ACR Motion Controllers
88-030031-01 A
EtherNet/IP Programmer’s Guide
Effective: October 2009
ENGINEERING YOUR SUCCESS.
www.PLCworld.cn
Parker Hannifin
User Information
Warning — ACR and Aries Controllers are used to control electrical
and mechanical components of motion control systems. Test all
motion systems for safety under all potential conditions. Failure to
do so can result in damage to equipment and/or serious injury to
personnel.
ACR and Aries Controller products and the information in this guide, including any
apparatus, methods, techniques, and concepts described herein, are the
proprietary property of Parker Hannifin Corporation or its licensers and may not be
reproduced, disclosed, or used for any purpose not expressly authorized by the
owner thereof.
Since Parker Hannifin constantly strives to improve all of its products, we reserve
the right to change this user guide, software, and hardware mentioned therein at
any time without notice.
In no event will the provider of the equipment be liable for any incidental,
consequential, or special damages of any kind or nature whatsoever, including
but not limited to lost profits arising from or in any way connected with the use of
the equipment, firmware, or this user guide.
© 2009 Parker Hannifin Corporation
All Rights Reserved
Technical Assistance
Contact your local automation technology center (ATC) or distributor.
North America and Asia
Parker Hannifin Corporation
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: (800) 358-9068 or (707) 584-7558
Fax: (707) 584-3793
Email: emn_support@parker.com
Internet: http://www.parkermotion.com
Germany, Austria, Switzerland
Parker Hannifin GmbH&Co.KG
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Telephone: +49 (0) 781 509-0
Fax: +49 (0) 781 509-98176
Email: sales.hauser@parker.com
Internet: http://www.parker-emd.com
Europe (non-German speaking)
Parker Hannifin plc
Electromechanical Automation, Europe
Arena Business Centre
Holy Rood Close
Poole
Dorset, UK
BH17 7BA
Telephone: +44 (0) 1202 606300
Fax: +44 (0) 1202 606301
Email: support.digiplan@parker.com
Internet: http://www.parker-emd.com
Italy
Parker Hannifin
20092 Cinisello Balsamo
Milan, Italy via Gounod, 1
Telephone: +39 02 66012478
Fax: +39 02 66012808
Email: sales.sbc@parker.com
Internet: http://www.parker-emd.com
Parker Hannifin Technical Support E-mail: emn_support@parker.com
- ii -
www.PLCworld.cn
Parker Hannifin
- iii -
Table of Contents
User Information......................................................ii
What’s New ............................................................. iv
Introduction .............................................................1
Compatible Parker Hannifin Products.......................1
Assumptions of Technical Experience.......................1
Overview of EtherNet/IP..........................................2
Adapter ....................................................................3
ACR Adapter Functions ..................................................................................... 3
ACR Commands............................................................................................... 4
ACR Parameters............................................................................................... 5
CLASS 1 I/O .............................................................6
Specifications .................................................................................................. 6
Creating CLASS 1 Connection ............................................................................ 7
Class 3 CIP Messages .............................................12
Creating Class 3 Connection ............................................................................ 12
Service Codes Using Tags ............................................................................... 14
Classes and Service Codes .............................................................................. 16
CIP Service Error Codes.................................................................................. 26
Legacy Service Codes ..................................................................................... 27
Glossary .................................................................28
Table of Tables
Table 1: Product Compatibility Specifications....................................................... 1
Table 2: CIP Status Report Parameters............................................................... 5
Table 3: Connection Status Error Values and Meanings......................................... 6
Table 4: CLASS 1 I/O Limits .............................................................................. 6
Table 5: ACR Service Codes Using Tags ............................................................ 14
Table 6: Vendor-Specific Classes and Corresponding Service Codes...................... 18
Table 7: ACR Binary Commands ...................................................................... 25
Table 8: CIP General Status Error Codes........................................................... 26
Table 9: Legacy and Current Service Code Comparison....................................... 27
Table of Figures
Figure 1: CIP Data Table Read Message Configuration ........................................ 15
Figure 2: CIP Data Table Write Message Configuration........................................ 16
Figure 3: Service Request Message Configuration .............................................. 17
Figure 4: WriteACRFloat Message Configuration Example .................................... 20
Figure 5: ControlLogix Tags for WriteACRFloat................................................... 21
Figure 6: ReadACRLong_AxisFlags Message Configuration Example...................... 21
Figure 7: ControlLogix Tags for ReadACRLong_AxisFlags..................................... 22
Figure 8: AND_OR_LONG Message Configuration Example .................................. 22
Figure 9: Specifying Masks in a DINT Array ....................................................... 23
Figure 10: : READ_GROUP Message Configuration Example................................. 24
www.PLCworld.cn
Parker Hannifin
What’s New
For convenience, a “What’s New” note at the end of a section
describes any changes from the previous firmware version. These
changes are summarized as follows:
The existing CIP Status Report command now reflects that CLASS 1
connections no longer use an ACR stream and indicates which
ACR parameters are being accessed if a CLASS 1 connection is
active.
A new ACR Parameter Class (100) replaces certain legacy service
codes. See the section Legacy Service Codes on page 27 for
details.
A new ACR Group Class (101) replaces certain legacy service
codes. See the section Legacy Service Codes on page 27 for
details
The current version of the adapter removes the 20-byte binary
data limitation on the legacy Vendor Move command (service
code 0x34), and instead, passes the exact CIP Generic message
function data directly to the binary command interpreter. This
allows the 0x34 service code to be used for any binary command,
including longer binary move commands.
- iv -
www.PLCworld.cn
Parker Hannifin
- 1 -
Introduction
This guide describes how to use a Parker-Hannifin ACR controller in an
EtherNet/IPTM (Ethernet industrial protocol) network. It provides an
overview of EtherNet/IP, a discussion of ACR adapter functions, and
specifics of pertinent commands, parameters, and CLASS 1 and Class 3
connections.
Compatible Parker Hannifin
Products
EtherNet/IP functionality is available on ACR9xxx and Aries Controller
products. The minimum operating system (firmware version) of the
products are listed in Table 1.
Product Adapter Scanner
ACR9000, 9030, 9040 1.26 TBD
ACR9600, 9630, 9640 TBD TBD
Aries Controller (AR-xxCE) 1.11 TBD
Table 1: Product Compatibility Specifications
Assumptions of Technical
Experience
Before setting up an EtherNet/IP network, it is essential to have a
fundamental understanding of the following:
CIP (Control and Information Protocol) object models for devices
CIP object classes for connected and unconnected messaging
EtherNet/IP adaptation of CIP
To install and troubleshoot an ACR controller, a fundamental knowledge
of the following is necessary:
Electronic concepts such as voltage, current, and switches
Mechanical motion control concepts such as inertia, torque,
velocity, distance, and force.
www.PLCworld.cn
Parker Hannifin
Overview of EtherNet/IP
EtherNet/IP is the TCP/IP encapsulation of CIP, which is also shared by
ControlNetTM and DeviceNetTM. (For a detailed description of
EtherNet/IP and CIP, refer to the ODVA publication The Specification for
EtherNet/IP™.) The following exploration of EtherNet/IP provides context
for the terms used in this guide.
A device is a product that supports EtherNet/IP. Some devices conform
to industry standard profiles, but there is no such profile for the ACR
controllers.
A connection is a logical link between two devices. Different types of
connections are described below. Two devices may share more than
one connection.
A scanner is a device that initiates a connection or a request. It may be
thought of as a master or a controlling device.
An adapter is a device that receives a connection request or an
individual service request. Typically one scanner on a network may be
connected to several adapters.
An assembly is a pre-defined collection of data residing in an adapter.
Each assembly is identified by a unique instance number. The
assemblies are further characterized by their size and type. Three types
of assemblies are producing (data to be sent), consuming (data to be
received), and configuration (a data area reserved for information
about how consumed and produced data is to be interpreted).
A Class 3 connection is used for individual request/response
transactions. A request from a scanner always results in a response from
the adapter indicating the success or failure of the request. The
response may also include a data payload if it was part of the request.
Class 3 connections are handled in EtherNet/IP via TCP.
A request from a scanner is called a Service Request and the meaning
of the request is identified by a one-byte service code inside the
request packet. Most service codes have meanings pre-defined by the
CIP specification, but codes 0x4B through 0x63 have meanings that are
specific to the destination object of the service request.
The destination of the service request is defined by a portion of the
service request packet called the path. The path is either a literal ASCII
character string or an object description. The adapter receiving the
service request can distinguish between an ASCII character string path
and an object description path by header bytes inside the path.
A request to an object is identified inside the path by its class number,
instance number, and attribute number. Class identifies which type of
object is being referenced, and instance defines the particular object
of that type. For example, a carton of eggs contains twelve objects.
These objects are instances 1 through 12 of class Egg. And each object
may have one or more attributes. In our egg example, attributes 1 and
- 2 -
www.PLCworld.cn
Parker Hannifin
2 could be size and color. So, a service request might ask for the color
of egg number 6.
A CLASS 1 connection establishes a periodic exchange of data
between the scanner and the adapter. The connection request from
the scanner establishes the repetition interval, or RPI, in both directions.
The acronym RPI stands for Requested Packet Interval and is generally
expressed in milliseconds. This connection request also establishes the
instance numbers of the producing, consuming, and configuration
assemblies, and the size of each assembly. It also may contain data
destined for the adapter’s configuration assembly, which allows the
adapter to interpret subsequent data exchange. In EtherNet/IP, the
CLASS 1 connection is established via TCP, but the subsequent data
exchange uses UDP.
A CLASS 1 connection request also indicates whether the adapter
should send its data point-to-point or multicast. Point-to-point data is
addressed only to the scanner. Multicast data is sent to a multicast
address group that includes the scanner. This enables other devices on
the network to receive that adapter’s data. If a CLASS 1 connection
request indicates multicast, but the adapter does not support multicast,
the connection request fails.
Individual Class 3 messages may be sent as Connected Messages or
Unconnected Messages. These messages are commands or data
requests from the scanner to individual target nodes. Connected
Messages establish a formal CIP connection between devices, allowing
either device to detect and report the presence or loss of connection.
Unconnected Messages result in no periodic Class 3 connection being
established. They are managed by the internal stack’s Unconnected
Message Manager (UCMM).
Adapter
ACR Adapter Functions
The ACR adapter functions can be divided into two groups, i.e., Class 3
service requests and CLASS 1 connections. Both are intended to allow a
scanner access to the ACR P parameters, but in different ways. The
scanner is typically a PLC or HMI software such as Parker-Hannifin’s
InteractX. PLCs will usually make both a Class 3 and a CLASS 1
connection. InteractX software makes only a Class 3 connection. The
ACR controllers allow only one CLASS 1 connection at a time, but
unlimited Class 3 connections.
The ACR adapter plays a passive role in both CLASS 1 and Class 3
connections because it simply responds to connection requests and
service requests from the scanner. No ACR commands or parameters
are required to allow these connections, but certain ACR commands
and parameters allow an ACR user or program to monitor the status
and description of these connections.
- 3 -
www.PLCworld.cn
Parker Hannifin
A CLASS 1 connection simply sets up a periodic exchange of data
between the ACR P parameters and data tags in the scanner memory.
The exact configuration of which P parameters, how many, and in
which direction is set up at the scanner. This is usually part of a PLC
configuration step, separate from the PLC ladder programming.
The Class 3 service requests may result from software driver
implementation, such as Parker-Hannifin’s InteractX, or they may be
part of a message box inside a ladder rung of a PLC program. All
service requests contain a service code and a path. The service code
specifies what is being requested and the path specifies the destination
object of the request. For some of the service codes supported by ACR
products, the path may take the form of an ASCII character string
called a tag. Others require specification of class, an instance, and an
attribute. The section Service Codes Using Tags on page 14 contains a
discussion of ACR service codes that accept a tag and ACR object
classes.
ACR Commands
The CIP status report command shows the ACR parameters being
accessed if a CLASS 1 connection is active.
Note: CLASS 1 connections do not use an ACR stream.
In the following example, both a Class 3 and a CLASS 1 connection are
present. The CLASS 1 connection is producing and consuming every 100
milliseconds, accessing four blocks of parameters.
SYS>cip
Class3 Message Stream = 3
Class1 Received = 362
Class3 Received = 64
Total number of connections = 2
Class1 connection instance 1, client IP "192.168.10.20"
Producing every 100msec, consuming every 100msec.
Configured for 4 parameter blocks:
Sending 3 long(s) starting at P6916
Reading 8 long(s) starting at P4101
Reading 4 long(s) starting at P4156
Sending 1 long(s) starting at P4144
The CIP status report command also reports a CLASS 1 configuration
error. There are seven possible configuration errors, listed in the next
section. In the example that follows, a Class 3 connection is present, but
a CLASS 1 connection has configuration error 7. Group 1 tries to access
P10, but the ACR controller has not created P10 with the DIM statement,
so it does not exist. Group numbering starts from zero; so in the following
example, the four groups are groups 0, 1, 2, and 3.
- 4 -
www.PLCworld.cn
Parker Hannifin
SYS>cip
Class3 Message Stream = 2
Class1 Received = 0
Class3 Received = 108
Total number of connections = 1
Class1 connection instance 2, client IP "192.168.10.20"
Configuration error 7, parameter error
Config entries 4, group # 1, parameter # 10, length 8
What’s New The existing CIP Status Report command now reflects that CLASS 1
connections no longer use an ACR stream and also which ACR
parameters are being accessed if a CLASS 1 connection is active.
ACR Parameters
The data required by the CIP status report is available in the form of
parameters, starting at P37424. These parameters are shown in Table 2
and Table 3. The terms stemming from produce and consume used in
the tables are from the perspective of the ACR controller, as are the
respective terms send and read in the CIP status report. That is, data
coming to the controller is read and consumed, and data going to the
scanner is produced and sent by the controller.
CIP Status Parameters P Number
Class 3 message stream P37424
Number of I/O messages sent P37425
Number of Class 3 messages sent P37426
Number of Class 3 messages queued P37427
Total connections P37428
Client IP address P37429
CLASS 1 connection instance P37430
CLASS 1 producing interval (ms) P37431
CLASS 1 consuming interval (ms) P37432
CLASS 1 connection status P37433
Number of CLASS 1 configuration entries P37434
Last configuration entry group number P37435
Last configuration entry parameter number P37436
Last configuration entry length P37437
Reserved P37438
Reserved P37439
Table 2: CIP Status Report Parameters
- 5 -
www.PLCworld.cn
Parker Hannifin
The values of P37433 (CLASS 1 connection status) range from 0 to 7.
Values 1 and 2 indicate the basic state of the connection. Values 2
through 7 represent configuration errors. Each value is defined in Table
3.
Value Connection Status Meaning
0 No connection attempted, or connection closed
1 Connection active
2 Parameter groups specified greater than 16
3 Parameters in a group greater than 8
4 Sum of long specified for production greater than 100
5 Sum of long specified for consumption greater than 100
6 Length of FSTAT group not 80
7 Invalid or non-existent parameter number
Table 3: Connection Status Error Values and Meanings
CLASS 1 I/O
To establish a CLASS 1 connection, the scanner sends a ForwardOpen
request to the adapter. The ForwardOpen request contains device-
specific configuration information along with the type and number of
parameters to access. The connection may be multicast or point-to-
point.
Note: The Aries CE controller does not support CLASS 1 connections,
only Class 3.
Specifications
This CLASS 1 I/O is cyclic, and the update rate is user defined. Update
interval limits and I/O size limits appear in Table 4.
Value ACR 9xxx Controller Aries Controller
Min RPI 1 ms n/a
Max Total Parameters 100 (each direction) n/a
Max Total I/O Bits 3200 (each direction) n/a
Max Group 16 n/a
Max Parameters per Group 8 n/a
Note: The Aries CE controller does not support CLASS 1 connections, only Class 3.
Table 4: CLASS 1 I/O Limits
- 6 -
www.PLCworld.cn
Parker Hannifi
本文档为【AB PLC EtherNet IP编程指导】,请使用软件OFFICE或WPS软件打开。作品中的文字与图均可以修改和编辑,
图片更改请在作品中右键图片并更换,文字修改请直接点击文字进行修改,也可以新增和删除文档中的内容。
该文档来自用户分享,如有侵权行为请发邮件ishare@vip.sina.com联系网站客服,我们会及时删除。
[版权声明] 本站所有资料为用户分享产生,若发现您的权利被侵害,请联系客服邮件isharekefu@iask.cn,我们尽快处理。
本作品所展示的图片、画像、字体、音乐的版权可能需版权方额外授权,请谨慎使用。
网站提供的党政主题相关内容(国旗、国徽、党徽..)目的在于配合国家政策宣传,仅限个人学习分享使用,禁止用于任何广告和商用目的。