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SPD-N Series
Parker SPD-N Series User Manual
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Parker Hannifin S.p.A. Divisione S.B.C.
user’s manual TW
IN-N and SPD-N
140
See the next table:
PAR MIN
MAX
DEF
DESCRIPTION
152 -2
31
2
31
CANopen user emgy message
153 -2
31
2
31
CANopen user emgy message
161 -2
31
2
31
CANopen user emgy message
b39.14
CANopen Node Guard watchdog.
140
142
Table of Contents
Default Chapter
3
Table of Contents
3
1 Introduction
8
General Information
8
Product Description
8
Identification
9
Safety Instructions
11
Symbols and Signals
11
General Information
11
Safety Instructions for Transportation and Storage
12
Safety Instructions for Commissioning
12
Safety Instructions for Operation
13
Safety Instructions for Maintenance
14
Compatibility with RCD Devices
14
Applicable Standards
15
Materials and Disposal
15
Warranty
16
Main Hardware Features
16
Ambient Conditions
16
Technical Data
17
Main Software Features
19
Expansibility: the Parker-SBC Bridge and Its Philosophy
19
2 Mounting
21
How to Suppress Interference
21
Grounding
21
Cable Connections and Shielding
22
General Suggestions on Cable Connections
22
Mains and Motor Side Filters
24
Signal Connectors Layout
25
Connections
27
Ground Connections (PE)
28
Line Connection Diagrams
29
Motor Connection Diagrams
30
Resolver Connection Diagrams
30
Signal Cables Connection
30
Encoder Connection
31
Encoder Sinusoidal + Endat Connection
32
Encoder Sinusoidal + Hiperface Connection
33
Incremental Encoder + HALL Sensor
34
Sincos (One sin Wave Per Pole Pitch)
35
Frequecy Input/Output Connection
36
Connecting the Drive to the Digital-Lock
37
Serial Line Connection
38
CAN Line Connection
39
External +24V Power Supply for the Control Stage
39
External Braking Resistance
40
3 Using the Keyboard
41
4 Power Supply Mode
43
Low" Voltage Power Supply
43
High" Voltage Power Supply
44
5 Start-Up
45
Setting the Default Parameters
45
Selection of Motor Type
45
Changing Motor Data
46
Setting Feedback
46
Feedback Configuration
47
Select Supply Feedback
47
Feedback from Sincos Encoder or Sincsos + Endat Encoder
48
Feedback from Incremental Encoder
49
Encoder Phasing
49
Type 1 Phasing
49
Type 2 Phasing
50
First Commissioning
51
Speed Control Adjustment
52
6 Parameters and Programming
58
Main Parameters
61
Binary Parameters
66
7 Operating Modes
71
Position Control
72
Torque Control (Operating Mode 1)
75
Digital Lock + Positioner (Operating Mode 13)
76
TAB0: Profiles in Memory
76
Electronic Cam (Operating Mode 14)
80
Positioning
80
Speed Mode
81
Electronic Cam
81
OPM 14 Linear Engage CAM
87
Electronic Cam (Op. Mod. 11)
89
Positionator
90
CAM1 and CAM2
90
Automatic Activation of CAM Tables
94
Position Control through the Canbus (Operating Mode 15)
101
Basic Functions
104
Homing Function
104
Speed Adjustment
105
Current or Torque Adjustment (Typical)
105
Frequency Input/Output (Encoder Ports)
105
Value Comparators
106
Value Capture
106
Output Programmable on Module
106
Analogue Output Programmable
107
Master Reference
107
Encoder CAN
108
8 Programming Digital Inputs/Outputs
110
The Pico-PLC
110
Programming with Motionwiz
115
Motionwiz
116
9 Serial Interface
117
Communication Protocol
117
10 Can Bus Interface
122
Sbc Can
122
Description of the Fields in Real Time Mode
123
Sub-Field CMD [0
126
Bytes
126
Description of the Fields in Communication Mode
130
Value Meaning Read Request
130
SET Bit
130
RESET Bit
130
TOGGLE Bit
130
Data Address
130
Address
130
Pr = Pr .OR. Data
130
Pr = Pr .AND. (.Not.data)
130
Number of Significant Bytes in the Data Field
130
Addr & Spare
131
Description of the Fields Extended Message Set # 2
132
Canopen (C Version)
134
Identifier ID2 ID1 ID0 - - A2 A1 A0
135
A0:A6
135
Bit Reply Data
135
Id10 Id9 Id8 Id7 Id6 Id5 Id4 Id3
135
Canopen Dsp402 (D Version)
142
Dictionary Object Summary of Ds301 in Drive
143
Dictionary Object Summary of Dsp402 in Drive
144
Object 6040H: Controlword
147
Object 6041H: Statusword
149
Object 605Bh: Shutdown Option Code
151
Object 605Ch: Disable Operation Option Code
152
Object 605Ah: Quick Stop Option Code
153
Object 605Eh: Fault Reaction Option Code
153
Object 6060H: Modes of Operation
154
Object 6061H: Modes of Operation Display
154
Functional Description
155
Modes of Operation Function
155
Homing Mode (Operative Mode 200)
156
General Information
156
Input Data Description
156
Controlword of Homing Mode
157
Internal States
157
Output Data Description
157
Statusword of Homing Mode
157
Object Dictionary Entries
158
Objects Defined in this Chapter
158
Object Description
158
Object 607Ch: Home Offset
158
Objects Defined in Other Chapters
158
Object 6098H: Homing Method
159
Object 6099H: Homing Speeds
159
Object 609Ah: Homing Acceleration
160
Functional Description
161
Homing Methods
161
Method 1: Homing on the Negative Limit Switch and Index Pulse
161
Method 2: Homing on the Positive Limit Switch and Index Pulse
162
Methods 3 and 4: Homing on the Positive Home Switch and Index Pul
162
Methods 5 and 6: Homing on the Negative Home Switch and Index Pul
163
Methods 7 to 14: Homing on the Home Switch and Index Pulse
163
Methods 15 and 16: Reserved
164
Method 35: Homing on the Current Position
165
Methods 17 to 30: Homing Without an Index Pulse
165
Methods 31 and 32: Reserved
165
Methods 33 to 34: Homing on the Index Pulse
165
Profile Position Mode (Operative Mode 201)
166
Controlword of Profile Position Mode
166
Internal States
166
Statusword of Profile Position Mode
166
Object 607Ah: Target Position
167
Object Dictionary Entries
167
Objects Defined in this Chapter
167
Object 6081H: Profile Velocity
168
Object 6083H: Profile Acceleration/Deceleration
168
Object 6085H: Quick Stop Deceleration
169
Object 6086H: Motion Profile Type
169
Functional Description
170
Functional Description
171
Interpolated Position Mode (Operative Mode 202)
173
Object 60C0H: Interpolation Sub Mode Select
174
Object 60C1H: Interpolation Data Record
174
Drive Parameters
177
11 Appendix A: Mechanical Dimensions
178
12 Appendix B: Conventions
179
13 Appendix C: Software Timing
179
14 Appendix D: Default Program for Pico-Plc
180
15 Appendix E: Flash Information
181
16 Appendix F: Alarms
182
17 Appendix G: Option "R" for Safe Disable Function
184
Introduction
184
Signals Description
185
Drive Function Blocks
187
Connections
188
Operation, Sequence and Timing
188
Example
190
Test and Maintenance
190
18 Revision History of the User Manual
191
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Parker SPD-N Series Specifications
General
Brand
Parker
Model
SPD-N Series
Category
Media Converter
Language
English
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