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SLVD7N
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Parker Hannifin S.p.A S.B.C. Division
SLVDN User’s Manual
Page 21 of 181
4.
MOUNTING
4.1.
Dimensions and weights
SLVD1N, SLVD2N,SLVD5N, SLVD7N
SLVD10N, SLVD15N, SLVD17N
1.1 kg
3.1 kg
2.43 lbs
6.84 lbs
Measurements expressed in mm
.
lateral
front
20
22
Table of Contents
Main Page
Default Chapter
3
Table of Contents
3
1 Introduction
8
General Information
8
Product Description
8
Identification
9
2 Safety Instructions
11
Symbols and Signals
11
General Information
11
Safety Instructions for Transportation and Storage
12
Safety Instructions for Commissioning
12
Safety Instructions for Operation
13
Safety Instructions for Maintenance
14
Compatibility with RCD Devices
14
Applicable Standards
15
Materials and Disposal
15
Warranty
16
3 Main Hardware Features
16
Ambient Conditions
16
Vibrations and Shocks
16
Power Supply
17
Technical Characteristics
18
Main Software Features
20
4 Mounting
21
Dimensions and Weights
21
Fastening
24
Mounting Instructions
25
5 Electrical Connections
26
Signal Connectors Layout
26
Sections and Cable Specifications
30
Protections
31
PE (Protective Earth) Connections
31
Line Connection Diagrams
32
Motor Connection Diagrams
34
Resolver Connection Diagrams
35
Encoder Connection
36
Encoder Endat Connection
37
Incremental Encoder with Hall Sensor
38
Frequecy Input/Output Connection
39
Connecting the SLVD-N to the Digital-Lock
40
Serial Line Connection
41
External +24V Power Supply for the Control Stage
42
Second/Third Axes Connection
42
External Braking Resistance
44
Cable Connections
45
How to Suppress Interference
46
Grounding
46
Cable Connections and Shielding
47
General Suggestions on Cable Connections
47
Mains and Motor Side Filters
48
6 Status Led
49
7 Using the Keyboard (Optional)
49
8 Power Supply Mode
50
Low" Voltage Power Supply
50
High" Voltage Power Supply
51
9 Start-Up
53
Setting the Default Parameters
53
Setting Parameters of Ethercat Communication
53
Selection of Motor Type
53
Changing Motor Data
54
Setting Feedback
54
Feedback Configuration
55
Feedback from Incremental Encoder at Square or Sinusoidal Wave
55
Encoder Phasing
56
Type 1 Phasing
56
Type 2 Phasing
56
Feedback from Sincos Encoder with Endat Interface
58
Motor Phases
59
First Commissioning
60
Speed Control Adjustment
61
10 Parameters and Programming
67
Decimal Parameters
71
Binary Parameters
77
Operating Modes
82
Torque Control (Operating Mode 1)
87
Digital Lock + Positioner (Operating Mode 13)
88
TAB0: Profiles in Memory
88
Electronic Cam (Operating Mode 14)
92
Positioning
92
Speed Mode
93
Electronic Cam
93
Linear Engage CAM
100
Electronic Cam (Op. Mod. 11)
102
Positionator
103
CAM1 and CAM2
103
Automatic Activation of CAM Tables
107
Additional Useful Functions
114
Homing Function
114
Speed Adjustment
115
Current or Torque Adjustment (Typical)
115
Virtual Encoder
115
Value Comparators
116
Value Capture
116
Output Cam Programmer
117
Analogue Output Programmable
117
Master Reference
118
Encoder Can
119
11 Programming Digital Inputs and Outputs
121
The Pico-PLC
121
Programming with Motionwiz
126
Motionwiz
127
12 Serial Interface
128
Communication Protocol
128
13 Ethercat Interface
133
Canopen DSP402 (D Version)
133
Dictionary Object Summary of Ds301 in SLVD-N
134
Dictionary Object Summary of Dsp402 in SLVD-N
135
Object 6040H: Controlword
139
Object 6041H: Statusword
141
Object 605Bh: Shutdown Option Code
143
Object 605Ch: Disable Operation Option Code
144
Object 605Ah: Quick Stop Option Code
145
Object 605Eh: Fault Reaction Option Code
145
Object 6060H: Modes of Operation
146
Object 6061H Modes of Operation Display
146
Functional Description
147
Modes of Operation Function
147
Homing Mode (Operative Mode 200)
148
General Information
148
Input Data Description
148
Output Data Description
149
Internal States
149
Controlword of Homing Mode
149
Statusword of Homing Mode
149
Object Dictionary Entries
150
Objects Defined in this Chapter
150
Objects Defined in Other Chapters
150
Object Description
150
Object 607Ch: Home Offset
150
Object 6098H: Homing Method
151
Object 6099H: Homing Speeds
151
Object 609Ah: Homing Acceleration
152
Functional Description
153
Homing Methods
153
Method 1: Homing on the Negative Limit Switch and Index Pulse
153
Method 2: Homing on the Positive Limit Switch and Index Pulse
154
Methods 3 and 4: Homing on the Positive Home Switch and Index Pul
154
Methods 5 and 6: Homing on the Negative Home Switch and Index Pul
155
Methods 7 to 14: Homing on the Home Switch and Index Pulse
155
Methods 15 and 16: Reserved
156
Method 35: Homing on the Current Position
157
Methods 17 to 30: Homing Without an Index Pulse
157
Methods 31 and 32: Reserved
157
Methods 33 to 34: Homing on the Index Pulse
157
Profile Position Mode (Operative Mode 201)
158
Internal States
158
Controlword of Profile Position Mode
158
Statusword of Profile Position Mode
158
Object 607Ah: Target Position
159
Object Dictionary Entries
159
Objects Defined in this Chapter
159
Object 6081H: Profile Velocity
160
Object 6083H: Profile Acceleration/Deceleration
160
Object 6085H: Quick Stop Deceleration
161
Object 6086H: Motion Profile Type
161
Functional Description
162
Functional Description
163
Interpolated Position Mode (Operative Mode 202)
165
Object 60C0H: Interpolation Sub Mode Select
166
Object 60C1H: Interpolation Data Record
166
Mode Cyclic Synchronous Position (Operative Mode 203)
169
Functional Description
170
Use of Controlword and Statusword
171
Detailed Object Definitions
171
Object 60B0H: Position Offset
171
Object 60B1H: Velocity Offset
172
Object 60B2H: Torque Offset
172
Drive Parameters
173
14 Appendix A: Conventions
174
15 Appendix B: Software Timing
175
16 Appendix C: Default Program for the Pico-Plc
175
17 Appendix D: Flash Information
176
18 Appendix E: Alarms
177
19 Appendix F: Continuous Working
178
20 Appendix G: External Capacitor
179
21 Revision History of the User Manual
180
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