Updated 04-Feb-2013
Products: Compax3 EPL, SxxVxI30T11 ACR9030,ACR9040, ACR9630, ACR9640
By default a Compax3 EPL drive will report the following parameter back to the ACR controller every EPL cycle
| Value | Where to find | Starting Parameter |
| Position | EPL Parameters/EPLD Position Parameters/EPLD Position | P38144 |
| Velocity | EPL Parameters/EPLD Position Parameters/EPLD Velocity | P38145 |
| Secondary Position | EPL Parameters/EPLD Position Parameters/EPLE Position | P38146 |
| Error Code | EPL Parameters/EPL Control and Status/Compax3 Drive Error Code | P37643 |
| Inputs | EPL Flags/EPLD Digital Inputs | BIT3328 |
| Following Error | Axis Parameter/Position Parameters/Following Error | P12291 |
| Torque | Axis Parameter/Monitor Parameters/Final Output Signal | P12319 |
For explanation of Torque Values from Compax3 EPL, read here
For more information about the Error Code, read here
Additional information can be requested from the drive using SDO transfers.
Beginning with Operating Systems 1.28 (9030/9040) and 2.28 (9630/9640) with the compatible 1.03.08 EPL version, ACR controllers expand support of EPL drive communication and configuration via SDO transfers.
An EPL drive stores current process and device data in the Object Dictionary (OD), including communication parameters, device identification, and specific functionalities of a device. The Object Dictionary is based on CANopen and follows the same format. The OD contains both standardized objects common to all devices and manufacturer specific objects. Each object within the dictionary is addressed using a 16-bit index and an 8-bit sub-index.
ACR ETHERNET Powerlink controllers utilize both Service Data Object (SDO) transfer and Process Data Object (PDO) transfer as methods of exchanging data with other devices. The ACR controller reads and writes data to and from drives using SDO (during network start and set-up) and PDO (periodically during normal operation) without direct interaction by the user or user programs. The ACR9000 manipulates these objects as required automatically, as the underlying method of normal network operation.
SDO Example