Parker Hannifin S.p.A Divisione S.B.C. user’s manual TWIN-N and SPD-N
94
Master module Master module Master module Master module Master module
Tab 3 Tab 1 Tab 0 Tab 2 Tab 3
0°
360°
0°
360°
0°
360°
0°
360°
0°
360°
Pr105
Sector
engage
ramp
Pr105
Sector
disengage
ramp
Engage
comand
Disengage
comand
b181.13
b181.14
Speed curve for slave axe
The above described tables are of course an example case to describe the engage and
disengage functions of an axis by changing tables, and they are calculated in order to allow
these functions for an axis that needs to be dynamically disengaged/engaged according to a
gearing law (Pr102=5 _ Y=5).
Of course it is possible to describe different tables for similar functions and load them in the
relevant array.
In order to accomplish this and more generally to ensure user access to cam tables, as it
happened previously for Tab0, these can be either read and written using the keypad, or pico-
PLC by pointer Pr103 and value in Pr104, or through SBC CAN, or serial port RS422 using
address 4096 (adjacent areas of 257 words per table):
Keypad SBC CAN o serial
Tab.0: 0<=Pr103<=256; 4096<= address<=(4096+513);
Tab.1: 500<=Pr103<=756; (4096+514)<=address<=(4096+1027);
Tab.2: 1000<=Pr103<=1256; 4096+1028)<=address<=(4096+1541);
Tab.3: 1500<=Pr103<=1756; (4096+1542)<=address<=(4096+2055);
With CANopen version you can use the tables by SDO as follow:
CANopen
Tab.0: Point 0….254 Index 0x2004 Sub-index 1…255
Point 255…256 Index 0x2005 Sub-index 1….2
Tab.1: Point 0….254 Index 0x2006 Sub-index 1…255
Point 255…256 Index 0x2007 Sub-index 1….2
Tab.2: Point 0….254 Index 0x2008 Sub-index 1…255
Point 255…256 Index 0x2009 Sub-index 1….2
Tab.3: Point 0….254 Index 0x200A Sub-index 1…255
Point 255…256 Index 0x200B Sub-index 1….2
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