Parker Hannifin S.p.A. Divisione S.B.C. user’s manual TWIN-N and SPD-N
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6 PARAMETERS AND PROGRAMMING.......................................................................57
6.1 Main parameters.................................................................................................................... 60
6.2 Binary parameters ................................................................................................................. 65
7 OPERATING MODES ..................................................................................................70
7.1 Position control....................................................................................................................... 71
7.2 Torque control (operating mode 1) ...................................................................................... 74
7.3 Digital Lock + Positioner (operating mode 13) ................................................................... 75
7.3.1 TAB0: profiles in memory............................................................................................... 75
7.4 Electronic cam (operating mode 14)..................................................................................... 79
7.4.1 Positioning ....................................................................................................................... 79
7.4.2 Speed mode...................................................................................................................... 80
7.4.3 Electronic cam.................................................................................................................. 80
7.4.4 OPM 14 Linear engage CAM .......................................................................................... 86
7.5 Electronic cam (op. mod. 11)................................................................................................. 88
7.5.1 Positionator ...................................................................................................................... 89
7.5.2 CAM1 and CAM2............................................................................................................ 89
7.5.2.1 Automatic activation of CAM tables ........................................................................... 93
7.6 Position control through the CANbus (operating mode 15) ............................................ 100
7.7 Basic functions...................................................................................................................... 103
7.7.1 Homing function ............................................................................................................ 103
7.7.2 Speed adjustment ........................................................................................................... 104
7.7.3 Current or torque adjustment (typical)........................................................................... 104
7.7.4 Frequency input/output (Encoder ports) ........................................................................ 104
7.7.5 Value comparators ......................................................................................................... 105
7.7.6 Value capture ................................................................................................................. 105
7.7.7 Output programmable on module .................................................................................. 105
7.7.8 Analogue output programmable..................................................................................... 106
7.7.9 Master reference............................................................................................................. 106
7.7.10 Encoder CAN................................................................................................................. 107
8 PROGRAMMING DIGITAL INPUTS/OUTPUTS ........................................................109
8.1 The pico-PLC ....................................................................................................................... 109
8.2 Programming with MotionWiz........................................................................................... 114
8.3 MotionWiz ............................................................................................................................ 115
9 SERIAL INTERFACE
.................................................................................................116
9.1 Communication protocol
..................................................................................................... 116
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