Parker
Hannifin
Additional Features
CANopen
The CANopen feature on ACR series controllers provides
standardized network communication and flexible configuration for
motion control.
Limited Amounts of Nodes and I/O
•
4 external I/O nodes
•
64 bytes (512 bits) of digital inputs total for 4 nodes
•
64 bytes (512 bits) of digital outputs total for 4 nodes
•
32 analog inputs total for 4 nodes
•
32 analog outputs total for 4 nodes
Alternate Mapping of Digital I/O
The current version of ACR9000 firmware does not allow flags
numbered higher than 8191 to be accessed by the PLC programs.
The digital I/O mapping option (P32771) allows the first I/O bits of
one or more nodes to appear at the flags that had been used for
the XIO boards of other ACR products (P4104-P4111).
The value of P32771 is evaluated and implemented each time the
network is started (via bit 11265). Values of P32771 less than or equal
to zero do not result in any re-mapping, so CANopen digital I/O
appears at the original location. Values of 1, 2, or 3 will result in the
equal re-mapping of node 0 only, node 0 and 1 only, or all 4 nodes
respectively. The meaning of P4104-P4111 is given below for the
various values of P32771.
XIO Flags
Parameters
P32771 = 1
P32771 = 2
P32771 >=3
4104
Node0 DI 0-31
Node0 DI 0-31
Node0 DI 0-31
4105
Node0 DO 0-31
Node0 DO 0-31
Node0 DO 0-31
4106
Node0 DI 32-63
Node0 DI 32-63
Node1 DI 0-31
4107
Node0 DO 32-63
Node0 DO 32-63
Node1 DO 0-31
4108
Node0 DI 64-95
Node1 DI 0-31
Node2 DI 0-31
4109
Node0 DO 64-95
Node1 DO 0-31
Node2 DO 0-31
4110
Node0 DI 96-127
Node1 DI 32-63
Node3 DI 0-31
4111
Node0 DO 96-127
Node1 DO 32-63
Node3 DO 0-31
Any digital input or output of any node that appears in this table will
not appear in the standard mapping of CANopen digital I/O. In
Additional Features 127
