Good day,
I am facing a fundamental problem when trying to connect an ACOPOS 1022 via the CPU (X20 CP 1583). My hardware setup consists of the X20 CP 1583 with a CAN module (X20 IF1022) and the ACOPOS drive (8V1022.00-2). I am using Automation Studio V4.7, although I am not sure whether this software version is suitable for my setup.
Initially, I attempted the connection using the CAN module together with the CAN interface card (8AC110.60-2). Unfortunately, without success. I established a physical connection from the CPU through the CAN module to the drive. Termination resistors and the node ID were set correctly. However, I was unable to establish communication with the drive. The error LED showed short flashes at long intervals, indicating âWaiting for network telegramsâ. This tells me that the card is communicating internally with the drive, but nothing is being transmitted externally. The RXD and TXD LEDs on the card also remained off.
After that, I obtained the Powerlink card (8AC114.60-2, Rev. E0). With this card, the error LED on the drive flashes three times short, then long, then pauses. I assume this means that the card cannot establish internal communication with the drive, since I see the same blinking pattern when no card is installed at all. However, I could not find any documentation describing this blinking pattern.
I am also struggling with the configuration in Automation Studio. I successfully added the CPU in the Physical View and can connect to it over the network in RUN mode. I also added the drive with the interface cards. In the Logical View, the following folders appear (see attachment), and I see the same structure when using CAN.
At this point, I am unsure whether the issue is hardware-related (wrong/defective Powerlink card) or software-related. Thank you in advance, I would greatly appreciate any help.
Hello,
First:
- Check Node Number Setting on AC114 Card. In Automation Studio you have selected Node Number 1. This must match to the Settings of the Switches on the Device.
- Check the Powerlink Cable
If the ACOPOS was previously operated with a AC110 for CAN it could be that its quite old Hardware Revision. Please double check this Automation Studio Help Pages.
Minimum Hardware Revision AC114
BsLoaderUpdate
Minimum version of the ACOPOS operating system
After this is done you should have a valid connection with your PLC and you should be able to connect via the TestWindow to do additional diagnosis.
In General its always good to have a look in the Logger of Automation Studio if there are additional Errors visible.
Greetings
Michael
Hi @Luis_Finke ,
itâs possible, when you did first test with CAN, that you selected an ACP10 version where CAN network is no more supported
Which one have you selected in your prj?
Ciao
Valerio
Thank you for the quick response.
â The node number on the AC114 is correct; the rotary switch is set to 1.
â For the Powerlink connection, I am using a standard Ethernet patch cable. The Powerlink LEDs on both the CPU and the AC114 card are illuminated.
The hardware revision was the first major issue. I have two ACOPOS drives available: one with hardware revision I0 and one with U0. On the U0 drive, the R/E LED on the AC114 card lights up green. On the I0 drive, it lights up red, meaning there is no connection. Does this imply that I need an older interface card to communicate with the older drive revision, or is this something that can be resolved with a BsLoader update?
My next step is to run a motor with the drive to test it. While navigating through Automation Studio and reading forum posts, I found that I can choose between mapp Motion and NC Axis when adding an axis. I also learned that CAN communication does not use CANopen but a proprietary protocol. Is this also the case with Powerlink?
Since I have limited experience with B&R, I would greatly appreciate a small stepâbyâstep guide. Thank you Luis
To be honest, I updated the Bsloader couple of years ago and unfortunately the guidelines in the Help are not updated for AS4.x yet so
if you donât have a basic B&R motion background itâs not an easy task at all.
An additional frustration, for the motion beginner, is that you need to create a project with old ACP10 motion control and not with mapp Motion.
I would recommend to call B&R Support in your area.
With Support they can ask an online meeting, and collect more data in short time.
Ciao
Valerio
Alright, thank you.
I am now back in front of the CPU. I have connected the drive with hardware revision U0 to the CPU via Powerlink. The PLK LED on the CPU is blinking, so the connection is established.
On the AC114 card, the R/E LED is now green:
âThe client is in cyclic operation.â
The Error LED on the drive is on for about 3 seconds, then briefly off, then on again for 3 seconds. According to my research, this indicates âNetwork communication active.â This information comes from the ACOPOS user manual.
In Automation Studio, I have added the drive as well as the AC114 and AC122 cards to the hardware tree. The CPU is in RUN mode.
My question now is how I can read live values from the drive (such as encoder feedback) and how I can manually move the motor.
Hi @Luis_Finke ,
Can you login on our website?
If yes please download this training module:
TM410 â Working with Integrated Motion Control
In the module at this page you see basic command power/home/move velocity/stop:
At the page 31, you see some information about our system diagnostics manager tool, there is section focus on the axis:
You have CAN card interface 8AC110.60-2, not supported in mapp Motion:
At this point continue to work on your configuration with ACP10 axis control, and please donât try to configure the prj with mapp Motion.
When you are ready to control your motor inside your program, I recommend to use these couple of Function blocks:
Ciao
Valerio
Thank you so much for the help! Itâs working now with the Powerlink card I think but I donât own a B&R motor yet. Iâve found the 8LS and 8JS series online is there anything specific I need to keep in mind regarding these?
Also, if I eventually want to use an 8V1180 or 8V1640, can I use the same motor for all of them?
Can you recommend one ?
I would also like to set this up using CAN so that I can use other drive revisions (>S0). I followed the same steps with the CAN module as I did with Powerlink: I added the hardware, selected âmotion system ACP10 ARNC0â for the ACOPOS, and then went to âTest.â I am not connected to the target system.
Additionally, the drive is reporting error code: âWaiting for telegram,â which means the drive recognizes the card, but nothing is coming from the CPU. The LEDs on the AC110 are off. On the IF1072, the Status LED is red, TxD is off, and both of my coding switches are set to 0.
As far as I know, Iâve considered everything: node number, baudrate, and termination resistors. I suspect that the CAN communication needs to be activated somehow. Can anyone help me with this?
Many thanks, Luis
Hi Luis,
Iâm happy you made progress with your motion test with Powerlink.
I never used CAN communication with our ACOPOS, so I can only ask you to double check few points:
My configuration:
- ACP10 version, you should select ACP10 2.x, for example 2.52.8:
be sure in your software configuration you have these libraries with 2.52.8 version:
- CAN interface on ACP10 configuration, you should have one CAN interface with the name SS1.IF1
- On the NC mapping, on the PLC Address you should see your CAN interface name + node number (in my case 1)
- Select the CAN station number to 1, and add a terminating resistor as reported in the note below
(download the documentation from our website 8AC110)
5)On your X20IF1072 enable the terminating resistor (download the documentation from our website X20IF1072)
After that you should see the LED TERM to ON
- LED status indicators on 8AC110.60-2 card, not too much information:
Good luck Luis!
Ciao
Valerio
Good evening, and thanks for your help.
This is the only setting I can change. ACP10 2.x cannot be selected there.
And I also have another problem running the Acopos with PowerlinkâŚ
I bought a motor with a resolver. When I open the ACOPOS Test and select the drive as the test object, it shows the message âsuccessfully connected to the target system.â
But if I unplug the Powerlink cable, this message still remains, which seems strange.
In addition to that, I donât see any live position values under âWatchâ when I rotate the motor shaft by hand. The LEDs on the AC122 are on, though.
Unfortunately, I also canât log in on the website with the instructions using this email address. Sorry about that.
What also seems strange to me is that if I power on the CPU first and then the ACOPOS, the Error LED stays on for about 3 seconds, turns off briefly, and then repeats this cycle. In this case, the Test menu also shows no connection.
If I power on the drive first, the drive displays the message âWaiting for telegram.â Then the CPU boots, all LEDs on the drive turn off, and the Test menu shows a connection.
But even then, I still donât get any live values from the drive.
At the moment I am only supplying the drive with 24 V, without any enable signal or anything else. But as far as I know, this should not be a problem for reading the position in the ACOPOS Test program. The resolver feedback should be readable even without an enable.
@Luis_Finke You need to select the option < 3.15.0 (as reported in the point 1) in my previous comment), unfortunately the version 5.6.2 doesnât support CAN.
ââââââ-
Powerlink
I bought a motor with a resolver. When I open the ACOPOS Test and select the drive as the test object, it shows the message âsuccessfully connected to the target system.â
But if I unplug the Powerlink cable, this message still remains, which seems strange.In addition to that, I donât see any live position values under âWatchâ when I rotate the motor shaft by hand. The LEDs on the AC122 are on, though.
Weird: unplug powerlink cable and no error? + if you move by hand the shaft you donât see any change on live position?
Are you sure your drive is NOT in simulation? you know in our system you can simulate the motor / drive and even CPU. Maybe during your test you have enabled one of those simulation.
Unfortunately, I also canât log in on the website with the instructions using this email address. Sorry about that.
This is bad, we have a lot of very helpful documentation available, but you need to sign in. Call the local office in your area and ask for an account.
What also seems strange to me is that if I power on the CPU first and then the ACOPOS, the Error LED stays on for about 3 seconds, turns off briefly, and then repeats this cycle. In this case, the Test menu also shows no connection.
If I power on the drive first, the drive displays the message âWaiting for telegram.â Then the CPU boots, all LEDs on the drive turn off, and the Test menu shows a connection.
But even then, I still donât get any live values from the drive.
At the moment I am only supplying the drive with 24 V, without any enable signal or anything else. But as far as I know, this should not be a problem for reading the position in the ACOPOS Test program. The resolver feedback should be readable even without an enable.
Thatâs correct
I think Luis itâs time to open the network command trace, read the commands you send to the drive and the status of the drive.
Thanks
Ciao
Valerio
Thanks!
Iâm now receiving values from the motor via the controller on my CPU, and I can see the position.
Next, Iâm trying to get everything working over CAN as well. The runtime version has been changed to 3.15.1.
I tried starting the âTestâ function just like with POWERLINK, but I got the following error message:
The message says that the NC Manager version on the target system is 5.06, while the project is using 3.13.
After that, I loaded the project onto the CPU, and the error message disappeared.
Under the Software folder of the CPU, it still shows that the runtime version is 4.72.0, both before and after transferring the project.
So now Iâm wondering whether the runtime on the CPU has actually been changed.
When I try to start Test, I now get the following error message:
âError while searching for AP10 Manager.â
Hi @Luis_Finke ,
weâll get there!
CAN interface is not supported on the ACP10 version 3.15, so at the first step you need to select the older one 2.52.8 in your prj:
Can you select the older version 2.52.8?
If not, can you tell me please which version you can select.
I need to ask if I can send you this older version by email.
Ciao
Valerio
Hi,
Itâs working now!
I can establish a connection via both CAN and Powerlink.
Iâm live on the drive and Iâm receiving encoder values.
Whatâs strange is that I have to power on the drive first and then the CPU for it to work, but at least itâs running.
Thanks a lot for your help!!
Spettacolo Luis! Thanks for the feedback.
You told me you bought a not B&R motor with resolver encoder, well now itâs time to configure that motor in a new ACOPOS parameter table.
In the help you see step by step the sequence for motor parameters identification.
Good luck!
Ciao
Valerio