Parker SLVD7N - Page 6

Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual
Page 6 of 181
13.1.7.4. Object 609Ah: Homing acceleration.............................................................. 152
13.1.8. Functional description........................................................................................ 153
13.1.8.1. Homing methods ............................................................................................ 153
13.1.8.1.1. Method 1: Homing on the negative limit switch and index pulse.......... 153
13.1.8.1.2. Method 2: Homing on the positive limit switch and index pulse .......... 154
13.1.8.1.3. Methods 3 and 4: Homing on the positive home switch and index pul. 154
13.1.8.1.4. Methods 5 and 6: Homing on the negative home switch and index pul.155
13.1.8.1.5. Methods 7 to 14: Homing on the home switch and index pulse ............ 155
13.1.8.1.6. Methods 15 and 16: Reserved ................................................................ 156
13.1.8.1.7. Methods 17 to 30: Homing without an index pulse ............................... 157
13.1.8.1.8. Methods 31 and 32: Reserved ................................................................ 157
13.1.8.1.9. Methods 33 to 34: Homing on the index pulse ...................................... 157
13.1.8.1.10. Method 35: Homing on the current position .......................................... 157
13.1.9. Profile position mode (operative mode 201)...................................................... 158
13.1.9.1. Internal states ................................................................................................. 158
13.1.9.1.1. Controlword of profile position mode ................................................... 158
13.1.9.1.2. Statusword of profile position mode ...................................................... 158
13.1.9.2. Object dictionary entries ................................................................................ 159
13.1.9.2.1. Objects defined in this chapter............................................................... 159
13.1.9.2.2. Object 607Ah: Target position............................................................... 159
13.1.9.2.3. Object 6081h: Profile velocity ............................................................... 160
13.1.9.2.4. Object 6083h: Profile acceleration/deceleration .................................... 160
13.1.9.2.5. Object 6085h: Quick stop deceleration .................................................. 161
13.1.9.2.6. Object 6086h: Motion profile type......................................................... 161
13.1.9.3. Functional description.................................................................................... 162
13.1.9.4. Functional description.................................................................................... 163
13.1.10. Interpolated Position Mode (operative mode 202)............................................. 165
13.1.10.1. Object 60C0h: Interpolation sub mode select ............................................ 166
13.1.10.2. Object 60C1h: Interpolation data record.................................................... 166
13.1.11. Mode Cyclic synchronous position (operative mode 203) ................................ 169
13.1.11.1. Functional description................................................................................ 170
13.1.11.2. Use of controlword and statusword............................................................ 171
13.1.11.3. Detailed object definitions ......................................................................... 171
13.1.11.3.1. Object 60B0h: Position offset ................................................................ 171
13.1.11.3.2. Object 60B1h: Velocity offset................................................................ 172
13.1.11.3.3. Object 60B2h: Torque offset.................................................................. 172
13.1.12. 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