DOC-0017-07-EN: AC20 Series - EtherCAT Option
DOC-0017-07-EN-B 04.04.2023 21 (58)
8.3 Acyclic Data Exchange
AC20 parameters may be accessed using the SDO (Service Data Object) protocol. The parameter
numbers are mapped to the manufacturer specific range as described in the Manufacturer Specific
Objects section.
Accessing Parameters
The value of a single-element AC20 parameter is accessed by via its corresponding object:
index = 2000h + parameter number
sub-index = 00h
The values of a multi-element AC20 parameter are accessed via its corresponding object:
index = 2000h + parameter number
sub-index = element number + 1
Alternatively, each element has its own parameter number and may be accessed via its corresponding
object index.
A string parameter array must be accessed via each element of the array. Each element has its own
parameter number.
Status Codes
The following CANopen report codes may be reported
Object does not exist in the object dictionary (Parameter does not exist)
Attempt to write to read-only object
Attempt to read a write-only object
Data type does not match. Too much data.
Data type does not match. Not enough data.
8.4 EtherCAT ESI File
AC20 EtherCAT option is associated with an Electronic Slave Interface (ESI file) in XML format, which
holds a description of the device and its functions.
ESI files for the AC20 EtherCAT option may be downloaded from www.parker.com
Some masters do not require an ESI file and can automatically extract the configuration description from
the slave.
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