Parker TPDM - Page 5

Parker Hannifin Manufacturing Srl user’s manual TPDM
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9.1 Position control ................................................................................................................... 78
9.2 Torque control (operating mode 1) .................................................................................. 81
9.3 Digital Lock + Positioner (operating mode 13) ............................................................... 82
9.3.1 TAB0: profiles in memory ................................................................................................... 82
9.4 Electronic cam (operating mode 14) ................................................................................. 86
9.4.1 Positioning ........................................................................................................................... 86
9.4.2 Speed mode .......................................................................................................................... 87
9.4.3 Electronic cam ...................................................................................................................... 87
9.4.4 OPM 14 Linear engage CAM .............................................................................................. 94
9.5 Electronic cam (op. mod. 11)............................................................................................. 96
9.5.1 Positioner ............................................................................................................................. 97
9.5.2 CAM1 and CAM2 ................................................................................................................ 97
9.5.2.1 Automatic activation of CAM tables ......................................................................... 101
9.6 Basic functions .................................................................................................................. 108
9.6.1 Homing function ................................................................................................................ 108
9.6.2 Speed adjustment ............................................................................................................... 109
9.6.3 Current or torque adjustment (typical) ............................................................................... 109
9.6.4 Frequency input/output (Encoder ports) ............................................................................ 109
9.6.5 Value comparators ............................................................................................................. 110
9.6.6 Value capture ..................................................................................................................... 110
9.6.7 Output cam programmer .................................................................................................... 111
9.6.8 Analogue output programmable ......................................................................................... 112
9.6.9 Master reference ................................................................................................................. 112
9.6.10 Multiturn absolute encoder phasing on “zero” machine ................................................ 112
9.6.11 FeedForward of speed loop ............................................................................................ 114
9.6.12 Motor brake management .............................................................................................. 115
9.6.13 Encoder CAN ................................................................................................................. 118
10 PROGRAMMING DIGITAL INPUTS/OUTPUTS ................................................. 120
10.1 The pico-PLC.................................................................................................................... 120
10.2 Programming with MotionWiz ....................................................................................... 126
10.3 MotionWiz ........................................................................................................................ 127
11 SERIAL INTERFACE .......................................................................................... 128
11.1 Communication protocol ................................................................................................. 128
12 CAN BUS INTERFACE ....................................................................................... 133
12.1 CANopen dsp402 (D version) .......................................................................................... 133
12.1.1 Dictionary object summary of ds301 in drive ................................................................ 134
12.1.2 Dictionary object summary of dsp402 in drive .............................................................. 135
12.1.2.1 Object 6040h: Controlword ....................................................................................... 139
12.1.2.2 Object 6041h: Statusword .......................................................................................... 141
12.1.2.3 Object 605Bh: Shutdown option code ....................................................................... 143
12.1.2.4 Object 605Ch: Disable operation option code ........................................................... 144
12.1.2.5 Object 605Ah: Quick stop option code ...................................................................... 145
12.1.2.6 Object 605Eh: Fault reaction option code................................................................. 145
12.1.2.7 Object 6060h: Modes of operation............................................................................. 146
12.1.2.8 Object 6061h: Modes of operation display ................................................................ 146
12.1.3 Functional description .................................................................................................... 147
12.1.3.1 Modes of operation function ...................................................................................... 147