Parker SLVD7N - Page 5

Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual
Page 5 of 181
10.7.1. Positionator ........................................................................................................ 103
10.7.2. CAM1 and CAM2.............................................................................................. 103
10.7.3. Automatic activation of CAM tables ................................................................. 107
10.8. Additional useful functions.............................................................................. 114
10.8.1. Homing function ................................................................................................ 114
10.8.2. Speed adjustment................................................................................................ 115
10.8.3. Current or torque adjustment (typical)............................................................... 115
10.8.4. Virtual encoder................................................................................................... 115
10.8.5. Value comparators.............................................................................................. 116
10.8.6. Value capture...................................................................................................... 116
10.8.7. Output cam programmer .................................................................................... 117
10.8.8. Analogue output programmable......................................................................... 117
10.8.9. Master reference................................................................................................. 118
10.8.10. Encoder Can ....................................................................................................... 119
11. PROGRAMMING DIGITAL INPUTS AND OUTPUTS ......................................121
11.1. The pico-PLC.................................................................................................... 121
11.2. Programming with MotionWiz.......................................................................126
11.3. MotionWiz.........................................................................................................127
12. SERIAL INTERFACE........................................................................................128
12.1. Communication protocol.................................................................................128
13. ETHERCAT INTERFACE..................................................................................133
13.1. CANopen DSP402 (D version) ........................................................................133
13.1.1. Dictionary object summary of ds301 in SLVD-N ............................................. 134
13.1.2. Dictionary object summary of dsp402 in SLVD-N ........................................... 135
13.1.2.1. Object 6040h: Controlword............................................................................ 139
13.1.2.2. Object 6041h: Statusword .............................................................................. 141
13.1.2.3. Object 605Bh: Shutdown option code ........................................................... 143
13.1.2.4. Object 605Ch: Disable operation option code ............................................... 144
13.1.2.5. Object 605Ah: Quick stop option code.......................................................... 145
13.1.2.6. Object 605Eh: Fault reaction option code..................................................... 145
13.1.2.7. Object 6060h: Modes of operation................................................................. 146
13.1.2.8. Object 6061h: Modes of operation display .................................................... 146
13.1.3. Functional description........................................................................................ 147
13.1.3.1. Modes of operation function .......................................................................... 147
13.1.4. Homing mode (operative mode 200) ................................................................. 148
13.1.5. General information ........................................................................................... 148
13.1.5.1. Input data description..................................................................................... 148
13.1.5.2. Output data description .................................................................................. 149
13.1.5.3. Internal states ................................................................................................. 149
13.1.5.3.1. Controlword of homing mode................................................................ 149
13.1.5.3.2. Statusword of homing mode .................................................................. 149
13.1.6. Object dictionary entries .................................................................................... 150
13.1.6.1. Objects defined in this chapter....................................................................... 150
13.1.6.2. Objects defined in other chapters................................................................... 150
13.1.7. Object description .............................................................................................. 150
13.1.7.1. Object 607Ch: Home offset............................................................................ 150
13.1.7.2. Object 6098h: Homing method...................................................................... 151
13.1.7.3. Object 6099h: Homing speeds ....................................................................... 151