Parker SPD-N Series - Page 136

Parker Hannifin S.p.A. Divisione S.B.C. user’s manual TWIN-N and SPD-N
135
The target position reached message is generated when the motor, after the target position is
changed (in operating mode 13 b150.0=1, in operating mode 14 Pr102 not zero), will go to
the target position at less than a tolerance set in Pr55 for at least a time of Pr88*2.048msec.
When this message is enabled, the parameters b70.4, Pr55 and Pr88 are reserved for this task
and are no longer available for their standard functions (servo error window and PLC
program).
A user message can be sent by setting Pb70.12 to 1. In this case, Error Code will be 0xFF09
and the Data field will contain the value in Pr152:153.
b70.12 will be reset to 0 once the message has been sent.
SDO(tx/rx) object
Below is a list of the objects in the device dictionary:
Object dictionary:
Index
0x1000 : Device type (301) RO
0x1001 : Error register RO
0x1014 : COB-ID emergency obj RO
0x1018 : Identity RO
0x100c : Guard time RO
0x100d : Life time factor RO
0x1200 : Server SDO parameters RO
0x2000 : Parameters area RW
0x2001 : Parameters area set bit W
0x2002 : Parameters area reset bit W
0x2003 : Pico-PLC area RW
0x2004 : I table area CAM0 (0..254) RW
0x2005 : II table area CAM0 (255..256) RW
0x2006 : I table area CAM1 (0..254) RW
0x2007 : II table area CAM1 (255..256) RW
0x2008 : I table area CAM2 (0..254) RW
0x2009 : II table area CAM2 (255..256) RW
0x200A : I table area CAM3 (0..254) RW
0x200B : II table area CAM3 (255..256) RW
As a general rule, sub_index 0 of indexes 0x2000..0x2002 represents the number of the
sub_indexes available, and the subsequent (1..N) sub_indexes represent the parameter
number concerned +1.
Sub_index 1
Æ Pr[0]
Sub_index 2
Æ Pr[1]
....
Sub_index n+1
Æ Pr[n]
Example of device memory access by SDO:
Write Pr80 to the drive:
You will need to write the object by SDO with index-sub_index 0x2000-0x51 (80+1).