Parker Hannifin S.p.A Divisione S.B.C. user’s manual TWIN-N and SPD-N
123
Cyclic message from the drive to the master
Cyclic reply
Data length
6/7 byte
Field Name
Address Motor Position Status
Data
Pr27+1 (8bit) Pr116:117 (32 bit) Pr103
Identifier
ID2 ID1 ID0 - - - - - ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3
A2 A1 A0 X X X X X 0 0 0 1 0 1 0 A3
A0:A3 drive slave address (Pr27+1), valid values 1..15.
The Pr103 parameter is used as the status, if b150.3=0 all the 16 bits are sent, if b150.3=1 only the first
8 bits are sent.
If b150.0=1 the message is 8 byte long, and it isn’t dependent on b150.3; Pr103 made up of
16 bit. When b150.1=1, the message has the following information:
Byte 1 Byte8
7bit 6bit 5bit 4bit 3bit 2bit 1bit 0bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0bit
MSB LSB In3 In2 In1 In0
MultiCyclic message from master to the drive
MultiCyclic data
Data length
2,4,6,8 byte
Field Name
Speed
Reference0
Speed Reference
1
Speed Reference 2 Speed Reference 3
Contents
Pr105 (16 bit) Pr105 (16 bit) Pr105 (16 bit) Pr105 (16 bit)
Identifier
ID2 ID1 ID0 - - - - - ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3
0 A1 A0 X X X X X 0 0 0 0 1 1 1 0
This message contains several data which are sent to several slave drives. One data
(speed reference) is addressed for one drive, based on an addressing logic. The
following table shows which information (speed reference, Pr105) is sent to which
drive, based on the A0:A1(=group address) value.
A0:A1 Speed reference 0 Speed reference 1 Speed reference 2 Speed reference 3
0 Drive 1 Drive 2 Drive 3 Drive 4
1 Drive 5 Drive 6 Drive 7 Drive 8
2 Drive 9 Drive 10 Drive 11 Drive 12
3 Drive 13 Drive 14 Drive 15
Torque
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