Parker SPD-N Series - Page 137

Parker Hannifin S.p.A. Divisione S.B.C. user’s manual TWIN-N and SPD-N
136
If the number of bytes written is greater than two, the operation will also change the
parameter Pr81.
Read Pr60 from the drive:
You will need to read the object by SDO with index-sub_index 0x2000-0x3d (60+1). The
value returned will have a length of 4 bytes, the most significant of which will contain Pr61.
If they are not needed, they can simply be discarded.
Set bit 4 of Pr40:
You will need to write the object by SDO with index-sub_inidex 0x2001-0x20 (40+1) with
the value (0x0010) that represents in binary the bits involved in the operation, in our case bit
4.
Reset bits 4 and 5 of Pr40:
You will need to write the object by SDO with index-sub_inidex 0x2002-0x29 (40+1) with
the value (0x0030) that represents in binary the bits involved in the operation, in our case bits
4 and 5.
Write bytes 0 and 1 of the pico-PLC area:
You will need to write the object by SDO with index-sub_index 0x2003-0x01 (0+1) with the
value corresponding to the operating code of the instruction to add. For example, the
instruction LD 90.0 requires the value 0x00 to be written in byte 0 and 0x5a in byte 1.
In addition to the objects described above, other objects are implemented based on
CANopen’s Predefined Connection Set, although these are not found in the object dictionary.
These objects can be useful in accessing drive movement parameters.
PDO (tx/rx) object
PDO2 (tx/rx) object :
A protocol for parameter access, pico-PLC instructions, and drive cam table is implemented
by exchanging the 8+8 read/write bytes of the PDO2, which, when the master receives the
message PDO2 rx, interprets the contents of the first 7 bytes in accordance with the following
format:
Acyclic data write message or parameter request from master to drive (PDO 2)
Acyclic data write or request
Data length
7 byte
Field Name
Cmd & Len Data Address Data
Contents
5 bit command and 3 bit
length
16 bit data address 32 bit data
Identifier
ID2 ID1 ID0 - - - - - ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3
A2 A1 A0 X X X X X 0 1 1 0 A6 A5 A4 A3
A0:A6 Drive movement address (Pr49), valid values 1..127.
Data For data writing, the field will contain the value of the parameter.
For bit change, the field will contain the mask of the bits to change.
For data reading, the field is insignificant.