Parker SPD 2 - Page 100

Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD
99
Acyclic response to a parameter request message from drive to master (PDO 2)
Data reply
Data length
8 bytes
Field Name
Addr & Spare Data address Data
Contents
Pr27 16 address 32 bit reply data
Identifier
ID2 ID1 ID0 - - - - - ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3
A2 A1 A0 X X X X X 0 1 0 1 A6 A5 A4 A3
A0:A6 Drive address (Pr49), valid values 1..127.
PDO3 (tx) object :
This is used to generate a message with the data required to implement a reserved function.
PDO4 (tx/rx) object :
In this case, a parameter exchange function is implemented with the movement related to the
logic functions managed by pico-PLC. In fact, for each transmission of PDO4 rx from the
master to the drive node, the bytes contained in the message are interpreted as follows:
Parameter Pr80..83 write message from master to drive (PDO 4 rx )
Data receive
Data length
8 bytes
Field Name
Pr80 Pr81 Pr82 Pr83
Contents
16 bit value 16 bit value 16 bit value 16 bit value
Identifier
ID2 ID1 ID0 - - - - - ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3
A2 A1 A0 X X X X X 1 0 1 0 A6 A5 A4 A3
A0:A6 Slave drive address (Pr49), valid values 1..127.
The bytes of the message are written to the corresponding parameters only if the function
described is enabled by setting bit b99.5 to 1, and is done immediately prior to the next pico-
PLC scan cycle (every 6.144 msec) from the reception of the PDO4 rx message.