Go to Parker.com
  • Sign in
Technologies
  • Aerospace
  • Climate Control
  • Electromechanical Group
  • Filtration
  • Fluid and Gas Handling
  • Hydraulics
  • IoT
  • Pneumatics
  • Process Control
  • Sealing and Shielding
Blogs Forums Knowledge Bases
Parker Community
Parker Community
  • Technologies
    • Aerospace
    • Climate Control
    • Electromechanical Group
    • Filtration
    • Fluid and Gas Handling
    • Hydraulics
    • IoT
    • Pneumatics
    • Process Control
    • Sealing and Shielding
    Blogs Forums Knowledge Bases
  • User
  • Site
  • Search
  • User
Home Technologies Electromechanical Group Electromechanical - Industrial Electromechanical Industrial Knowledge Base How to Read Compax3 Analog I/O with EPL SDO read?
Electromechanical - Industrial
  • Technologies
  • Electromechanical Group
  • Electromechanical - Industrial
  • More
  • Cancel
Electromechanical - Industrial
Electromechanical Industrial Knowledge Base How to Read Compax3 Analog I/O with EPL SDO read?
  • Electromechanical – Industrial Support Forum
  • Electromechanical Industrial Knowledge Base
  • Members
  • Sub Groups
  • More
  • Cancel
  • New
Electromechanical - Industrial requires membership for participation - click to join
  • Electromechanical Knowledge Base & Frequently Asked Questions
  • Motion and Machine Controllers-
    • ACR Controllers-
      • 7000+
      • ACROBasic Programming (IPA/7000/9000)+
      • 9000 (Legacy)-
        • ACR9000 Family Letter of Volatility
        • ACR Gantry Lock and EPL Axes
        • ACR Homing Success/Failure Flags
        • ACR Order Code
        • ACR Servo Tuner - Move Back & Forth sample code
        • ACR-View 6 is frozen. How do I recover?
        • ACR-View Memory Dimensioning using the Oscilloscope
        • ACR9000 to ModuFlex connection pinout
        • Automating the EPL startup procedure
        • Can I use tools from ACR-View in my own PC application?
        • Compax3 and Aries Ethernet PowerLink I/O
        • Configuring Memory for ACR9000 Com Channels
        • Dual Loop with Analog Position Feedback
        • EPL Drive Enable Status
        • Free Online Training Videos: Parker ACR9000 programmable motion controller
        • Having problems connecting with USB - ACR View 6.0
        • How do I add PBOOT to PLC programs?
        • How much memory does my ACR controller have?
        • How to Wire Limit Sensors to ACR9xxx and ACR7000 Controller
        • How to Read Compax3 Analog I/O with EPL SDO read?
        • How to connect ACR to PIO CANopen buscoupler?
        • How to disable RS232 autobaud for ACR9xxx
        • How to get status values from an Aries EPL Drive
        • How to read the absolute position from EPL drive?
        • How to select user units and axis scaling
        • INTCAP and MSEEK with Compax3 EPL
        • MSEEK EthernetPowerlink Compatibility
        • Memory Allocation for PLC programs
        • Output Reaction to EPL Failure
        • Remap CAN I/O for use with PLC
        • What is needed with various Parker I/Os?
        • What verison of the .Net Framework is needed for ACR-View 6?
        • Whats the difference between PIO-337 and PIO-347?
        • Where does ACR-View install the ComACRserver?
        • Why is controller reporting Program Stuck
        • 9000: Connector Part Numbers
        • ACR 9000 replacement: New ACR7000 series controller
        • ACR 9xx0 Recovering from Estop / Motion Enable input
        • ACR-View: Mapping a parameter to an oscilloscope channel
        • ACR9000 - CIP Communications stop on all devices when one CIP device goes offline
        • ACR9000 Ethernet Stream Connection Status Sample
        • ACR9000 Event Counters
        • ACR9000 Sample Input/Output Wiring
        • Are Parker IO modules available as NPN?
        • Connecting a Parker IO (PIO) to an ACR9000
        • EPL Velocity p38145 vs p8193 Master Velocity
        • Ethernet Communication Streams
        • Ethernet/IP Encoders
        • How do I set up Parker I/O (PIO)
        • How to command a home operation from HMI or PC app
        • Master Encoder for C3 EPL & ACR9040 system
        • Maximum USB Cable Length
        • Replacing the ACR9000 Battery
        • RS232 Electrical Noise on older 9000 Controllers
        • Senary Axis Flags
        • Updated EPL Network Flags and Parameters
        • Upload Absolute Position from a C3 to a ACR9000
      • IEC PLC (9600) (Legacy)+
      • PC Card Controllers (Discontinued)+
    • PAC120+
    • PAC340+
    • PAC320 (Discontinued)+
    • 6K (Discontinued)+
  • General Technology Information+
  • Virtual Engineer+
  • Visualization and Human Machine Interface (HMI)+
  • Servo Drives and Servo Drive/Controllers+
  • Stepper Drives and Stepper Drive/Controller+
  • AC/DC Industrial Drives+
  • Gearheads+
  • Servo Motors+
  • Step Motors+
  • Linear and Rotary Positioners+
  • Electric Cylinders+
  • T-Slot Aluminum Framing+
  • C3 + Xpress + ETH+
  • How can I stay updated on Parker electromechanical and drives product news?
  • Legacy (Discontinued)+
  • Other+
  • Memorandum: Information on EPA ban of Persistent bioaccumulative toxin (PBT)
Wiki Actions
  • Share
  • More
  • Cancel
Community Quick Links
  • Home
  • Technologies
    • Aerospace
      • Supplier Resource Center
    • Climate Control
    • Electromechanical Group
      • Electromechanical - Industrial
      • Electromechanical – Mobile
    • Filtration
    • Fluid and Gas Handling
    • Hydraulics
    • IoT
      • Mobile IoT
    • Pneumatics
      • Pneumatic Industrial
      • Pneumatics Mobile
    • Process Control
    • Sealing and Shielding
  • Community Blogs
  • Community Forums
  • Community Knowledge Bases
Follow Us
  • Follow Parker Hannifin on social media

Follow Parker Hannifin on social media:

How to Read Compax3 Analog I/O with EPL SDO read?

Print Friendly and PDF

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.

EPL Network Parameters
Example program to get Analog input from Compax3:

PROGRAM
P37378=2 : rem node ID of target drive
P37379=8229 : REM object # for SDO, analog in- hex2025 hex=8229dec
P37380=0 : REM subindex object # for SDO, analog in- hex2025 hex=8229dec
p37381=3 : rem object dat type, 16bit integer


_LOOP
DWL 1
GOSUB GETEPL
PRINT "StatusVoltage_AnalogInput0", P37520
GOTO LOOP

_GETEPL
SET 16643 : rem get data
INH 16659 : rem wait until getting data starts
INH-16659 : rem wait until getting data completes
REM once get is complete, data is populated in P37520
RETURN

ENDP

Update for this running constantly is 10-20 Hz. Resolution of the analog input is 0.1vdc. For applications requiring faster update or higher resolution, use Parker I/O expansion.

.

  • Share
  • History
  • More
  • Cancel
  • Sign in to reply
Related
Follow Us
  • Follow Parker Hannifin on social media

Follow Parker Hannifin on social media:

Parker Hannifin Parker Hannifin

  • Products
  • About Parker
  • Investors
  • Community
  • Careers

Global Operations Global Operations

  • Divisions
  • Sales Companies
  • Worldwide Locations
  • Distribution Network
  • ParkerStore™ Network

Company Information Company Information

  • Newsroom
  • Event Calendar
  • Working with Parker
  • Product Brands
  • History

Global Support Center Global Support Center

  • Support
  • CAD
  • Where to Buy
  • Contact Parker
  • Manage Online Orders
© Parker Hannifin Corp 2023
  • Site Map
  • Safety
  • Privacy Policies
  • Terms and Conditions
  • Community Terms of Use
ENGINEERING YOUR SUCCESS.