Parker SPD-N Series - Page 139

Parker Hannifin S.p.A. Divisione S.B.C. user’s manual TWIN-N and SPD-N
138
A0:A6 Slave drive address (Pr49), valid values 1..127.
The bytes of the message are written to the corresponding parameters only if the function
described is enabled by setting bit b99.5 to 1, and is done immediately prior to the next pico-
PLC scan cycle (every 6.144 msec) from the reception of the PDO4 rx message.
In much the same way as described above, the parameters Pr84..87 are sent through PDO4 tx
by the slave to the master with the following format:
Parameter Pr84..87 read message from master to drive (PDO 4 rx)
Data send
Data length
8 bytes
Field Name
Pr84 Pr85 Pr86 Pr87
Contents
16 bit value 16 bit value 16 bit value 16 bit value
Identifier
ID2 ID1 ID0 - - - - - ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3
A2 A1 A0 X X X X X 1 0 0 1 A6 A5 A4 A3
The bytes of the message containing the parameters Pr84...87 are sent to the master only if the
function described is enabled by setting bit b99.5 to 1, and is done every Pr161 pico-PLC scan
cycles (every 6,144 msec). If Pr161 is set to zero, the bytes are not sent even if b99.5=1. The
data is sent when the pico-PLC program scan is complete.
The exchange structure implemented by the PDO4 allows access to the parameters Pr80..87
that do not have a predefined function in the converter but can be processed and interpreted
with different functions and meanings according to the logic implemented in the pico-PLC
program.
PDO4 rx
PDO4 tx PDO4 tx
Ad
j
ourn Pr80….83
Scanning
pico-plc
Scanning
pico-plc
Send Pr84…87
Send Pr84…87