Parker SPD-N Series - Page 6

Parker Hannifin S.p.A. Divisione S.B.C. user’s manual TWIN-N and SPD-N
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10 CAN BUS INTERFACE ..........................................................................................121
10.1 SBC CAN .............................................................................................................................. 121
10.1.1 Description of the fields in real time mode.................................................................... 122
10.1.2 Description of the fields in communication mode......................................................... 129
10.1.3 Description of the fields Extended message set # 2....................................................... 131
10.2 CANopen (C version)........................................................................................................... 133
10.3 CANopen dsp402 (D version).............................................................................................. 141
10.3.1 Dictionary object summary of ds301 in drive................................................................ 142
10.3.2 Dictionary object summary of dsp402 in drive.............................................................. 143
10.3.2.1 Object 6040h: Controlword ................................................................................... 146
10.3.2.2 Object 6041h: Statusword...................................................................................... 148
10.3.2.3 Object 605Bh: Shutdown option code ................................................................... 150
10.3.2.4 Object 605Ch: Disable operation option code ....................................................... 151
10.3.2.5 Object 605Ah: Quick stop option code.................................................................. 152
10.3.2.6 Object 605Eh: Fault reaction option code.............................................................. 152
10.3.2.7 Object 6060h: Modes of operation......................................................................... 153
10.3.2.8 Object 6061h: Modes of operation display............................................................ 153
10.3.3 Functional description.................................................................................................... 154
10.3.3.1 Modes of operation function.................................................................................. 154
10.3.4 Homing mode (operative mode 200) ............................................................................. 155
10.3.5 General information....................................................................................................... 155
10.3.5.1 Input data description............................................................................................. 155
10.3.5.2 Output data description.......................................................................................... 156
10.3.5.3 Internal states ......................................................................................................... 156
10.3.5.3.1 Controlword of homing mode............................................................................ 156
10.3.5.3.2 Statusword of homing mode .............................................................................. 156
10.3.6 Object dictionary entries ................................................................................................ 157
10.3.6.1 Objects defined in this chapter............................................................................... 157
10.3.6.2 Objects defined in other chapters........................................................................... 157
10.3.7 Object description .......................................................................................................... 157
10.3.7.1 Object 607Ch: Home offset.................................................................................... 157
10.3.7.2 Object 6098h: Homing method .............................................................................. 158
10.3.7.3 Object 6099h: Homing speeds ............................................................................... 158
10.3.7.4 Object 609Ah: Homing acceleration...................................................................... 159
10.3.8 Functional description.................................................................................................... 160
10.3.8.1 Homing methods.................................................................................................... 160
10.3.8.1.1 Method 1: Homing on the negative limit switch and index pulse ..................... 160
10.3.8.1.2 Method 2: Homing on the positive limit switch and index pulse ...................... 161
10.3.8.1.3 Methods 3 and 4: Homing on the positive home switch and index pul............. 161
10.3.8.1.4 Methods 5 and 6: Homing on the negative home switch and index pul............ 162
10.3.8.1.5 Methods 7 to 14: Homing on the home switch and index pulse........................ 162
10.3.8.1.6 Methods 15 and 16: Reserved............................................................................ 163
10.3.8.1.7 Methods 17 to 30: Homing without an index pulse........................................... 164
10.3.8.1.8 Methods 31 and 32: Reserved............................................................................ 164
10.3.8.1.9 Methods 33 to 34: Homing on the index pulse .................................................. 164
10.3.8.1.10 Method 35: Homing on the current position.................................................... 164
10.3.9 Profile position mode (operative mode 201).................................................................. 165
10.3.9.1 Internal states ......................................................................................................... 165