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

DOC-0017-06-EN-B

04.04.2023

43 (47

)

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).

Index

Object Name

Sub-

Index

Description

Type

Access

Notes

1000h Device Type

00h

Device Type

U32

CANopen Object,

1001h Error register

00h

Error register

Diagnostic Object,

1003h Pre-defined

error field

00h

Number of errors

01h...05h Error field

U32

1005h COB-ID Sync 00h

COB-ID Sync

U32

Default value is 0000 0080h

1008h Manufacturer

device name

00h

Manufacturer device

name

Visible

string

CANopen Object,

1009h Manufacturer

hardware

version

00h

Manufacturer

hardware version

Visible

string

100Ah Manufacturer

software

version

00h

Manufacturer

software version

Visible

string

1010h Store

Parameters

00h

Largest sub index

supported

02h

01h

Store all parameters U32

Baud rate and Node ID cannot be

stored using this command.

02h

Store

Communication

parameters

U32

1011h Restore

parameters

00h

Largest sub index

supported

04h

01h

Restore all default

parameters

U32

02h

Restore

communication

default parameters

U32

04h

Restore

manufacturer

parameters to

default

U32

1014h COB ID EMCY 00h

COB ID EMCY

U32

Default value is 0000 0080h +

NodeID

1015h Inhibit Time

EMCY

00h

Inhibit Time EMCY

U16

Default value is 0000h

1016h Consumer

Heartbeat

Time

00h

Numbers of entries U8

01h

Consumer

Heartbeat Time

U32

Node ID + Heartbeat Time.

1017h Producer

Heartbeat

Time

00h

Producer Heartbeat

Time

U16

Summary of Contents for 2003-CB-00

Page 1: ...DOC 0017 06 EN AC20 Series CANopen Option 1 47 DOC 0017 06 EN B 04 04 2023 DOC 0017 06 EN B 04 04 2023 AC20 Series CANopen Communication Option Technical Manual...

Page 2: ...peed control utilizing AC induction motors or AC permanent magnet synchronous machines 1 3 Personnel Installation operation and maintenance of the equipment should be carried out by competent personne...

Page 3: ...h voltages The equipment must be permanently earthed due to the high earth leakage current and the inverter motor must be connected to an appropriate safety earth Ensure all incoming supplies are isol...

Page 4: ...ctly installed All control and signal terminals are SELV i e protected by double insulation Ensure all external wiring is rated for the highest system voltage Thermal sensors contained within the moto...

Page 5: ...any Tel 49 0781 509 0 Website www parker com eme Certified according to ISO 9001 2015 Parker Hannifin Manufacturing Germany GmbH Co KG Sitz Bielefeld Amtsgericht Bielefeld HRA 15699 pers nlich haftend...

Page 6: ...cable laws 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 con...

Page 7: ...ion 10 7 Network 13 7 1 Network Connector and Cable Specification 13 7 2 LED Indications 14 8 Configuration 15 8 1 Communication parameters 15 8 2 Process Data 18 8 3 Acyclic Data Exchange 21 8 4 CANo...

Page 8: ...ess Data in each direction PDO mapping can be customized via network configuration tool or via application Diagnostic support Heartbeat functionality supported Supports Expedited and segmented SDO Tra...

Page 9: ...All activities covered in this chapter should be carried out when there is no power to the inverter If the drive has been powered up ensure enough time has elapsed that the inverter has discharged its...

Page 10: ...option card installation 1 Use a T9 TORX driver to partially unscrew the two 3x12 countersunk fixings along the top of the product 2 Insert a flat head screwdriver into the moulding features and leve...

Page 11: ...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: ...steps 2 3 in reverse 1 Remove the Comms Interface Option card from its packaging 2 Slide the Comms Card along the PCB using the connector features for alignment Note The front facia of the Option sho...

Page 13: ...ply The CANopen option does not use the external power supply The use of CAN_GND is recommended throughout the network The user organization CiA has specified ISO DIS 11898 as the standard bus cable T...

Page 14: ...ckering with ERROR LED Red EXCEPTION Fatal Event If both LEDs turn red this indicates a fatal event the bus interface is shifted into a physically passive state ERR LED This LED indicates CANopen comm...

Page 15: ...rameters of the slave must be set to establish communication with master The parameter 0691 COMMS REQUIRED must be set to CANOPEN The parameter 0763 NODE ADDRESS must be set to the required address of...

Page 16: ...d 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 paramete...

Page 17: ...ith 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...

Page 18: ...er number 2 is a 4 element parameter array AC20 Parameter number Index Subindex Description Type Access 1 2001h 00h Parameter Value Parameter dependent 2 2002h 00h Number of Elements Unsigned8 Read on...

Page 19: ...this is mapped into the table Option Comms Input Mapping Only writable AC20 parameters that are not configuration parameters may be added to the read process data Keypad Menu Path DSE Lite Function Bl...

Page 20: ...meters when in the PROCESS ACTIVE state On transition into the PROCESS ACTIVE state all read process mapped parameters will be updated When in the PROCESS ACTIVE state the read process mapped paramete...

Page 21: ...meter array must be accessed via each element of the array Each element has its own parameter number Status Codes The following CANopen report codes may be reported CANopen Abort Code Description 0602...

Page 22: ...ons 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 In the example b...

Page 23: ...nput 0626 Digout Invert WORD Invert digital Output 0497 Remote reverse BOOL Invert motor Rotation 0498 Rem Trip Reset BOOL Trip Reset AC20 Output Mapping Data Type Comments PLC Module 0507 Status Word...

Page 24: ...desys 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 Start Codesys and from...

Page 25: ...N B 04 04 2023 25 47 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 c...

Page 26: ...ication 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 c...

Page 27: ...DOC 0017 06 EN AC20 Series CANopen Option DOC 0017 06 EN B 04 04 2023 27 47 Right click on CANbus from project tree select Add device Select the CANopen Manager and click on Add Device and then Close...

Page 28: ...47 DOC 0017 06 EN B 04 04 2023 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 fo...

Page 29: ...04 2023 29 47 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...

Page 30: ...mapping is empty or equal to 0 the table will not be accessible and configurable from PLC From the Codesys project tree double Click Anybus_CompactCom_40_CANopen to open device tab select PDOs and add...

Page 31: ...Tab and click OK Repeat this task to add all parameters listed in the above table In Receive PDOs Pane select Receive PDO Parameter click Add Mapping then select item from object directory in the ope...

Page 32: ...Series CANopen Option 32 47 DOC 0017 06 EN B 04 04 2023 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 writ...

Page 33: ...ly 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 ad...

Page 34: ...POINTER TO BYTE Pointer to data buffer where result should be written to DATALENGTH UDINT Length of data buffer in Bytes Example Write parameter 0457 Motor Max Speed 21C9h Function Block Input Type No...

Page 35: ...in the operational state The trip may be disabled by clearing the respective bit in the parameter 0870 Enable Trips Lo The parameter Enable Trip Lo is a 32 bit word the bit number 27 is used to disabl...

Page 36: ...nrecoverable exception state Diagnostic UNSUPPORTED OPTION The fitted option is not supported by the drive Diagnostic NOT RESPONDING no initial response from the option When a diagnostic event is ente...

Page 37: ...TRING String SHORT_STRING n BYTE Bit string length 8 USINT 1 WORD Bit string length 16 UINT 2 DWORD Bit string length 32 UDINT 4 Arrays Some parameters have multiple elements and are classified as par...

Page 38: ...IP Config Enable 1 Web Enable 2 Web Parameters Enable 3 FTP Enable 4 FTP Admin Mode WORD CONFIG Ethernet access using comms option bitwise NODE ADDRESS 763 0 USINT CONFIG Communications node address...

Page 39: ...SION 0 770 0 USINT NOT Firmware version of the comms module COMMS VERSION 1 770 0 USINT NOT Firmware version of the comms module COMMS SERIAL NUM 773 0 DWORD NOT Serial number of the comms module COMM...

Page 40: ...7 06 EN B 04 04 2023 Parameter Name No Default Value Range Units Type Writable ACTUAL BAUD RATE 790 0 10 kbps 0 10 kbps 1 20 kbps 2 50 kbps 3 100 kbps 4 125 kbps 5 250 kbps 6 500 kbps 7 800 kbps 8 100...

Page 41: ...ress of the AC20 is in the range 169 254 xx xx by default Therefore the user s PC network adapter must be configured to this range as shown below IPv4 is used for communication Alternatively the IP ad...

Page 42: ...ound 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...

Page 43: ...RO CANopen Object 1009h Manufacturer hardware version 00h Manufacturer hardware version Visible string RO 100Ah Manufacturer software version 00h Manufacturer software version Visible string RO 1010h...

Page 44: ...y RPDO U32 RW 02h Transmission type U8 RW 1600h 16XXh RPDO mapping parameter 00h No of mapped application objects in RPDO U8 RO RW 0 8 01h Mapped object 1 U32 RO RW 02h Mapped object 2 U32 RO RW 08h M...

Page 45: ...ffer The entire read process data buffer is then sent to the host application immediately All event driven TxPDOs are sent immediately when the host application sends new write process data to the mod...

Page 46: ...excluded 01h Parameter value s The data type and access rights of the parameter s values are determined by the parameter itself NNh FFh Parameter data type U32 RO 2002h Parameters 0002h 00h Parameter...

Page 47: ...DOC 0017 06 EN AC20 Series CANopen Option DOC 0017 06 EN B 04 04 2023 47 47...

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