Parker ACR Series User Manual

Parker Hannifin
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
Semi-Automatic Network Configuration
The network configuration is as automatic as possible, but the user must
adjust some settings. The ACR90x0 controller automatically sets other
configuration parameters required for CANopen, including the global analog
data enable (For more information, see the Parker I/O manual). The table
below gives the parameters the user must set, along with their default values.
The default values apply on power up if user supplied values have not been
saved with the
ESAVE command. Each parameter is described in further
detail in subsequent paragraphs.
Parameter P number Default value
Master Node Id P32768 5
Bit Rate (kilobits/second) P32769 125
Number of slave nodes P32770 1 (valid range 0-4)
Cyclic Period (milliseconds) P32772 50
Node 0 ID (required if P32770 > 0) P33024 1
Node 1 ID (required if P32770 > 1) P33040 0
Node 2 ID (required if P32770 > 2) P33056 0
Node 3 ID (required if P32770 = 4) P33072 0
Bit Rate and Node Addresses
Every node on a CANopen bus must have a unique ID number, and must
use the same bit rate. The slave I/O nodes have DIP switches that allow the
user to set bit rate and node ID number. ACR90x0 will have a default node
ID number of 5, but this may be changed by modifying parameter P32768.
The user must set an ACR90x0 parameter (P32769) to allow the master to
know and set its bit rate to match the nodes on the bus. The bit rate may only
be set as high as allowed by the bus length and the existing nodes. This will
usually be 1 megabit/second.
For available bit rates and constraints of bus length, see the CiA Draft
standard 301, version 4.02, table 2. The default bit rate is 125Kbit/second. Bit
rate and master node numbers are saved with the
ESAVE command.
Appendix E CANopen 129
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Parker ACR Series Specifications

General

Brand	Parker
Model	ACR Series
Category	Controller
Language	English