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Parker Variable Speed Drive AC30 series. User’s Manual (2017) - page 15

A-21

Fieldbuses

5. Double-click on

Ethernet

and under the

General

tab select the required interface.

6. Double-click on

Parker AC30 Drive

and under the

General

tab set the IP address to that of the inverter.

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7. Under the

Connections

tab edit the connection if necessary. The input mapping uses a total of 6 bytes (O->T) and the output mapping also

uses a total of 6 bytes (T->O). The mapping sizes on the inverter MUST match that on the PLC. The RPI (Requested Packet Interval) may
also be changed.

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Fieldbuses

8. Under the EtherNet/IP IO Mapping tab the mappings can be seen.

%IB0

will be the first byte of the

Status Word

and

%IB2

will be the first byte of the

Actual Speed Percent

%QB0

will be the first byte of the

Comms Control Word

and

%QB2

will be the first byte of the

Comms Reference

9. In the application program the IO mappings can be accessed as variables as shown in this example.

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EXPLICIT ACCESS OF PARAMETERS

Explicit access of the AC30 parameters is possible via the vendor specific object. Details of this are given in the section CIP Objects – Vendor
Specific Object.

A parameter value may be read or written via Class

64h

, Attribute

. The instance number is the same as the parameter number (PNO). The

supported services are

Get Attribute Single

and

Set Attribute Single

Strings parameters use the SHORT_STRING format – the string is preceded by a single byte that specifies the length of the string.

Parameter Arrays

Parameter arrays may be accessed either as a whole or as a single element.

Using the parameter number (instance number) that represents the whole array with attribute 5h will return or modify the contents of all
parameters.

Using the parameter number that represents a single element will return or modify only that element.

String arrays may not be accessed as a whole array, but may be accessed via each element.

Using a CoDeSys Based PLC

CoDeSys based PLCs can access parameters explicitly using the function blocks

Get_Attribute_Single

and

Set_Attribute_Single

from the

library

EtherNetIP Services

LOST COMMUNICATIONS TRIP

A trip may be issued by the inverter on the loss of all Class1 connections of the EtherNet/IP adapter. To enable this, set the parameter

3129

EtherNet IP Trip

LOSS OF CONNECTION

and

set the

ETHERNET IP BREAK

bit in the parameter

0730 ENABLE 33 – 64

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TROUBLESHOOTING AND TIPS

The inverter fails to come out of configuration mode

The input or output mapping tables have invalid parameter mappings. The parameter

3130 EtherNet IP State

will report

ERROR

. Check the

parameter

3131 EtherNet IP Diag

to determine which mapping table has the incorrect mapping. Note the input mapping table may only contain

read-writable parameters.

Failure to make a connection

A connection between scanner and the adapter will not be made if:

•

the input and output assembly data sizes of the scanner do not match the input and output mapping data sizes of the inverter

•

the Requested Packet Interval (RPI) of the scanner is set to less than 2ms

Requested Packet Interval (RPI)

When mapping a large amount of data use an RPI of at least 10ms.

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CIP OBJECTS

The following CIP objects are supported:
01h

Identity

02h

Message Router

04h

Assembly

06h

Connection Manager

64h

Vendor Specific

F5h

TCP/IP Interface

F6h

Ethernet Link

Class Attributes

Each object has the following class attributes.

Attribute

Description

Type

Access

Revision

UINT

Get

Maximum Instance

UINT

Get

Number of Instances

UINT

Get

Optional Attribute List

UINT

Get

Optional Service List

UINT

Get

Maximum Class Attribute

UINT

Get

Maximum Instance Attribute

UINT

Get

Supported Service Code

Service Name

0Eh

Get_Attribute_Single

Identity Object – 01h

Instance Attribute

Description

Type

Value

Access

Vendor

UINT

0004h (Parker Hannifin)

Get

Device Type

UINT

002Bh (Generic)

Get

Product Code

UINT

306

Get

Product Revision

UINT

02C02h (minor/major)

Get

Status

WORD

Get

Serial Number

UDINT

Last 4 bytes of inverter MAC address

Get

Product Name

SHORT STRING

“Parker AC30 Drive”

Get

Supported Service Code

Service Name

01h

Get_Attribute_All

05h

Reset - Type 0 and Type 1 Reset are supported

0Eh

Get_Attribute_Single

Both Type 0 and Type 1 Reset will restart DHCP if enabled.

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Message Router Object – 02h

Instance Attribute

Description

Type

Value

Access

Object List

Get

Total connections

UINT

Get

Active connections

UINT

Get

Supported Service Code

Service Name

01h

Get_Attribute_All

0Eh

Get_Attribute_Single

Assembly Object – 04h

Instance Attribute

Description

Type

Value

Access

100

Input

USINT[500]

Parameter mapped values

Get

150

Output

USINT[496]

Parameter mapped values

Get/Set

Supported Service Code

Service Name

0Eh

Get_Attribute_Single

10h

Set_Attribute_Single

Connection manager – 06h

There are no attributes for the Connection Manager.

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TCP/IP Interface Object – F5h

Instance Attribute

Description

Type

Value

Access

Status

UINT

0 – Interface Configuration not
configured
1 – Interface Configuration comes from
DHCP
2 – Interface Configuration comes from
non-CIP settings

Get

Configuration
capability

DWORD

Bit 2 – DHCP capable (1)
Bit 5 – non-CIP setting capable (1)

Get

Configuration control

DWORD

- If DHCP is disabled then writing a

value of 0 is allowed

- If DHCP is enabled then writing a

value is 2 is allowed

Get/Set

Physical Link Object
Structure of:

Path Size

Path

UINT
Array of WORD

2
20F6h 2401h

Get

Interface
Configuration
Structure of:

IP Address

Network Address

Gateway Address

Name Server

Name Server 2

Domain Server Size

Domain Name

UDINT
UDINT
UDINT
UDINT
UDINT
UINT
STRING

Inverter IP address
Inverter network mask
Inverter gateway address
0
0
Returns the Domain Name if DHCP is
enabled and the DHCP server has
provided it.

Get

Host Name
Structure of:

Size

Host Name

UINT
STRING

If DHCP is enabled and bound, returns
the Host Name if the DHCP server has
provided it, otherwise returns the
default Host Name derived from the
AC30 MAC address.

Get

Encap TMO

UINT

Inactivity TMO seconds.
On Type 1 Reset this value will revert
to a value of 120.

Get/Set

Supported Service Code

Service Name

01h

Get_Attribute_All

0Eh

Get_Attribute_Single

10h

Set_Attribute_Single

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Ethernet Link Object – F6h

Instance Attribute

Description

Type

Value

Access

1
2

Interface Speed

UDINT

10 or 100

Get

Interface Flags

DWORD

Link status

Get

Physical address

USINT[6]

MAC address

Get

Interface label

SHORT STRING

“Port 1” or “Port 2”

Get

Interface capability
Structure of:

Capability bits

Speed/duplex array

count

DWORD
USINT

Auto-negotiation and MDIX supported (6)
0

Get

Supported Service Code

Service Name

01h

Get_Attribute_All

0Eh

Get_Attribute_Single

Vendor Specific Object – 64h

The vendor specific object allows explicit access to AC30 parameters, including string parameters but excluding string arrays.

Instance Attribute

Description

Type

Access

PNO

Parameter Name

SHORT STRING

Get

CIP data type

USINT

Get

Number of parameter
elements

USINT

Get

Parameter qualifier
Bit 0: Gettable
Bit 1: Settable

BYTE

Get

Parameter value

Depends on parameter

Get/Set

Parameter min value

Depends on parameter

Get

Parameter max value

Depends on parameter

Get

Supported Service Code

Service Name

01h

Get_Attribute_All

0Eh

Get_Attribute_Single

Equivalent CIP data types – Volume 1 CIP Specification, Chapter 5A 14.2.1.2

For a standard parameter the number of elements will be 1, for a parameter array it will be the number elements in the array, and for a string parameter it will be the maximum
number of characters.

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PARAMETER SUMMARY

The following parameters are relevant to the EtherNet/IP adapter.

Parameter Name

No.

Path

Default

Range

Writable

EtherNet IP Enable

3128

Setup::Communications::Base EtherNet IP
Parameters::Base Comms::EtherNet IP Adapter

FALSE

TRUE

CONFIG

EtherNet/IP adapter parameter.

Enables the built-in EtherNet/IP adapter.

EtherNet IP Trip

3129

Setup::Communications::Base EtherNet IP
Parameters::Base Comms::EtherNet IP Adapter

LOSS OF CONNECTION

0: DISABLED

1: LOSS OF CONNECTION

CONFIG

EtherNet/IP adapter parameter.

Enables the EtherNet/IP trip on loss of connection.

Enumerated values:

0: DISABLED

- the trip is disabled

1: LOSS OF CONNECTION

- the inverter will trip on the loss of all Class 1 connections

EtherNet IP State

3130

Monitor::Communications::Base EtherNet IP

Parameters::Base Comms::EtherNet IP Adapter

SETUP

0: SETUP

1: NW_INIT

2: WAITING TO CONNECT

3: CONNECTION IDLE

4: CONNECTION ACTIVE

5: ERROR

6, 7:

Reserved

8: NONE

NEVER

EtherNet/IP adapter parameter.

Diagnostic indicating the state of the EtherNet/IP adapter.

Enumerated values:

0: SETUP

- EtherNet/IP adapter enabled – the inverter is in the configuration state

1: NW_INIT

- network initialization

2: WAITING TO CONNECT

- waiting for a Class 1 connection

3: CONNECTION IDLE

- Class 1 connection made with scanner in Idle mode

4: CONNECTION ACTIVE

- Class 1 connection made with scanner in Run mode

5: ERROR

- configuration error

8: NONE

- EtherNet/IP adapter disabled

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Parameter Name

No.

Path

Default

Range

Writable

EtherNet IP Diag

3131

Monitor::Communications::Base EtherNet IP

Parameters::Base Comms::EtherNet IP Adapter

NONE

0: NONE

1: INPUT MAPPING FAILED

2: OUTPUT MAPPING FAILED

NEVER

EtherNet/IP adapter parameter.

Diagnostic indicating if there is a configuration error.

Enumerated Values:

0: NONE

- no configuration error

1: INPUT MAPPING FAILED

- invalid input mapping

2: OUTPUT MAPPING FAILED - invalid output mapping

Input Mapping

3000

Setup::Communications::Base EtherNet IP
Parameters::Base Comms::Fieldbus Mapping

0627

0681

0000

…

0000

Maximum parameter number

NEVER

EtherNet/IP adapter parameter.

List of PNOs for the built-in fieldbus input parameter mapping.

Output Mapping

3064

Setup::Communications::Base EtherNet IP
Parameters::Base Comms::Fieldbus Mapping

0661

0395

0000

…

0000

Maximum parameter number

NEVER

EtherNet/IP adapter parameter.

List of PNOs for the built-in fieldbus output parameter mapping.

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Sequencing Logic

Appendix B:

Sequencing Logic

Drive State Machine

DS402

The sequencing of the inverter is based on the DS402 / DriveCOM / IEC 61800-7 standard as used by most industrial fieldbusses. This allows it

to be easily controlled and monitored by a PLC using the standards’ Control Word and Status Word.

SEQUENCING STATE

The sequencing state of the unit is indicated by an enumerated value given by the

0678 Sequencing State

parameter.

Value

DS402 Sequencing State

Description

NOT READY TO SWITCH ON

Not ready to switch on. The drive is initialising or being configured.

SWITCH ON DISABLED

The Drive will not accept a switch on command

READY TO SWITCH ON

The Drive will accept a switch on command.

SWITCHED ON

The Drive will accept an Operation Enable (Run or Jog) command.
- Power stage of the Drive is ready to operate.

- Voltage has not yet been applied to the motor terminals.

OPERATIONAL ENABLED

Normal operational state of the drive. This state includes Running, Jogging,

Stopping (Disabling Operation) and Shutting Down (Switching Off).
- Voltage applied to the motor terminals.

QUICKSTOP ACTIVE

Emergency stop (Fast stop) is active

FAULT REACTION ACTIVE

The Drive is processing a trip event

FAULTED

The Drive is tripped awaiting trip reset

Sequencing Logic

B-2

SEQUENCING DIAGRAM

NOT READY TO SWITCH ON

SWITCH ON DISABLED

SWITCHED ON

READY TO SWITCH ON

OPERATION ENABLED

No Power

FAULT REACTION ACTIVE

FAULTED

QUICKSTOP ACTIVE

From all states

B-3

Sequencing Logic

The OPERATION ENABLED state is the normal operation state of the Drive. In this state the Reference Ramp is active, generating a Speed

Demand. Sub-states and allowed transitions are shown below. Note – the RUNNING sub-state also includes JOGGING.

OPERATION ENABLED

RUNNING

STOPPING

(DISABLE OPERATION)

SHUTTING DOWN

(SWITCH OFF)

STATE TRANSITIONS

State transitions are caused by internal events in the Drive or external commands via the Control Word. The transition numbers below relate to

those on the Sequence Diagram.

Transition 0: No Power to NOT READY TO SWITCH ON

Power has been applied to the control electronics of the drive.

Sequencing Logic

B-4

Transition 1: NOT READY TO SWITCH ON to SWITCH ON DISABLED

Automatic transition when initialisation has been completed and application has been loaded.

Transition 2: SWITCH ON DISABLED to READY TO SWITCH ON

Shutdown command received from control device or local signal.

Transition 3: READY TO SWITCH ON to SWITCHED ON

Switch On command received from control device or local signal.

Transition 4: SWITCHED ON to OPERATION ENABLED

Enable Operation (Run Forward, Run Reverse or Jog) command received from control device or local signal.

Transition 5: OPERATION ENABLED to SWITCHED ON

Disable Operation (Stop) command received from control device or local signal and Disabling (Stopping) function completed.

Transition 6: SWITCHED ON to READY TO SWITCH ON

Shutdown command received from control device or local signal.

Transition 7: READY TO SWITCH ON to SWITCH ON DISABLED

Quick Stop or Disable Voltage command received from control device or local signal.

Transition 8: OPERATION ENABLED to READY TO SWITCH ON

Shutdown command received from control device or local signal and Shutdown function completed.

Transition 9: OPERATION ENABLED to SWITCH ON DISABLED

Disable Voltage command received from control device or local signal.

Transition 10: SWITCHED ON to SWITCH ON DISABLED

Disable Voltage or Quick Stop command received from control device or local signal.

Transition 11: OPERATION ENABLED to QUICKSTOP ACTIVE

Quick Stop command received from control device or local signal.

Transition 12: OPERATION ENABLED to QUICKSTOP ACTIVE

Automatic transition when the Quick Stop function is completed or Disable Voltage command received.

Transition 13: any state to FAULT REACTION ACTIVE

Fault (Trip) occurred.

Transition 14: FAULT REACTION ACTIVE to FAULT

Automatic transition when Fault Reaction function completed or Disable Voltage command received.

Transition 15: FAULT to SWITCH ON DISABLED

Fault Reset command received from control device or local signal and there are no active faults.

B-5

Sequencing Logic

CONTROL WORD

The commands that request a change in sequencer state are received via the Control Word. The current value is given by

0644 Control Word

This is a read-only parameter which is updated from a source depending on the selected sequencing control channel. The sources available are

COMMS, APP and LOCAL.

If COMMS is selected, the value will be taken from

0627 Comms Control Word

. This will normally be written to over either the Fieldbus interface

or built-in Ethernet Modbus TCP. The Not Quickstop, Enable Voltage and Switch On bits are ANDed with

0610 App Control Word.

The External

Fault is ORed with the

0610 App Control Word

If APP is selected, the value will be taken from

0610 App Control Word

. This will normally be written to by the loaded application which is

responsible for routing the control signals from Digital Input terminals.

If LOCAL is selected, the value will be written to by the GKP with the Not Quickstop, Enable Voltage, External Fault and Switch On bits from

0610

App Control Word.

Bit

Name

Description

Switch On

OFF1 = 1 to switch on

Enable Voltage

OFF2 = 0 to coast stop

Not Quickstop

OFF3 = 0 to emergency stop

Enable Operation

1 = Run

Enable Ramp Output

=0 to set ramp output to zero

Not implemented, See note below

Enable Ramp

=0 to hold ramp

Not implemented, See note below

Enable Ramp Input

=0 to set ramp input to zero

Not implemented, See note below

Reset Fault

Reset trips on 0 to 1 transition

External Fault

1 = External (Application) trip active

unused

Use Comms Control

1 = Use

0627 Comms Control Word

as the Control Word source for sequencing

Use Comms Reference

1 = Use

0681 Comms Reference

as the Reference source

Use Jog Reference

1 = Run using

0501 Jog Setpoint

when Enable Operation = 1

Reverse Direction

1 = Run in reverse direction when Enable Operation = 1

Auto Initialise

1 = Allow SWITCH ON DISABLED to READY TO SWITCH ON transition regardless of bit 0 (Switch On)

Event Triggered OP

1 = Rising-edge of Enable Operation required for SWITCHED ON to OPERATION ENABLED transition

Setting “Event Triggered OP” to 0 could cause the motor to start unexpectedly.

Note – bits 4, 5, 6 must be set (= 1) to allow the ramp control feature to be added in the future.

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