Parker SPD 2 - Page 5

Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual
4
7.1 Binary parameters main block................................................................................. 33
8 Functions and operating modes ........................................................................ 37
8.1 Block diagram and introduction to parameter setting............................................. 37
8.2 Basic functions ......................................................................................................... 40
8.2.1 Saving/restoring default parameters................................................................. 40
8.2.2 Homing function .............................................................................................. 40
8.2.3 Backup.............................................................................................................. 41
8.2.4 Speed adjustment.............................................................................................. 41
8.2.5 Current or torque adjustment (typical)............................................................. 42
8.2.6 Frequency input/output (Encoder ports) .......................................................... 42
8.2.7 Feedback from SinCos encoder or SinCsos + Endat encoder.......................... 43
8.2.8 Feedback from incremental encoder ................................................................ 44
8.2.9 Value comparators............................................................................................ 46
8.2.10 Value capture.................................................................................................... 46
8.2.11 Output programmable on module .................................................................... 46
8.3 Slow operating modes management.........................................................................47
8.4 Torque control (operating mode 1)..........................................................................50
8.5 Electrical shaft + Positioner (operating mode 13).................................................. 51
8.6 Electronic cam (operating mode 14)........................................................................ 54
8.7 Position control through the CanBus (operating mode 15).....................................59
9 Start up and calibrations.................................................................................... 62
9.1 First SPD start up .................................................................................................... 62
9.2 First commissioning of the drive..............................................................................62
9.3 Speed control adjustment .........................................................................................63
9.3.1 Some important concepts ................................................................................. 63
9.3.2 What is needed ................................................................................................. 63
9.3.3 Before starting .................................................................................................. 64
9.3.4 ESTIMATING THE Pr16 e Pr17..................................................................... 64
9.3.5 Adjustment without using instrumentation ...................................................... 68
10 Programming digital inputs/outputs................................................................ 69
10.1 The pico-PLC ........................................................................................................... 69
10.2 Decimal parameters PLC......................................................................................... 69
10.3 Bit parameters of the pico-PLC ............................................................................... 70
10.4 pico-PLC instructions .............................................................................................. 71
10.5 Functional description ............................................................................................. 72
11 Programming the drive by PC........................................................................ 74
11.1 MotionWiz ................................................................................................................ 75
12 Diagnostics, alarms, troubleshooting ............................................................. 76
12.1 Summary of alarm and diagnostics use bit parameters:.......................................... 76
12.2 Alarm codes.............................................................................................................. 77