Parker AC30 series User manual

Option Modules
EtherCAT Option
HA501938U001 Issue 1
Technical Manual
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AC30 EtherCAT Option
Technical Manual
HA501938U001 Issue 1
Copyright 2013 Parker Hannifin Manufacturing Limited
All rights strictly reserved. No part of this document may be stored in a retrieval system, or transmitted in
any form or by any means to persons not employed by a Parker company without written permission from
Parker Hannifin Ltd. Although every effort has been taken to ensure the accuracy of this document it may
be necessary, without notice, to make amendments or correct omissions. Parker cannot accept
responsibility for damage, injury, or expenses resulting therefrom.
Parker Hannifin Manufacturing Limited is referred to throughout this document as Parker.
WARRANTY
The general terms and conditions of sale of goods and/or services of Parker Hannifin Europe
Sàrl’s, Luxembourg, Switzerland Branch, Etoy, apply to this product unless otherwise agreed.
The terms and conditions are available on our website
www.parker.com/termsandconditions/switzerland.
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FAILURE OR IMPROPER SELECTION OR IMPROPER USE OF THE PRODUCTS
DESCRIBED HEREIN OR RELATED ITEMS CAN CAUSE DEATH, PERSONAL INJURY
AND PROPERTY DAMAGE.
This document and other information from Parker-Hannifin
Corporation, its subsidiaries and authorized distributors
provide product or system options for further investigation by
users having technical expertise.
The user, through its own analysis and testing, is solely
responsible for making the final selection of the system and
components and assuring that all performance, endurance,
maintenance, safety and warning requirements of the
application are met. The user must analyze all aspects of the
application, follow applicable industry standards, and follow
the information concerning the product in the current product
catalog and in any other materials provided from Parker or its
subsidiaries or authorized distributors.
To the extent that Parker or its subsidiaries or authorized
distributors provide component or system options based upon
data or specifications provided by the user, the user is
responsible for determining that such data and specifications
are suitable and sufficient for all applications and reasonably
foreseeable uses of the components or systems.
The above disclaimer is being specifically brought to the
user’s attention and is in addition to and not in substitution to
the Exclusions and Limitations on Liability which are set out in
the terms and conditions of sale.
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Safety Information
Requirements
IMPORTANT: Please read this information BEFORE installing the equipment.
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, EMC considerations, 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)
Application Area
The equipment described is intended for industrial motor speed control
utilising AC induction or AC synchronous machines.
Personnel
Installation, operation and maintenance of the equipment should be carried
out by competent personnel. A competent person is someone who 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.
Product Warnings
DANGER
Risk of electric
shock
WARNING
Hot
surfaces
Caution
Refer to
documentation
Earth/Ground
Protective
Conductor
Terminal
CAUTION!
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.
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
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Safety Information
DANGER! - Ignoring the following may result in injury
1. This equipment can endanger life by
exposure to rotating machinery and high
voltages.
2. The equipment must be permanently
earthed due to the high earth leakage
current, and the drive motor must be
connected to an appropriate safety earth.
3. Ensure all incoming supplies are isolated
before working on the equipment. Be
aware that there may be more than one
supply connection to the drive.
4. 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.
5. 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.
6. Allow at least 5 minutes for the drive'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.
7. Unless otherwise stated, this product must
NOT be dismantled. In the event of a fault the
drive must be returned. Refer to "Routine
Maintenance and Repair".
WARNING! - Ignoring the following may result in injury or damage to equipment
SAFETY
Where there is conflict between EMC and Safety requirements, personnel safety shall
always take precedence.
•Never perform high voltage resistance
checks on the wiring without first
disconnecting the drive 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 a drive 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.
EMC
•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. Permission of
the supply authority shall be obtained before
connection to the low voltage supply.
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Disposal
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 is
entirely environmentally compatible and should be taken for central disposal
as secondary raw material
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Contents.............................................................................................................Page No.
AC30 EtherCAT Option.................................................................................................. 1
Introduction.......................................................................................................... 1
Features ........................................................................................................ 1
The Product Code ............................................................................................... 1
Installation ........................................................................................................... 2
Connecting to the EtherCAT Network ................................................................. 4
Wiring Example ............................................................................................. 5
Cable Type.................................................................................................... 5
RJ45 (standard) Pin Details .......................................................................... 5
LEDs.................................................................................................................... 6
Run (RUN) LED ............................................................................................ 6
Error (ERR) LED ........................................................................................... 6
Link/Activity LED ........................................................................................... 6
Configuration ....................................................................................................... 7
Process Data................................................................................................. 7
CANopen over EtherCAT Object Dictionary ................................................. 9
EtherCAT ESI Files ..................................................................................... 11
Example Configuration ...................................................................................... 12
Configuration Summary .............................................................................. 12
Example using CoDeSys Soft PLC as an EtherCAT Master ...................... 13
Example using a TwinCAT PLC.................................................................. 18
Configuring the AC30.................................................................................. 21
Acyclic Data Exchange...................................................................................... 23
Accessing Parameters ................................................................................ 23
Status Codes............................................................................................... 23
Lost Communications Trip................................................................................. 24
Supervised Parameter ................................................................................ 24
Comms Break Trip ...................................................................................... 24
Diagnostic Event................................................................................................ 25
Parameters ........................................................................................................ 26
Configuration Parameters ........................................................................... 26
Runtime Parameters ................................................................................... 28
Diagnostic Parameters................................................................................ 29
Troubleshooting................................................................................................. 34
Hardware Mismatch .................................................................................... 34
Invalid Configuration ................................................................................... 34
Appendix A – Array Parameter Numbers .......................................................... 35
Array Example............................................................................................. 35
Appendix B – Data Types.................................................................................. 35
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1
AC30 EtherCAT Option
AC30 ETHERCAT OPTION
Introduction
Features
•CANopen over EtherCAT (CoE)
•DS301 compliant
•Galvanically isolated 2-port Ethernet interface
•100Mbit/s
•Run and Error LEDs
•Up to 256 bytes of cyclic I/O in each direction
•EMCY support
•EtherCAT Slave Interface (ESI) files provided
The Product Code
The product code for the EtherCAT Option is:
7003-EC-00
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2
AC30 EtherCAT Option
Installation
1. Remove the Graphical Keypad (GKP) by pulling from the top down, and
remove.
2. After removing the screw slide the control module lower cover down
slightly and then remove.
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3
AC30 EtherCAT Option
3. Click the Option into place and tighten the retaining screw, as shown.
4. Slide and click back the control module lower cover, tighten the retaining
screw and slot back the GKP.
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4
AC30 EtherCAT Option
Connecting to the EtherCAT Network
RUN
ERR
LEDs
Run Error
IN
OUT
Link/Activity LED
IN port
Link/Activity LED
OUT port
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5
AC30 EtherCAT Option
Wiring Example
Two RJ45 Ethernet sockets are provided. The IN socket is connected to the
Master or the preceeding slave coming from the direction of the Master.
The OUT socket is connected to the IN socket of the next Slave, if there is
one. The last OUT socket is not connected.
Cable Type
Cable Type
Shielded
Maximum Node-to-Node Distance
(m)
CAT5/5E
Yes
100
*CAT5/5E
No
3
*For cable lengths <3m and not being trunked with power cables.
•Use a direct cable (without “crossover”).
•Avoid running communication cables close to power cables and
always cross at right angles.
RJ45 (standard) Pin Details
Pin
Signal
1
TD+
2
TD-
3
RD+
4
Termination
5
Termination
6
RD-
7
Termination
8
Termination
Master
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6
AC30 EtherCAT Option
LEDs
Run (RUN) LED
State
Indication
Off
INIT state (or no power)
Green
OPERATIONAL state
Green, blinking PRE-OPERATIONAL state
Green, single flash
SAFE-OPERATIONAL state
Red
Fatal event
Error (ERR) LED
State
Indication
Off No error (or no power)
Red, blinking
Invalid configuration
Red, double flash
Application (sync manager) watchdog
timeout
Red
Application controller failure (EXCEPTION)
Link/Activity LED
State
Indication
Off
No link (or no power)
Green
Link sensed, no traffic detected
Green, flickering
Link sensed, traffic detected
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7
AC30 EtherCAT Option
Configuration
The option requires configuration of the mapping of the process data
to the master.
The 0044 Comms Required parameter must be set to ETHERCAT.
Process Data
Parameters mapped as Process Data can be exchanged cyclically as
Process Data Objects (PDOs) on the bus. The option supports one
RPDO (receive PDO) and one TPDO (transmit PDO) each capable of
carrying 256 bytes of data.
The cyclic I/O data is configured by using the read and write process
data mapping tables in the AC30. These tables are two parameter
arrays in which AC30 parameter numbers may be added. AC30
parameters mapped to process data must match, and be in the same
order as, those of the master.
String-type parameters may not be mapped.
The CANopen manufacturer specific range (index 2001h to 5FFFh) of
object entries corresponds directly to the AC30 parameter numbers.
Read Mapping
The read process data represents cyclic data sent from the master to
the AC30. Only writable AC30 parameters, that are not configuration
parameters, may be added to the read process data.
When the EtherCAT option first becomes operational, the read
process data area will be pre-loaded once with data by reading the
associated mapped AC30 parameter values.
Write Mapping
The write process data represents cyclic data sent from the AC30 to
the PLC.
Mapping Arrays
Parameter arrays may be added into the process data, however this
could lead to large amounts of data being passed across the
communications. An alternative is to only reference the element(s) of
the array required. This is possible as each element of a parameter
array has its own parameter number. See Appendix A – Array
Parameter Numbers.
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8
AC30 EtherCAT Option
Default Mapping
The process data mapping will contain a factory default mapping. The
default mapping may be overwritten if required.
Cyclic Data Exchange
Cyclic data exchange will occur when the option is in the
OPERATIONAL (PROCESS ACTIVE) or SAFE OPERATIONAL
(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.
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9
AC30 EtherCAT Option
CANopen over EtherCAT Object Dictionary
Standard Objects
Index
Object
Name
Sub-
Index
Description
Type/
Access
1000h
Device Type
00h
Device Type
U32
RO
1001h
Error
Register
00h
Error Register
U8
RO
1003h
Pre-define
error field
00h
Number of errors
U8
RW
01h
..
06h
Error field
U32
RO
1008h
Manufacturer
device
name
00h
Manufacturer device
name
Visible
string
RO
1009h
Manufacturer
hardware
version
00h
Manufacturer
hardware version
Visible
string
RO
1011h
Restore
parameters
00h
Largest sub index
supported (01h)
U8
RO
01h
Restore all default
parameters
U32
RW
1018h
Identify
object
00h
Number of entries
(04h)
U16
RW
01h
Vendor ID
U32
RO
02h
Product Code
U32
RO
03h
Revision Number
U32
RO
04h
Serial Number
U32
RO
1600h
Receive
PDO
mapping
00h
No. of mapped
application objects in
PDO (0..254)
U8
RW
01h
Mapped object #1
U32
RW
02h
Mapped object #2
U32
RW
…
…
…
NNh
Mapped object #NN
U32
RW
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10
AC30 EtherCAT Option
Index
Object
Name
Sub-
Index
Description
Type/
Access
1A00h
…
1A1Fh
Transmit
PDO
mapping
00h
No. of mapped
application objects in
PDO (0..254)
U8
RW
01h
Mapped object #1
U32
RW
02h
Mapped object #2
U32
RW
…
…
…
NNh
Mapped object #NN
U32
RW
1C00h
Sync
Manager
Comm
Type
00h
Number of entries
(4)
U8
RO
01h
Mailbox wr
(1)
U8
RO
02h
Mailbox rd
(2)
U8
RO
03h
Process Data out
(3)
U8
RO
04h
Process Data in
(4)
U8
RO
1C12h
Sync
Manager
Rx PDO
Assign
00h
No. of assigned PDOs
(1)
U8
RO
01h
Assigned PDO
(1600h)
U16
RO
1C13h
Sync
Manager
Tx PDO
Assign
00h
No. of assigned PDOs
(1)
U8
RO
01h
Assigned PDO
(1A00h)
U16
RO
1C32h
SM output
parameter
00h
Number of entries
(1)
U8
RO
01h
Sync mode
(0 - FREE RUN)
U16
RO
1C33h
SM input
parameter
00h
Number of entries
(1)
U8
RO
01h
Sync mode
(0 - FREE RUN)
U16
RO
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11
AC30 EtherCAT Option
Manufacturer Specific Objects
Each object entry in the manufacturer specific range (2001h to 5FFFh)
corresponds to an AC30 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 depends on the AC30 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:
AC30
Parameter
Index
Sub-
index
Description
Type/
Access
1
2001h
00h
Parameter value
Depends on
parameter
2
2002h
00h
Number of elements
U8
RO
01h
Parameter value of
element 0
Depends on
parameter
02h
Parameter value of
element 1
03h
Parameter value of
element 2
04h
Parameter value of
element 3
EtherCAT ESI Files
ESI files for the AC30 EtherCAT option may be downloaded from
www.parker.com/ssd. Two types of ESI files are available: one
without any pre-mapped process data and one with the default
process data mapping. These files may be edited to match the
required process data mapping.
The version of the ESI file should match that of the module version of
the EtherCAT option. The version of the module may be found from
the parameter 0049 Comms Module Version. This is given in
hexadecimal. The most significant byte is the major version number
and the next significant byte is the minor version number. For
example the version number 0105001 refers to version V1.05
Some masters do not require an ESI file and can automatically extract
the configuration description from the slave.
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12
AC30 EtherCAT Option
Example Configuration
Configuration Summary
Read Process Mapping Table Data Type Bytes
000 0627 Comms Control Word WORD 2
001 0681 Comms Reference REAL 4
002
003
Write Process Mapping Table Data Type Bytes
000 0661 Status Word WORD 2
001 0395 Actual Speed Percent REAL 4
002
003
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13
AC30 EtherCAT Option
Example using CoDeSys Soft PLC as an EtherCAT
Master
The example uses CoDeSys V3.5 running on a PC as a soft PLC. A
trial version of CoDeSys is available from www.codesys.com
1. Start CoDeSys and install the ESI file.
Download the AC30 EtherCAT option ESI file
ESI_AC30_DEFAULT_V1_05.XML from www.parker.com/ssd
Start CoDeSys V3.5 and from the menu select Tools and Device
Repository…
Click on Install… With the file type selected as EtherCAT XMl
Device description Configuration Files browse to the ESI file
required and click on Open.
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