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Parker Hannifin Manufacturing Srl user’s manual TPDM

85

OPM13

Table of Contents

Default Chapter3
- Table of Contents3
1 Safety Instructions8
- Symbols and Signals8
- General Information8
- Safety Instructions for Transportation and Storage9
- Safety Instructions for Commissioning9
- Safety Instructions for Operation10
- Safety Instructions for Maintenance11
- Compatibility with RCD Devices11
- Applicable Standards12
- Materials and Disposal12
- Warranty12
2 Introduction13
- General Information13
- Product Description13
- Identification14
3 Main Hardware Features16
- Ambient Conditions16
- Vibrations and Shocks16
- Available Models16
- Power Supply17
- Technical Characteristics17
- Other Characteristics18
- Main Software Features19
4 Mounting20
- How to Suppress Interference20
  - Grounding20
  - Cable Connections and Shielding21
  - General Suggestions on Cable Connections21
- Dimensions and Weights22
- Mounting Instructions23
- Connectors Layout24
- Connectors25
  - TPDM Single Axis26
  - TPDM Two Axes (A+B)27
  - TPDM Three Axes (A+B+C)28
- Cable Lengths and Cross Sections29
- Protective Earth Connections30
- Requirements for UL Compliance30
  - Solid-State Motor Overload Protection30
  - Solid-State Short-Circuit Protection30
  - Protective Earth30
- Requirements for CSA Compliance31
- Motor Connection Diagrams32
- Resolver Connection Diagrams32
- Signal Cables Connection33
- Encoder Connection33
- Sinusoidal Encoder33
- Sinusoidal Encoder + Endat34
- Sinusoidal Encoder + Hiperface35
- Sinusoidal Encoder +Hall Sensor36
- Sincos (One sin Wave Per Pole Pitch)37
- DSL Feedback38
- Analog and Digital I/Os Connections39
- Frequency Input/Output Connection40
- Connecting the Drive to the Digital-Lock41
- CAN Line Connection41
- Layout42
5 Using the Keyboard43
- SD Card Management45
  - Alarm Codes47
6 Start-Up48
- Setting the Default Parameters48
- Selection of Motor Type48
- Changing Motor Data49
- Setting Feedback49
  - Select Supply Feedback49
  - Feedback Configuration50
- Feedback from Incremental Encoder51
- Encoder Phasing51
- First Commissioning54
- Speed Control Adjustment55
7 Analaog, Digital I/Os and S.t.o61
- Digital I/Os61
- Analog Inputs/Outputs63
- Sto63
8 Parameters and Programming64
- Main Parameters67
- Binary Parameters72
9 Operating Modes78
- Position Control79
- Torque Control (Operating Mode 1)82
- Digital Lock + Positioner (Operating Mode 13)83
  - TAB0: Profiles in Memory83
- Electronic Cam (Operating Mode 14)87
- Electronic Cam (Op. Mod. 11)97
  - Positioner98
  - CAM1 and CAM298
    - Automatic Activation of CAM Tables102
- Basic Functions109
10 Programming Digital Inputs/Outputs121
- The Pico-PLC121
- Programming with Motionwiz127
- Motionwiz128
11 Serial Interface129
- Communication Protocol129
12 Can Bus Interface134
- Canopen Dsp402 (D Version)134
- Homing Mode (Operative Mode 200)149
- General Information149
- Object Dictionary Entries151
  - Objects Defined in this Chapter151
  - Objects Defined in Other Chapters151
- Object Description151
- Functional Description154
  - Homing Methods154
- Profile Position Mode (Operative Mode 201)160
- Interpolated Position Mode (Operative Mode 202)167
  - Object 60C0H: Interpolation Sub Mode Select168
  - Object 60C1H: Interpolation Data Record168
- Mode Cyclic Synchronous Position (Operative Mode 203)171
13 Appendix A: Conventions178
14 Appendix B: Software Timing178
15 Appendix C: Default Program for Pico-Plc179
16 Appendix D: Flash Information180
17 Appendix E: Switching Frequency181
18 Appendix F: Tpdm Alarms182
- SUB Alarms Table183
19 Appendix G: Shield Fastener185
20 Appendix H: Ethercat Option186
- Setting Parameters of Ethercat Communication187
21 Appendix I: Analog Expansion Board188
- Introduction188
- Connectors Lay-Out189
- Connections190
- Characteristics191
- Parameters191
22 Appendix L: Asynchronous Motor V/F Controlled193
- Parameters194
23 Revision History of the User Manual195

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