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

DOC-0017-06-EN-B

04.04.2023

35 (47

)

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.

Comms Break Trip

The drive will trip when there is a loss of communications between the master and the drive.
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 in the parameter

0870 Enable Trips Lo

. The

parameter Enable Trip Lo is a 32-bit word, the bit number 27 is used to disable or to enable the trip.

Comms state

The parameter

0774 Comms State

indicates ‘PROCESS_ACTIVE’ when the CANopen communication is

active. The table below describes how the comms state relates to the CANopen network:

Comms State

Comments

NW_INIT

Network initialization

WAIT_PROCESS

PRE-Operational

IDLE

STOPPED, the network device is in idle

PROCESS_ACTIVE Operational: the network process data channel is active and error free
ERROR

controller has entered the BUS-off state

EXCEPTION

- An illegal configuration or a NMT (Network management) service RESET

NODE request have been received.

- Application error (invalid network configuration parameter, timeout etc.)

Содержание 2003-CB-00

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

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