Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
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Pr66:67 Motor position via CanBus. On receipt of the SYNC (Pb70.8=1) Pr62:63 is copied
into Pr66:67 and, if feedback transmission is enabled (b70.2=1) it is automatically
transmitted via CanBus.
Pr68:69 Master module. If utilising the electronic cam function in Pr68:69, the master
module must be programmed in steps.
b70.1 Feedback. Default=0. If set to 0 feedback is provided by the resolver, if set to 1
encoder feedback is adopted (X5); in this latter case parameters Pr58 and Pr59 are
used to standardise pulses/revolution at 4096.
b70.2 Feedback transmission enable. Default=0. If set to 1, Pr66:67 is transmitted via
CanBus on receipt of the SYNC type 0.
b70.3 Enable real time mode. Default=0. If set to 1, enable the CanBus real time mode.
b70.4 Low speed mode. Default=0. If set to 1, the transmission rate of the CanBus real
time mode is 500kbps, otherwise the transmission rate is 1Mbps.
b70.5 Servo error. b70.5 is set to 1 if the absolute value of the position error exceeds the
value entered in Pr56. If b70.5 is utilised, it must be reset by the user following
servo-errors, e.g. by means of the PLC program.
b70.6 Feedback transmission enable. Default=0. If set to 1, Pr66:67 is transmitted via
CanBus on receipt of the SYNC type 1.
b70.7 Feedback sampling. If b70.7 is 0 the position sent back on receiving SYNC frame
has been frozen at previous sampling time of the position loop; if b70.7 is 1 the
position will be frozen on the SYNC received.
b70.8 Axis catch/release. On receipt of the SYNC, b70.8 switches to 1; after performing the
SYNC procedure it is automatically reset. The SYNC procedure copy Pr55 on Pr54, Pr65:64
on Pr61:60 and Pr63:62 on Pr67:66.
b70.9 Cam encoder master. Default=0. If b70.9=0, X5 is the encoder master input for the
electronic cam; if b70.9=1 a virtual encoder master is enabled and Pr51 define the
speed.
b70.10 Reset type 1. Resets the motor position and reference.
b70.11 Reset type 2. Sets motor position and reference to the absolute shaft position.
b70.12 Reset type 3. Sets reference to motor position.
b70.13 Cam stop. When this bit is set to 1 the cam is stopped at the end of the module.
b70.14 Start 32 point cam. b70.14 = 1 initialises and activates the 32 point cam.
b70.15 Start 128 point cam. b70.15 = 1 initialises and activates the 128 point cam.
3.16 Block diagrams
The main block diagram provides a graphic description of how to use the drive. Each rectangular
block represents one or more read/write parameters, each rhomboid shape represents read-only
parameters. In the diagram there are other functional blocks such as: greater than..., equal to, the
smallest among..., logical and/or; we have used standard symbols for all these blocks. Binary
parameters are shown as switches and the position depicted is the default value.
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