Parker Hannifin S.p.A. Divisione S.B.C. user’s manual TWIN-N and SPD-N
6
10.3.9.1.1 Controlword of profile position mode ............................................................... 165
10.3.9.1.2 Statusword of profile position mode.................................................................. 165
10.3.9.2 Object dictionary entries ........................................................................................ 166
10.3.9.2.1 Objects defined in this chapter........................................................................... 166
10.3.9.2.2 Object 607Ah: Target position........................................................................... 166
10.3.9.2.3 Object 6081h: Profile velocity ........................................................................... 167
10.3.9.2.4 Object 6083h: Profile acceleration/deceleration................................................ 167
10.3.9.2.5 Object 6085h: Quick stop deceleration.............................................................. 168
10.3.9.2.6 Object 6086h: Motion profile type..................................................................... 168
10.3.9.3 Functional description............................................................................................ 169
10.3.9.4 Functional description............................................................................................ 170
10.3.10 Interpolated Position Mode (operative mode 202) .................................................... 172
10.3.10.1 Object 60C0h: Interpolation sub mode select........................................................ 173
10.3.10.2 Object 60C1h: Interpolation data record................................................................ 173
10.3.11 Drive parameters........................................................................................................ 176
11 APPENDIX A: MECHANICAL DIMENSIONS ........................................................177
12 APPENDIX B: CONVENTIONS..............................................................................178
13 APPENDIX C: SOFTWARE TIMING ......................................................................178
14 APPENDIX D: DEFAULT PROGRAM FOR PICO-PLC .........................................179
15 APPENDIX E: FLASH INFORMATION ..................................................................180
16 APPENDIX F: ALARMS .........................................................................................181
17 APPENDIX G:
OPTION “R” FOR SAFE DISABLE FUNCTION............................183
17.1 Introduction
.......................................................................................................................... 183
17.2 Signals description
............................................................................................................... 184
17.3 Drive function blocks
........................................................................................................... 186
17.4 Connections .......................................................................................................................... 187
17.5 Operation, sequence and timing ......................................................................................... 187
17.6 Example ................................................................................................................................ 189
17.7 Test and maintenance
.......................................................................................................... 189
18 REVISION HISTORY OF THE USER MANUAL
.....................................................190
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