on •...

  • Page 37: Programming Using Twincat Platform

    The example uses TwinCAT 3 running on a PC as a soft PLC. Prior knowledge of TwinCAT software is assumed. EtherCAT ESI File Installation • Download the AC20 EtherCAT option comms ESI file from the Parker website. Copy the file ESI into the folder C:\TwinCAT\3.1\Config\IO\EtherCAT. • Create a project Launch TwinCAT XAE from windows taskbar >...
  • Page 38 DOC-0017-07-EN: AC20 Series - EtherCAT Option Add EtherCAT Slave Check the target system and the state • Target system should be in Config mode for system setting. • Config Process Data Mapping Option 1: Using AC20 Input and output mapping tables The parameter 2566 MASTERMAPPING must be set to FALSE to prevent the PLC from •...
  • Page 39 DOC-0017-07-EN: AC20 Series - EtherCAT Option In TwinCAT, right click I/O > Devices and scan the network • Select the EtherCAT port and deselect any other Ethernet ports. • Select YES to scan for connected EtherCAT devices. • • Select YES to activate Free Run mode. The FREE RUN mode is useful for testing the I/O and therefore checking the wiring without having to need to create a PLC program.
  • Page 40 DOC-0017-07-EN: AC20 Series - EtherCAT Option • Once the scan process has been completed, a tree structure corresponding to the order appears in the project under I/O / Devices. If you change slave mapping table after the operation described above, you will need to click AC20 •...
  • Page 41 • master and AC20 device. • Click on Box 1 (Parker AC20 EtherCAT (Anybus M40)), select Process data, make sure PDO Configuration is checked. • In the PDO list Pane, select Transmit PDO Parameter or Receive PDO Parameter, then in PDO Content, right click a row and select item from object directory in the opened Tab.
  • Page 42 DOC-0017-07-EN: AC20 Series - EtherCAT Option Right click PLC • Add the standard PLC and define properties • : Input / AT%Q: Output). Right click AC20_PLC • Enter type and address of the variable (AT%I* Project select Add > Global Variable List… and edit variables that should be linked to the AC20 I/O module.
  • Page 43 DOC-0017-07-EN: AC20 Series - EtherCAT Option Right click AC20_PLC Project select Add > POU to add a ladder program, Edit program and call it • from the main routine. Save All and build • Link AC20 I/O to the PLC From I/O tree double-click AC20 Input or output module, select Linked to…...
  • Page 44 DOC-0017-07-EN: AC20 Series - EtherCAT Option Read / Write parameters Acyclically The acyclic read / Write services can be achieved using the functions FB_EcCoESdoRead and FB_EcCoESdoWrite. From project tree, double-click on References to open the Library manager, then Click on add •...
  • Page 45 DOC-0017-07-EN: AC20 Series - EtherCAT Option Example: Write parameter 0457 Motor Max Speed (21C9h). • Start TwinCAT Runtime Enable Config: Press Activate Configuration. • Wait and verify Run Mode • • Build the PLC and Login DOC-0017-07-EN-A 27.03.2023 45 (58)

  • Page 46: Lost Communication Trip

    DOC-0017-07-EN: AC20 Series - EtherCAT Option 10 Lost Communication Trip Supervised Parameter: The 0777 Comms Supervised parameter indicates that the EtherCAT network participation is supervised by another EtherCAT device. The Supervised parameter value is set to TRUE when either: The heartbeat consumer and Heartbeat producer is enabled and error free. Node guarding is enabled and error free.

  • Page 47: Diagnostic Event

    DOC-0017-07-EN: AC20 Series - EtherCAT Option 11 Diagnostic Event Configuration problems can often be identified by looking at the Run and Error LEDs and from the EtherCAT State and Comms Diagnostic 0775 parameters. Under normal operating conditions the Comms diagnostic parameter should indicate OK. Other values are summarized in the Diagnostic Parameters section.

  • Page 48: Appendix A: Data Types

    DOC-0017-07-EN: AC20 Series - EtherCAT Option APPENDIX A: Data types The relationship between AC20 parameter and CANopen data type is given in the table below. AC20 Parameter Data Type Description Data Type Bytes BOOL Boolean BOOL SINT Short integer SINT Integer DINT Double integer...

  • Page 49: Appendix B: Parameters

    DOC-0017-07-EN: AC20 Series - EtherCAT Option APPENDIX B: Parameters Function Block Inputs Parameter Name Default Value Range Units Type Writable COMMS REQUIRED 1: None 0: Unknown ENUM CONFIG 1: None 2: CANopen 3: EtherCAT 4: Ethernet IP 5: Modbus RTU 6: Profibus 7: Profinet Communications option required.
  • Page 50 DOC-0017-07-EN: AC20 Series - EtherCAT Option Parameter Name Default Value Range Units Type Writable MASTERMAPPING 2566 TRUE BOOL CONFIG Switch to choose how the PROFInet, EtherCAT, PROFIbus and CanOpen PDO mapping is defined: If TRUE the bus master sets/configures the PDO mapping. The drive mapping parameters 692...757 are cleared (set to zero) and made invisible (GKP and website) as this the required condition.
  • Page 51 DOC-0017-07-EN: AC20 Series - EtherCAT Option Parameter Name Default Value Range Units Type Writable ACTUAL BAUD RATE 0: 10 kbps 0: 10 kbps ENUM 1: 20 kbps 2: 50 kbps 3: 100 kbps 4: 125 kbps 5: 250 kbps 6: 500 kbps 7: 800 kbps 8: 1000 kbps 9: Auto...

  • Page 52: Appendix C: Dse Lite Quick Start Guide

    DOC-0017-07-EN: AC20 Series - EtherCAT Option APPENDIX C: DSE Lite Quick Start Guide Follow the steps below to configure the AC20 via DSE Lite PC-Tool. The block diagram of the AC20 may be accessed through the onboard webserver or DSE Lite. DSE Lite is recommended.
  • Page 53 DOC-0017-07-EN: AC20 Series - EtherCAT Option If the drive is not found by DSE lite, or a new drive is connected to the Ethernet port, a network scan must be performed again, as blow. Once the network scan has been performed, any AC20 connected to the network will appear and DSE lite can connect to the drive.

  • Page 54: Appendix D: Object Directory (Canopen Over Ethercat) Standard

    DOC-0017-07-EN: AC20 Series - EtherCAT Option APPENDIX D: Object directory (CANopen over EtherCAT) Standard The standard object dictionary is implemented according to the DS301 communication profile. Note that certain object entries correspond to settings in the EtherCAT Object (F5h), and the Diagnostic Object (02h). Index Object Name Sub-Index...
  • Page 55 DOC-0017-07-EN: AC20 Series - EtherCAT Option Index Object Name Sub-Index Description Type Access Note 1A00h – Transmit PDO No. of mapped RO/RW 0..254 1xxxh mapping application objects in PDO Mapped object RO/RW … … … … … Mapped object RO/RW 1C00h Sync Manager Number of...
  • Page 56 DOC-0017-07-EN: AC20 Series - EtherCAT Option Index Object Name Sub-Index Description Type Access Note 1C32h Output Number of 12 (0Bh) SyncManager entries Parameter Synchronization RO/RW 00h: Free Run Type 02h: DC Sync0 Cycle Time Cycle time in nanoseconds Shift Time Shift time in nanoseconds Bit 0 set:...

  • Page 57: Manufacturer Specific Objects

    DOC-0017-07-EN: AC20 Series - EtherCAT Option Manufacturer Specific Objects The exact representation of a parameter depends on its number of elements. In the following example, Parameter no. 0002h and 0004h only contain one element each, causing them to be represented as simple variables rather than arrays.
  • Page 58 DOC-0017-07-EN: AC20 Series - EtherCAT Option 58 (58) DOC-0017-07-EN-A 27.03.2023...

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