Parker TPDM - Page 138

Parker Hannifin Manufacturing Srl user’s manual TPDM
137
position stored. Bit 8-probe2: (0) switched off, (1) enabled. Bit 9-probe2: (1) touch
probe 2 positive edge position stored.
[0x60ba] 'Touch Probe pos1 positive value': this object shall provide the position value of the
touch probe 1 at the positive edge.
[0x60bc] 'Touch Probe pos2 positive value': this object shall provide the position value of the
touch probe 1 at the positive edge.
[0x60c0] 'Interpolation sub mode selection': valid values 0(linear interpolation),-1(cubic
interpolation with position and velocity) , -2 (cubic interpolation with position)
[0x60c1][1] 'Interpolation data record': INTEGER32 interpolator position reference
[0x60c1][2] 'Interpolation data record': INTEGER32 interpolator velocity reference in
counts/sec
[0x60c1][3] 'Interpolation data record': INTEGER32 interpolator velocity reference in RPM
[0x60f4] 'Following error': this object shall provide the actual value of the following error.
[0x6502] 'Supported drive modes': see 0x6060
[0x6504] 'Drive Manufacturer': " Parker Hannifin Manufacturing Srl "
[0x6505] 'http drive catalog address': "*** http://www.sbcelettronica.com ***
http://www.parker-eme.com ***"
Following modes of operation of DSP402 are implemented beside the device control state
machine:
Homing mode
Profile position mode
Interpolated position mode
The field Error Code will contain a specific code based on the different drive alarm:
- Er01 (over voltage) : 0x3210
- Er02 (under voltage) : 0x3220
- Er03 (over current) : 0x2340
- Er04 (motor feedback break) : 0x7310
- Er05 (over temperature motor) : 0xff07
- Er06 (over temperature drive): 0x4310
- Er07 (aux trip 1) : 0xff00
- Er08 (aux trip 2) : 0xff01
- Er10 (checksum PLC) : 0x6310
- Er11 (checksum Parameter): 0x6310
- Er14 (braking resistance alarm) : 0x7113
- Er15 (default Parameter) : 0x6320
- Er16 (CANopen myssing sync):
- Er17 (calibration alarm) : 0x5210
- Er22 (over temperature ambient): 0x4110
- Er24 (PSU alarm): 0x7112
- Er25 (speed feedback error) : 0xff0e
- Er27 (overload digital outputs):
When alarms are reset with b99.10, Error code will be 0x0000 .