Parker SPD-N Series - Description of the Fields in Real Time Mode

Parker Hannifin S.p.A Divisione S.B.C. user’s manual TWIN-N and SPD-N
122
10.1.1 Description of the fields in real time mode
Cyclic message from the master to the DRIVE
Cyclic data
Data length
8/6/4 bytes
Field Name
Position Reference Speed Reference Command
Contents
Pr114:115 (32 bit) Pr105 (16 bit) Pr102 (16 bit)
Identifier
ID2 ID1 ID0 - - - - - ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3
A2 A1 A0 X X X X X 0 0 0 0 0 1 1 A3
A0:A3 drive slave address (Pr27+1), valid values 1..15.
Pr102 is used as a command and must be managed by the pico-PLC.
The data type depends on the message length as follows:
Data length
Contents Contents Contents
8 Position reference (4 byte) Speed reference (2 byte) Pr102 (2 byte)
6
Position reference (4 byte) Pr102 (2 byte)
4 Speed reference (2 byte) Pr102 (2 byte)
Synchronism message from the master to the drive
Synchronism message
Data length
1 byte
Field Name
Sync
Contents
Sync type (8 bit)
Identifier
ID2 ID1 ID0 - - - - - ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3
0 0 0 X X X X X 0 0 0 0 0 0 0 0
Type 0 synchronism (Sync = 0): every drive activates the speed references and the position
references and stores the actual position of the motor
; if b150.2=1 the drive answers with a “cyclic
reply
”.
Type 1 synchronism (Sync = 1): stores the actual position of the motor
; if b150.6=1 the drive
answer with a “
cyclic reply”.