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DOC-0017-07-EN: AC20 Series - EtherCAT Option

DOC-0017-07-EN-A

27.03.2023

37 (58

)

9.4 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 > Notification, then click on open a New TwinCAT

project to create a new project.

•

Define project properties, then press

OK

.

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Summary of Contents for AC20 Series

Page 1: ...DOC 0017 07 EN AC20 Series EtherCAT Option 1 58 DOC 0017 07 EN A 27 03 2023 DOC 0017 07 EN A 27 03 2023 AC20 Series EtherCAT 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: ...gh 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 iso...

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: ...9 0781 509 0 Fax 49 0781 509 98176 Internet http www parker com eme E mail EM Motion parker com Certified according to ISO 9001 2015 Parker Hannifin Manufacturing Germany GmbH Co KG Sitz Bielefeld Amt...

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: ...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 EtherCAT ES...

Page 8: ...ernet of Things ready Includes Email Client Web server with customizable content SSI Service Side Include functionality and FTP server Ethernet Over EtherCAT EoE File Access Over EtherCAT FoE EtherCAT...

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: ...g 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 alignmen...

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: ...cription 1 TX 2 TX 3 RX 4 Normally left unused to ensure signal integrity these pins are tied together and terminated to PE via a filter circuit in module 5 6 RX 7 Normally left unused to ensure signa...

Page 14: ...a physically passive state ERR LED This LED indicates EtherCAT communication errors LED State Description Comments Off No Error No power or No Error Red Blinking Invalid Configuration Invalid registe...

Page 15: ...cations Option Comms The AC20 EtherCAT option requires configuration of both communication parameters and process data mapping 8 1 Communication parameters Keypad Menu Path DSE Lite Function Block Web...

Page 16: ...ally 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 Alternatively...

Page 17: ...ccess 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...

Page 18: ...ub indexes 01h FEh represents the value of each of the parameter elements In the example below parameter number 1 is a single element parameter and parameter number 2 is a 4 element parameter array AC...

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 B...

Page 20: ...ameters 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 paramet...

Page 21: ...string parameter 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 Desc...

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: ...input 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 Wor...

Page 24: ...vailable to download on the 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...

Page 25: ...03 2023 25 58 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 V...

Page 26: ...ion 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 i...

Page 27: ...tion DOC 0017 07 EN A 27 03 2023 27 58 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...

Page 28: ...20 Series EtherCAT Option 28 58 DOC 0017 07 EN A 27 03 2023 Add AC20 EtherCAT Slave Scan for Device Right click EtherCAT Master and select Scan for Devices Select device found and click on Copy All De...

Page 29: ...0 Series EtherCAT Option DOC 0017 07 EN A 27 03 2023 29 58 Add Device Manually Right click on EtherCAT_Master and select Add Device Select the device Anybus_CompactCom_40_EtherCAT and click on Add Dev...

Page 30: ...d DSE Lite or Webserver add parameter numbers into the appropriate table Note If the first row of a table input mapping or Output mapping is empty or equal to 0 the table will not be accessible and co...

Page 31: ...ild 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 The Transmi...

Page 32: ...evice 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 Codesys after adding AC20 slave manually or by scanning into the pr...

Page 33: ...ct 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 an...

Page 34: ...0017 07 EN AC20 Series EtherCAT Option 34 58 DOC 0017 07 EN A 27 03 2023 After process data mapping configuration compile the project then select EtherCAT I O Mapping and assign a name to the variabl...

Page 35: ...eries EtherCAT Option DOC 0017 07 EN A 27 03 2023 35 58 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 36: ...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 add Library select EtherCATSt...

Page 37: ...ledge 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 E...

Page 38: ...ng 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...

Page 39: ...vices 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 us...

Page 40: ...ing 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 slave in the TwinCAT I O tree to open device...

Page 41: ...vices and scan the network to add EtherCAT 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...

Page 42: ...EN A 27 03 2023 Right click PLC Add the standard PLC and define properties Enter type and address of the variable AT I Input AT Q Output Right click AC20_PLC Project select Add Global Variable List an...

Page 43: ...o 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 then select th...

Page 44: ...y 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 Li...

Page 45: ...eries EtherCAT Option DOC 0017 07 EN A 27 03 2023 45 58 Example Write parameter 0457 Motor Max Speed 21C9h Start TwinCAT Runtime Enable Config Press Activate Configuration Wait and verify Run Mode Bui...

Page 46: ...e A COMMS BREAK trip will occur if the 0777 Comms Supervised parameter transitions from TRUE to FALSE and the drive is in the operational state The trip may be disabled by clearing the respective bit...

Page 47: ...unrecoverable 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 ent...

Page 48: ...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 49: ...0 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 50: ...RSION 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 COM...

Page 51: ...EN A 27 03 2023 51 58 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 10...

Page 52: ...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 53: ...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...

Page 54: ...r of errors U8 RW 01h 06h Error field U32 RO 1008h Manufacturer device name 00h Manufacturer device name Visible string RO EtherCAT Object 1009h Manufacturer hardware version 00h Manufacturer hardware...

Page 55: ...pped object NN U32 RO RW 1C00h Sync Manager Communication Type 00h Number of entries U8 RO 4 01h Mailbox wr U8 RO 1 02h Mailbox rd U8 RO 2 03h Process Data Out U8 RO 3 04h Process Data In U8 RO 4 1C12...

Page 56: ...noseconds 06h Calc and Copy Time U32 RO Output Calc and Copy Time in nanoseconds 09h Delay Time U32 RO Delay time in nanonseconds Always set to 0 0Ch Cycle Time Too Small U16 RO Cycle time to small 1C...

Page 57: ...data type causing them to be represented as arrays If a parameter has more than 1 element of different data types it will be represented as a record The offset between the Parameter no and the object...

Page 58: ...DOC 0017 07 EN AC20 Series EtherCAT Option 58 58 DOC 0017 07 EN A 27 03 2023...

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