Parker 2003-CB-00 User manual

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AC20 Series
CANopen– Communication Option
Technical Manual

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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.
Complete the following table for future reference detailing how the unit is to be installed and used.
INSTALLATION DETAILS
Model Number
(see product label)
Where installed
(for your own
information)
1.2 Application Area
The equipment described is intended for industrial motor speed 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 personnel. A
competent person is someone that is technically qualified and familiar with all safety information and
established safety practices; with the installation process, operation, and maintenance of this equipment,
and with all the hazards involved.
1.4 Product Warnings
Special attention must be paid to the information presented in warning, caution, and information notices
when they appear in this manual. Definitions of caution, warning and information notices are shown below:
Application Risk
The specifications, processes and circuitry described herein are for guidance only and may need to be
adapted to the user’s specific application. We cannot guarantee the suitability of the equipment described in
this Manual for individual applications.

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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
even though the drive appears to be switched off.
•The motor's direction of rotation might not be controlled
•The motor speed might not be controlled
•The motor might be energised
A drive is a component within a drive system that may influence its operation or effects under a fault
condition. Consideration must be given to:
•Stored energy
•Supply disconnects
•Sequencing logic
•Unintended operation
1.5 Safety Information
Risk of Electric Shock
DANGER!
Ignoring the following may result in injury:
- This equipment can endanger life by exposure to rotating
machinery and high 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 isolated before working on the
equipment. Be aware that there may be more than one supply
connection to the inverter.
- There may still be dangerous voltages present at power terminals
(motor output, supply input phases, DC bus and the brake, where
fitted) when the motor is at standstill or is stopped.
- For measurements use only a meter to IEC 61010 (CAT III or
higher). Always begin using the highest range.
CAT I and CAT II meters must not be used on this product.
- Allow at least 5 minutes for the inverter's capacitors to discharge
to safe voltage levels (<50V). Use the specified meter capable of
measuring up to 1000V dc & ac rms to confirm that less than 50V
is present between all power terminals and between power
terminals and earth.
- Unless otherwise stated, this product must NOT be dismantled. In
the event of a fault the inverter must be returned. Refer to
"Routine Maintenance and Repair".

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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.
- Whilst ensuring ventilation is sufficient, provide guarding and /or
additional safety systems to prevent injury or damage to
equipment.
- When replacing an inverter in an application and before returning
to use, it is essential that all user defined parameters for the
product’s operation are correctly installed.
- When replacing an inverter in an application and before returning
to use, it is essential that all user defined parameters for the
product’s operation are correctly 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 motor must have at least
basic insulation.
- All exposed metalwork in the Inverter is protected by basic
insulation and bonded to a safety earth.
- RCDs are not recommended for use with this product but, where
their use is mandatory, only Type B RCDs should be used.
WARNING!
Ignoring the following may result in injury or
damage to equipment:
- In a domestic environment this product may cause radio
interference in which case supplementary mitigation measures
may be required.
- This equipment contains electrostatic discharge (ESD) sensitive
parts. Observe static control precautions when handling,
installing and servicing this product.
- This is a product of the restricted sales distribution class
according to IEC 61800-3. It is designated as “professional
equipment” as defined in EN61000-3-2 for. Permission of the
supply authority shall be obtained before connection to the public
low voltage supply.

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2 Manufacturing Location
Germany
Parker Hannifin Manufacturing Germany GmbH & Co. KG
Electric Motion & Pneumatic Division (EMPD)
Robert-Bosch-Strasse 22
77656 Offenburg (Germany)
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
persönlich haftende Gesellschafterin: Parker Hannifin GmbH - Sitz: Bielefeld - Amtsgericht Bielefeld HRB 35489
Geschäftsführung der Parker Hannifin GmbH: Ulrich Jochem, Achim Kohler, Andreas Paulsen, Kirsten Stenvers
Vorsitzender des Aufsichtsrates: Dr.-Ing. Gerd Scheffel

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3 Waste Electrical and Electronic Equipment (WEEE)
Waste Electrical and Electronic Equipment - must not be disposed of with domestic
waste. It must be separately collected according to local legislation and
applicable 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 considerations.
For more information about how to recycle your Parker supplied waste equipment, please contact your local
Parker Service Centre.
Packaging
During transport our products are protected by suitable packaging. This should be taken for central disposal
as secondary raw material.

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4 Table of Contents
1Safety.................................................................................................................................................... 2
1.1 Intended Users............................................................................................................................ 2
1.2 Application Area .......................................................................................................................... 2
1.3 Personnel .................................................................................................................................... 2
1.4 Product Warnings........................................................................................................................ 2
1.5 Safety Information ....................................................................................................................... 3
2Manufacturing Location...................................................................................................................... 5
3Waste Electrical and Electronic Equipment (WEEE) ....................................................................... 6
4Table of Contents ................................................................................................................................ 7
5Introduction.......................................................................................................................................... 8
5.1 Product Features......................................................................................................................... 8
6Installation............................................................................................................................................ 9
6.1 Order Codes................................................................................................................................ 9
6.2 Fitting the Option....................................................................................................................... 10
7Network .............................................................................................................................................. 13
7.1 Network Connector and Cable Specification ............................................................................ 13
7.2 LED Indications ......................................................................................................................... 14
8Configuration..................................................................................................................................... 15
8.1 Communication parameters...................................................................................................... 15
8.2 Process Data............................................................................................................................. 18
8.3 Acyclic Data Exchange ............................................................................................................. 21
8.4 CANopen EDS File ................................................................................................................... 21
9Example Configuration and Programming ..................................................................................... 22
9.1 AC20 Motor Control Application................................................................................................ 22
9.2 List of process data................................................................................................................... 23
9.3 Programming using Codesys platform...................................................................................... 24
10 Lost Communication Trip................................................................................................................. 35
11 Diagnostic Event ............................................................................................................................... 36
APPENDIX A: Data types ............................................................................................................................ 37
APPENDIX B: Parameters........................................................................................................................... 38
APPENDIX C: DSE Lite Quick Start Guide ................................................................................................ 41
APPENDIX D: CANopen Object Dictionary ............................................................................................... 43
Standard.............................................................................................................................................. 43
Manufacturer and Profile Specific Objects .......................................................................................... 46

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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
•Up to 64 TPDO’s and 64 RPDO’s (Corresponds to a total of 512 bytes of Process 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 Transfer (Block Transfer not supported)
•EDS files provided
•Run and Error LEDs
Note:
•CiA 301 specification released by CAN in Automation specifies the CANopen application layer and
communication profile.
•LSS (Layer Setting Services) can be used to set data rate and node address via the network and may
address the module by its Vendor-ID, Product Code, Revision number and serial number.

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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.
CAUTION!
ESD SENSITIVE EQUIPMENT
Take ESD precautions when handling the Communication Interface
Option Cards to avoid any risk of damaging the equipment.
•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 residual energy.
•Always check that the voltages on the user terminals are at a safe level (<50V) before carrying out
any of these activities.
6.1 Order Codes
Order Code Description
2003-CB-00 CANopen communication interface option card
2003-EC-00 EtherCAT communication interface option card
2003-IP-00 Ethernet IP communication interface option card
2003-PB-00 Profibus DP-V1 communication interface option card
2003-PN-00 PROFINET IO communication interface option card
2003-RS-00 RS485 Modbus RTU communication interface option card

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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.
2. Insert a flat head screwdriver into the moulding features and
lever the control module housing away from the power
tk
3. Unhook the bottom of the control module
housing from the power stack.
4. Gently turn the control module upside down
so it rests to the right of the power stack,
with the interface cables still connected.

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In the event that the Communication Interface Option Card needs to be removed, follow the installation
process, but perform steps 7 and 8 in reverse.
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.
Note: The front facia of the Option should be
loose at this point.
9. Now fully tighten the two T8 screws on the front
facia of the Communication Interface Option
Card.
10. Check that the Option Card is secure and that it
cannot slide out.
11. Reassemble the product by performing the
reverse process of steps 1 – 4.

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Frame 6 – 10
On Frames 6 – 10, the lower terminal cover will need to be removed prior to option card installation.
In the event that the Communication Interface Option Card needs to be removed, perform 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 should be loose
at this point.
3. When the Comms Interface Option Card is fully
engaged in the connector and its housing has
hocked onto the edge of the PCB, fully tighten
the two T8 screws on the front facia.
4. Check that the Option Card is secure and that
it cannot slide out.

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7 Network
7.1 Network Connector and Cable Specification
CANopen Connector
1xD-Sub socket male, 9 pole.
Pin
Signal
1
-
2
CAN_L
3
CAN_GND
4
-
5
CAN_SHLD
6
-
7
CAN_H
8
-
9
-
Housing
CAN_SHIELD
Connected to protective earth via filter
Note: It is possible to make serial communications operate without adhering to the following
recommendations; however, the recommendations will promote greater reliability.
Cable
The cable for CANopen is shielded copper cable consisting of one twisted pair and two optional cables for
an extra power supply. 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.
The maximum allowable cable length depends on the baud rate selected:
Data Rate
Maximum Distance
125 kBit/s
500 metres
250 kBit/s
250 metres
500 kBit/s
100 metres
1 MBit/s
25 metres
Terminators
•If the drive is at the end of the chain, it must have a terminating resistor.
•All other drives in the system should not have a terminator.
•Required resistor is + 1%, minimum ¼ Watt)
•The CANopen specification recommends 124Ω, but it should be chosen to equal as closely as
possible the characteristic impedance of the cable.
Important: Failing to fit terminating resistors correctly may result in unreliable operation.

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Wiring Diagram Example
7.2 LED Indications
RUN LED
This LED reflects the status of the CANopen device.
LED State
Description
Comments
Off
-
No Power.
Green
OPERATIONAL
-
Green, Blinking
PRE-OPERATIONAL
-
Green, 1 Flash
STOPPED
-
Green,
Flickering AUTOBAUD
Baud rate detection in progress or LSS in
progress (alternately flickering 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 communication errors.
LED State
Description
Comments
Off
-
No power or the device is in working condition.
Red, 1 flash
Warning limit reached
A bus error counter reached or exceeded its
warning level
Red, Flickering
LSS
LSS services in progress (alternately flickering
with RUN LED)
Red, 2 flash
Error Control Event
A heartbeat event (Heartbeat consumer) has
occurred
Red
Bus off (Fatal Event
Bus off

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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.
8.1 Communication parameters
Keypad Menu Path
DSE-Lite Function Block
Webserver
The network parameters 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 the AC20 CANopen
slave. The module address must be unique to be able to communicate on the CANopen network.
The valid setting range is from 1 to 127.
•The parameter 0764 CANOPEN BAUD must be set to the required baud rate for the network. A
baud rate of up to 1000 Kbits/s may be chosen. Alternatively, AUTO may be selected so that the
option automatically detects the baud rate.
•The parameter 2566 MASTERMAPPING must be set to choose how process data mapping is
defined. (See 8.2 Process Data for detail)
Setup
Communication
Option

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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.
Alternatively. perform the steps described above by double clicking on the function block Option comms
config to open parameters tab in the configuration interface.

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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

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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.
Each object entry corresponds to an AC20 parameter number, with parameter number 1 corresponding to
object index 2001h, parameter number 2 to object index 2002h, etc.
For standard parameters (of a single element), sub-index 00h of the object represents the value of the
parameter, its data type and access depend on the AC20 parameter.
For multiple element parameters (parameter arrays), sub-index 00h represents the number of parameter
elements and sub-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:
AC20 Parameter number
Index
Subindex
Description
Type / Access
1
2001h
00h
Parameter Value
Parameter dependent
2
2002h
00h
Number of Elements
Unsigned8 / Read only
01h
value of element 0
Parameter dependent
02h
value of element 1
03h
value of element 2
04h
value of element 3
Config Mapping
The AC20 CANopen option requires configuration of process data mapping. Parameters mapped as
Process Data can be exchanged cyclically as Process Data Objects (PDOs) on the bus.
The slave supports up to 4 TPDOs and up to 4 RPDOs, each capable of carrying up to 8 bytes of data.
(See Appendix – CANopen Object Dictionary)
There are two methods to define process data mapping: The process data can be mapped using the AC20
input and output mapping tables or from the PLC.
The parameter 2566 MASTERMAPPING defines the method: If FALSE the AC20 input and output mapping
tables will be used to configure process data mapping. If TRUE, the bus master set/configures the Process
data mapping and AC20 input and output mapping tables will be cleared.
Note: For parameter 2566 MASTERMAPPING = ‘FALSE’:If the AC20 mapping tables are both set to
zeros or AC20 mapping tables differs from PLC mapping then the option will be mapped from the PLC.

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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. Only writable AC20 parameters that are not configuration parameters may
be added to the read process data.
Keypad Menu Path
DSE Lite Function Block
Webserver
Write Mapping:
The write process data represents cyclic data sent from the AC20 to the PLC, this is mapped into the table
Option Comms Output Mapping.
Keypad Menu Path
DSE Lite Function Block
Webserver
Note: String-type parameters cannot be mapped.
Engineer
Communications
Option Comms
Input Mapping[ ]
Engineer
Communications
Option Comms
Output Mapping[ ]

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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.
The parameter 2566 MASTERMAPPING must be set to TRUE and this will auto reset any AC20 input and
output mapping inside the drive.
Cyclic Data Exchange
Cyclic data exchange will occur when the option is in the OPERATIONAL (PROCESS ACTIVE) or STOP
(IDLE) state.
However, the read process data will only update the mapped parameters 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 parameters will all update only when a
change in the read process data occurs.
Mapping status
The process data mapping status can be accessed from AC20 via the following parameters:
•Parameter 2586 InMappingStatus: shows the status of the currently active cyclic data input
mapping table (32 entries), value is the Tag ID of the parameter to be cyclic read In.
•Parameters 2619 OutMappingStatus: Shows the status of the currently active cyclic data output
mapping table (32 entries), value is the Tag ID of the parameter to be cyclic sent out.
The parameters 2586 InMappingStatus and 2619 OutMappingStatus are visible from webserver if
Parameter 2566 MasterMapping = TRUE and are valid if Parameter 0774 Comms State = PROCESS
ACTIVE.