Parker CANopen AC20 Series Technical Manual
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Parker CANopen AC20 Series Technical Manual

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DOC-0017-06-EN-A
27.03.2023
1 (47)
AC20 Series
CANopen– Communication Option
Technical Manual
DOC-0017-06-EN-A 27.03.2023
DOC-0017-06-EN: AC20 Series CANopen Option

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Summary of Contents for Parker CANopen AC20 Series

  • Page 1 DOC-0017-06-EN: AC20 Series CANopen Option AC20 Series DOC-0017-06-EN-A CANopen– Communication Option 27.03.2023 Technical Manual 1 (47) DOC-0017-06-EN-A 27.03.2023...

  • Page 2: Safety

    DOC-0017-06-EN: AC20 Series CANopen 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-0017-06-EN: AC20 Series CANopen 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-0017-06-EN: AC20 Series CANopen 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-0017-06-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-0017-06-EN: AC20 Series CANopen 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-0017-06-EN: AC20 Series CANopen Option 5 Introduction 5.1 Product Features • CiA 301 version 4.0.2 compliant • Automatic baud rate detection • Supports all standard baud rates • Supports LSS • Customizable Identity Information • Galvanically isolated bus via DB9M male connector •...

  • Page 9: Installation

    DOC-0017-06-EN: AC20 Series CANopen 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-0017-06-EN: AC20 Series CANopen 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. Use a T9 TORX driver to partially unscrew the two 3x12 countersunk fixings along the top of the product.
  • Page 11 DOC-0017-06-EN: AC20 Series CANopen 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. Slide the Comms Card along the PCB using the connector features for alignment.
  • Page 12 DOC-0017-06-EN: AC20 Series CANopen 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-0017-06-EN: AC20 Series CANopen Option 7 Network 7.1 Network Connector and Cable Specification CANopen Connector 1xD-Sub socket male, 9 pole. Signal CAN_L CAN_GND CAN_SHLD CAN_H CAN_SHIELD Housing Connected to protective earth via filter Note: It is possible to make serial communications operate without adhering to the following recommendations;...

  • Page 14: Led Indications

    DOC-0017-06-EN: AC20 Series CANopen Option Wiring Diagram Example 7.2 LED Indications RUN LED This LED reflects the status of the CANopen device. LED State Description Comments No Power. Green OPERATIONAL Green, Blinking PRE-OPERATIONAL Green, 1 Flash STOPPED Green, Baud rate detection in progress or LSS in AUTOBAUD Flickering progress (alternately flickering with ERROR LED)

  • Page 15: Configuration

    DOC-0017-06-EN: AC20 Series CANopen 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 CANopen option requires configuration of both communication parameters and process data mapping.
  • Page 16 DOC-0017-06-EN: AC20 Series CANopen 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-0017-06-EN: AC20 Series CANopen Option Configuration with the webserver 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 CAN Option comms parameters as shown below. AC20 Webserver view when Master mapping is TRUE AC20 Webserver view when Master mapping is FALSE DOC-0017-06-EN-A 27.03.2023...

  • Page 18: Process Data

    DOC-0017-06-EN: AC20 Series CANopen Option 8.2 Process Data AC20 parameters implementation The AC20 CANopen data can be accessed from the network via dedicated object entries in the object dictionary. The object dictionary contains Standard, Manufacturer and Profile Specific Objects. The CANopen manufacturer specific range (index 2001h to FFFFh) of object entries corresponds directly to the AC20 parameters numbers.
  • Page 19 DOC-0017-06-EN: AC20 Series CANopen 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-0017-06-EN: AC20 Series CANopen Option Set process data from CANopen master The eds 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

    Most importantly, the file describes the object dictionary implementation in the module. All the AC20 parameters will be mapped as Manufacturer Specific Objects. EDS files for the AC20 CANopen option may be downloaded from www.parker.com DOC-0017-06-EN-A 27.03.2023...

  • Page 22: Example Configuration And Programming

    DOC-0017-06-EN: AC20 Series CANopen 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-0017-06-EN: AC20 Series CANopen 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

    DOC-0017-06-EN: AC20 Series CANopen Option 9.3 Programming using Codesys platform This example uses a Parker PAC120 as the controller PLC and Codesys as the programming environment. Prior knowledge of Codesys software is assumed. CANopen EDS File Installation • Download the AC20 CANopen option comms from the Parker website.
  • Page 25 DOC-0017-06-EN: AC20 Series CANopen 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 PAC120 as PLC controller and select programming language, then press OK. DOC-0017-06-EN-A 27.03.2023 25 (47)
  • Page 26 DOC-0017-06-EN: AC20 Series CANopen Option Set the gateway Double-click Device (PAC 120-MXX01-3X-XX-XX). In the 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 PAC 120 controller is powered on! Add CANbus master •...
  • Page 27 DOC-0017-06-EN: AC20 Series CANopen Option Right click on CANbus from project tree, select Add device • • Select the CANopen Manager and click on Add Device and then Close. DOC-0017-06-EN-A 27.03.2023 27 (47)
  • Page 28 DOC-0017-06-EN: AC20 Series CANopen Option Add AC20 CANopen Slave Scan for Device First compile and download the project into the PLC then Right-click CANopen Manager and • select Scan for Devices. Select device found and click on Copy All Devices to Project. •...
  • Page 29 DOC-0017-06-EN: AC20 Series CANopen Option Add Device Manually Right-click on CANopen Manager and select Add Device… Select the device • Anybus_CompactCom_40_CANopen and click on Add Device and then Close. Set device address In the project double click the device, the General pane set Node-ID. •...
  • Page 30 DOC-0017-06-EN: AC20 Series CANopen Option 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 • overwriting the mapping. • Through the mapping tables from the keypad, DSE Lite or Webserver, add parameter numbers into the appropriate table.
  • Page 31 DOC-0017-06-EN: AC20 Series CANopen Option Option 2 : From PLC The parameter 2566 MASTERMAPPING must be set to TRUE to allow the PLC to transfer the • mapping to the AC20. In Transmit PDOs Pane, select Transmit PDO Parameter, click Add Mapping then select item •...
  • Page 32 DOC-0017-06-EN: AC20 Series CANopen 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. 32 (47) DOC-0017-06-EN-A 27.03.2023...
  • Page 33 DOC-0017-06-EN: AC20 Series CANopen Option Read / Write parameters Acyclically Acyclic read / Write services can be achieved using the functions blocks SDO_READ_DATA and SDO_WRITE_DATA: Add function block Library: From project tree, double-click on Library Manager, then Click on add •...
  • Page 34 DOC-0017-06-EN: AC20 Series CANopen Option Function Block Input Type Notes NETWORK USINT CAN network number, The CiA405 NETWORK is calculated by NetID + 1. Double click “CANbus” select “General” and read the network value (NetID) NodeID of destination device . DEVICE DEVICE Double click AC20 device...

  • Page 35: Lost Communication Trip

    DOC-0017-06-EN: AC20 Series CANopen Option 10 Lost Communication Trip Supervised Parameter: The 0777 Comms Supervised parameter indicates that the CANopen network participation is supervised by another CANopen 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 36: Diagnostic Event

    DOC-0017-06-EN: AC20 Series CANopen Option 11 Diagnostic Event Configuration problems can often be identified by looking at the Run and Error LEDs and from the CANopen 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 37: Appendix A: Data Types

    DOC-0017-06-EN: AC20 Series CANopen 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 DINT...

  • Page 38: Appendix B: Parameters

    DOC-0017-06-EN: AC20 Series CANopen 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 39 DOC-0017-06-EN: AC20 Series CANopen 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 40 DOC-0017-06-EN: AC20 Series CANopen 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 41: Appendix C: Dse Lite Quick Start Guide

    DOC-0017-06-EN: AC20 Series CANopen 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 42 DOC-0017-06-EN: AC20 Series CANopen 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 43: Appendix D: Canopen Object Dictionary

    DOC-0017-06-EN: AC20 Series CANopen Option APPENDIX D: CANopen Object Dictionary Standard The standard object dictionary is implemented according to the CiA 302 4.2.0 from CiA (CAN in Automation). Note that certain object entries correspond to settings in the CANopen Object (FBh), and the Diagnostic Object (02h).
  • Page 44 DOC-0017-06-EN: AC20 Series CANopen Option Index Object Name Sub- Description Type Access Notes Index 1018h Identity object Number of entries CANopen Object, Vendor ID Product Code Revision Number Serial Number 1400h RPDO Largest sub-index supported communication 14XXh parameter COB ID used by RPDO Transmission type.
  • Page 45 DOC-0017-06-EN: AC20 Series CANopen Option RPDO Default COB IDs RPDO no. Default COB ID Default Transmission Description Type 200h + Node ID Default enabled according to DS301, if the mapping scheme requires this PDO 300h + Node ID 400h + Node ID 500h + Node ID 5...64 000h...

  • Page 46: Manufacturer And Profile Specific Objects

    DOC-0017-06-EN: AC20 Series CANopen Option Manufacturer and Profile Specific Objects The parameters data type is defined according to CiA 302 version 2.4.0 Index Object Sub- Description Type Access Notes Name Index 2001h Parameters Number of (Sub-Index FFh excluded) 0001h entries (NNh) Parameter The data type and access value(s)
  • Page 47 DOC-0017-06-EN: AC20 Series CANopen Option DOC-0017-06-EN-A 27.03.2023 47 (47)

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