Parker SLVD1N User Manual
  1. Manuals
  2. Brands
  3. Parker Manuals
  4. Power Tool
  5. SLVD1N
  6. User manual

Parker SLVD1N User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

1
SLVD-N
EtherCAT (COE)
SLVD1N SLVD2N
SLVD5N SLVD7N
SLVD10N SLVD15N
SLVD17N
User's manual
rev.0.2
May 2010

Advertisement

Table of Contents
loading

Related Manuals for Parker SLVD1N

Summary of Contents for Parker SLVD1N

  • Page 1 SLVD-N EtherCAT (COE) SLVD1N SLVD2N SLVD5N SLVD7N SLVD10N SLVD15N SLVD17N User’s manual rev.0.2 May 2010...
  • Page 2 Parker Hannifin S.p.A. Divisione S.B.C. is committed to a continuous product upgrade and reserves the right to modify products and user manuals at any time without prior notice. No part of this user manual may be howsoever reproduced without previous consent by Parker Hannifin S.p.A. Divisione S.B.C..

  • Page 3: Table Of Contents

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual INDEX 1. INTRODUCTION ....................8 1.1. General information..................... 8 1.2. Product description ....................8 1.3. Identification......................9 2. SAFETY INSTRUCTIONS..................11 2.1. Symbols and signals ................... 11 2.2. General information................... 11 2.3.
  • Page 4 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.12. Serial line connection ..................41 5.13. External +24V power supply for the control stage ......... 42 5.14. Second/third axes connection ................42 5.15. External braking resistance ................44 5.16. Cable connections....................45 5.17.
  • Page 5 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.7.1. Positionator ......................103 10.7.2. CAM1 and CAM2....................103 10.7.3. Automatic activation of CAM tables ..............107 10.8. Additional useful functions................114 10.8.1. Homing function ....................114 10.8.2. Speed adjustment....................115 10.8.3.
  • Page 6 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.7.4. Object 609Ah: Homing acceleration.............. 152 13.1.8. Functional description ..................153 13.1.8.1. Homing methods .................... 153 13.1.8.1.1. Method 1: Homing on the negative limit switch and index pulse..153 13.1.8.1.2. Method 2: Homing on the positive limit switch and index pulse ..154 13.1.8.1.3.
  • Page 7 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Page 7 of 181...

  • Page 8: Introduction

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 1.INTRODUCTION 1.1. General information This manual describes the installation and commissioning of the frequency converter SLVD- N (Small Low Voltage Drive-New) for brushless motors. Read carefully all the sections and the history of the revision of the manual on the final page before using it.

  • Page 9: Identification

    SLVDN User’s Manual 1.3. Identification The converters of the SLVD -N series are available in 6 models: SLVD1N, SLVD2N, SLVD5N, SLVD7N, SLVD10N and SLVD15N. The number that follows the SLVD-N abbreviation corresponds to the rated current of the converter in amperes.
  • Page 10 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual An example of this label is given below. Serial number Model Power supply Output voltage Input voltage Output frequency Input frequency The performance of converter is guaranteed only with synchronous motors with permanent magnets MB and SMB Series that have been manufactured by us.

  • Page 11: Safety Instructions

    • Before installing and commissioning the drive, read carefully this documentation and strictly observe all technical, safety and wiring information, including identifying labels placed on the drive (ratings). In case of doubt contact the Parker Hannifin service centre. • Drives are to be intended as components for use in machine or systems. Therefore...

  • Page 12: Safety Instructions For Transportation And Storage

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 2.3. Safety instructions for transportation and storage • The ambient conditions given in the product documentation must be observed for transportation and storage (temperature, humidity, mechanical stress and aggressive atmosphere). • Drives contain components sensitive to electrostatic charges which can be damaged by inappropriate handling.

  • Page 13: Safety Instructions For Operation

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual • The user is responsible for over-current and short circuit protection of the drive. Read carefully the specification given in the user manual. 2.5. Safety instructions for operation High voltage ! Risk of electric shock ! Danger of life ! •...

  • Page 14: Safety Instructions For Maintenance

    Risk of personal injury. The warranty immediately decay. • In case of malfunction consult the alarm list described in the user manual or address Parker Hannifin. The drives are not field repairable. 2.7. Compatibility with RCD devices The use of RCD (Residual Current Devices) is strongly not recommended.

  • Page 15: Applicable Standards

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 2.8. Applicable standards Safety 2006/95/EC Low voltage directive EN61800-5-1 Adjustable speed electrical power drive systems – safety requirements, thermal and energy 2006/42/EC Machinery Directive EN60204-1 Safety of machinery – Electrical equipment of machines – Part 1:...

  • Page 16: Warranty

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual The S.B.C. division of the Parker Hannifin Company, together with local distributors and in accordance with EU standard 2002/96/EC, undertakes to withdraw and dispose of its products, fully respecting environmental considerations. 2.10.

  • Page 17: Power Supply

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 3.3. Power supply Control stage Supply voltage 24V (-0%...+10%) Max ripple Vpkpk Do not go over the range Current rating of the external power supply Control electronics dissipation EMC Filter internal Power stage Mains frequency 50 - 60 ±...

  • Page 18: Technical Characteristics

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 3.4. Technical characteristics Description Value Input and output characteristic Models SLVD1N SLVD2N SLVD5N SLVD7N SLVD10N SLVD15N SLVD17N Rated input current Arms 2,99 5,99 8,38 11,97 17,96 20,36 Rated output current Arms 1,25...
  • Page 19 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Other characteristics SLVD-N SLVD-NE SLVD-NH Feedback Resolver Encoder Encoder+Hall Auxiliary Encoder input in quadrature Max Frequency encoder input RS-422 encoder simulation output steps/rev 4…65000 Max Frequency Serial link RS-422 / RS-485 Field bus EtherCAT...

  • Page 20: Main Software Features

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 3.5. Main software features The following functions have been implemented in the basic software of the SLVD-N: • Speed controller • Advanced manager of torque limits • Management of speed windows • Carries out positioning with a trapezoidal speed profile •...

  • Page 21: Mounting

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 4.MOUNTING 4.1. Dimensions and weights SLVD1N, SLVD2N,SLVD5N, SLVD7N SLVD10N, SLVD15N, SLVD17N 1.1 kg 3.1 kg 2.43 lbs 6.84 lbs Measurements expressed in mm. lateral front Page 21 of 181...
  • Page 22 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Page 22 of 181...
  • Page 23 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Page 23 of 181...

  • Page 24: Fastening

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 4.2. Fastening Fit in a vertical position. The SLVD1N, SLVD2N, SLVD5N, SLVD7N converter must be mounted using an omega guide. Omega guide The SLVD10N, SLVD15N and SLVD17N have a mounting plate: Page 24 of 181...

  • Page 25: Mounting Instructions

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 4.3. Mounting instructions A space of at least 100 mm. must be left free above and beneath the converter. The converter must be mounted vertically (power block X6 above). Page 25 of 181...

  • Page 26: Electrical Connections

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.ELECTRICAL CONNECTIONS 5.1. Signal connectors layout Terminal block 7 poles 5,08 step X6 Power MSTB2.5/7-ST-5.08 Phoenix model Page 26 of 181...
  • Page 27 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Terminal block 8 poles 7,62 step X6 - Power PC4HV/8-ST-7,62 Phoenix model Page 27 of 181...
  • Page 28 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual D-Sub 15 male poles HD D-Sub 15 female poles HD X1 Serial X2 encoder I/O Enc. IN C+ Enc. IN C- Reserved Reserved Reserved Termination 422 Enc. IN A- Reserved Enc. IN B-...
  • Page 29 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual IN – X20 OUT - X21 ETHERCAT No error The EtherCAT communication of the device is in working condition. Flickering Booting error Booting error was detected. INIT state reached, but parameter “Change” in the AL status register is set to 0x01: change/error.

  • Page 30: Sections And Cable Specifications

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.2. Sections and cable specifications Power cable specifications Maximum length 35m mobile or fixed installation depending on the applications max. conductor capacity 150pF/m use only stranded copper wire rated for 60/75°C Use only appropriate crimping tools to fix terminal lugs.

  • Page 31: Protections

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.3. Protections The converter don’t have protection against overload and short circuit towards the mains. The user must install the appropriate protection. The fuses ta the drive power network must be sized as follows:...

  • Page 32: Line Connection Diagrams

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.5. Line connection diagrams The SLVD-N converter can be connected to the power supply in various ways. If a transformer with an electrostatic shield between the primary and the secondary is used, EMC filters will not have to be installed.
  • Page 33 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Note 1: The EMC filter can be connected upstream or downstream from the auto-transformer. If it is connected upstream, it may be necessary to use a shielded cable between the auto-transformer and the SLVD-N. If it is connected downstream, the cable between the filter and the SLVD-N must be as short as possible and it cannot exceed 30 cm.

  • Page 34: Motor Connection Diagrams

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.6. Motor connection diagrams Page 34 of 181...

  • Page 35: Resolver Connection Diagrams

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.7. Resolver connection diagrams Page 35 of 181...

  • Page 36: Encoder Connection

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.8. Encoder connection Page 36 of 181...

  • Page 37: Encoder Endat Connection

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.9. Encoder EnDat connection As far as the cable is concerned, you may use a Heidenhain cable or one with the same features. The cable must not be longer than 20 metres.

  • Page 38: Incremental Encoder With Hall Sensor

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.10. Incremental encoder with Hall sensor Page 38 of 181...

  • Page 39: Frequecy Input/Output Connection

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.11. Frequecy input/output connection The drive has the possibility to “read” two inputs in frequency. The first input is on the X2 connector: Encoder IN. The input can receive signals in quadrature and frequency/sign, (b42.5), from an incremental encoder as from standard LineDrive-RS422.

  • Page 40: Connecting The Slvd-N To The Digital-Lock

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual In the case it comes used a encoder external like reference, and this device is lacking in feeding, is possible to use IN2, of the terminal block X4, for feeding the device. You see following outline (connecting an external local power source, maximum 24Vdc, to pin the 11 of X4, "IN2", the tension is brought, inner, to pin the 11 of X2, "IN2").

  • Page 41: Serial Line Connection

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual See par. “Digital Lock + Positioner” about the programming. 5.12. Serial line connection The serial line of the SLVD-N can be configured as either RS-422 or as RS-485 depending on how the connection is made. Realize the ending only on the last node, like shown in the following.

  • Page 42: External +24V Power Supply For The Control Stage

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.13. External +24V power supply for the control stage The drive electronics, must be supplied with an external 24Vdc power supply, 1A minimum per drive (pins: 1 and 2 of terminal block X4).
  • Page 43 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual RJ11 X22 (II axis) - X23 (III axis) CLOCKOUT The connection of the additional axes must respect the following specifications: the second axis must be connected to the X22 connector; the third axis must be connected to the X23 connector.

  • Page 44: External Braking Resistance

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.15. External braking resistance When a higher braking power is needed, it is possible to connect an external braking resistance to the drive by X7 terminal block. About the connection, must use the X7 terminal block, to remove the bridge between the IN...

  • Page 45: Cable Connections

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.16. Cable connections The following pictures show how to realize the cable connections, in particular how to connect the cable shields to the ground bars. Page 45 of 181...

  • Page 46: How To Suppress Interference

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual * The PE bar (for power grounding) must be mounted directly in contact; insulated columns are not to be used. ** The signal cable shields can be connected to a bar (HF) different from the PE bar or connected directly the metallic cable clamps to electrical cabinet back-plate.

  • Page 47: Cable Connections And Shielding

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.17.2. Cable connections and shielding With the exception of mains cables to the filter, all power and control cables must be shielded and, wherever possible, kept segregated (minimum distance 20 cm). If control and power cables must cross, the intersection must be at a right angle.

  • Page 48: Mains And Motor Side Filters

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 5.17.4. Mains and motor side filters It is usually necessary to use external filters in addition to internal filters the drive is provided with, on the mains input and sometimes on the motor output.

  • Page 49: Status Led

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 6.Status LED Two LEDs are lit. The power LED, if on, indicates whether there is power for the electronic part. The status LED gives a series of information about the status of the converter: If it is off, the converter is shut off without active alarms.

  • Page 50: Power Supply Mode

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 8.POWER SUPPLY MODE 8.1. “Low” voltage power supply This procedure is for those situations in which the operator needs to work in close proximity to the machine in a situation which could be potentially hazardous. In these conditions, the...

  • Page 51: High" Voltage Power Supply

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 8.2. “High” voltage power supply In “high ” voltage operating mode (b40.10=0), the converter can supplied as follows: AC 3-phase network ((200÷230 ±10%) and AC 1-phase network (200÷230 ±10%) Set b39.0=0 (default).
  • Page 52 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual SLVD_N Keypad IDLE XXXXX Pr. 01 XXXXX Pr. 02 XXXXX Pb. 40 b40.XX done Pb. 99 b99.XX In. 00 PLC inst. 1st oper. 2nd oper. 3rd oper. In. XX The following messages may be displayed on the screen, in addition to the value of the...

  • Page 53: Start-Up

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 9.START-UP The drive is supplied with default factory parameter settings. See the following chapters for use and start-up. 9.1. Setting the default parameters If you want to set the default values of the converter as it was supplied by the manufacturer,...

  • Page 54: Changing Motor Data

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual The first time the converter is powered up, or following a default command, the drive indicates a “dEF” condition (alarm Pr23=15). In order to leave the drive’s initial condition, the operator shall have to input the motor data.

  • Page 55: Feedback Configuration

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 9.5.1. Feedback configuration The following table reassumes all the possible configurations and indicates the relative formulation of the parameters: Number Feedback setup Type of motor Supply Drive code of pulses feedback b42.9 b42.8 b42.7 b42.6...

  • Page 56: Encoder Phasing

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual During the phasing procedure 1, the drive checks the connections, and the movement of the motor is broadest, so this procedure is recommended for the first time (see paragraph “encoder phasing”). 9.7. Encoder phasing 9.7.1.
  • Page 57 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Pr89 Status: 0 if positive result 2 if wrong enabling 5 if drive not ready (Pr23 ≠0 or open inrush) 6 Pr201 parameter calculated (frequency of vibration) is different of 25 unit from starting value 7 Pr201 parameter calculated (frequency of vibration) exceeds 200 unit (max.

  • Page 58: Feedback From Sincos Encoder With Endat Interface

    0, the drive needs to restart for to permit new enable of the axe. The procedure of encoder phasing is not necessary with Parker Hannifin Divisione S.B.C.’s motor, but when the system requires the phasing, the procedure of the phasing is the same for incremental encoder (see paragraph “encoder phasing”) and it must finalized as follows.

  • Page 59: Motor Phases

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 9.8.1. Motor phases In this paragraph is showed a procedure not necessary for the motors of the S.B.C. Division, essential for the motor connection, because allows to find the motor phases (A=U, B=V, C=W).

  • Page 60: First Commissioning

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 9.9. First commissioning INTRODUCTION The steps to be followed carefully the first time the converter is used are given below. 1. Connect the motor to the converter by following carefully the diagrams in the manual.

  • Page 61: Speed Control Adjustment

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 9.10. Speed control adjustment SOME IMPORTANT CONCEPTS SPEED LOOP: The main task of a converter is to control motor speed so that it follows as faithfully as possible the speed request that is generally known as the REFERENCE.
  • Page 62 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual BEFORE BEGINNING Study the diagram below carefully (Fig. 1): Fig. 1 This diagram shows the response of the system to a square wave speed reference. Channel 1 (Ch1) represents the speed and channel 2 (Ch2) the current of the motor. In practice, the probe has been connected to terminal 6 of the X4 (Vout).
  • Page 63 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual that as Pr17 varies, the response will change. For decreasing values of Pr17, the response of the system will be as shown in figure 2 below: Fig.2 For increasing values of Pr17, the response of the system will be similar to what is shown in figure 3 below: Fig.3...
  • Page 64 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Fig. 4 An overshoot of about 10% must be obtained. It is important that after the overshoot, an undershoot does not occur. Once the optimal value of Pr17 has been established, we must analyze the movement of the axis.
  • Page 65 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Fig. 6 If mechanical parts are used which very easily tend to enter into oscillation, we recommend you use very low values of Pr16. In this configuration the SLVD-N typically dampens the torque request of the motor in order to avoid triggering mechanical oscillations.
  • Page 66 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual ADJUSTMENT WITHOUT USING INSTRUMENTATION If you do not have an oscilloscope, you must: A) Determine the value of Pr16 as described above. B) Determine the Pr17 parameter by using the following formula: ⋅...

  • Page 67: Parameters And Programming

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.PARAMETERS AND PROGRAMMING The torque, speed, acceleration and position control functions are carried out by special digital electronics. In this section we explain how parameters are set and the meaning of each parameter. We also provide the functional block diagram and the description of advanced functions.
  • Page 68 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual The main block diagram and the diagrams for special functions (operating modes) are described later in more detail. How to associate inputs/outputs to the parameters of the converter is described in the chapter, The pico-PLC.
  • Page 69 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual • Read/write of the PrX parameter Pr X A = value of the PrX parameter • Read/write of the PrX parameter B = value that depends on the values of A and PrX Pr X •...
  • Page 70 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Reduced and extended menu When the SLVD-N is in the default status, only a limited number of parameters is displayed. These parameters are the only parameters necessary for those applications where the SLVD-N is used as a simple converter and where the advanced functions of the converter, for example, if the SLVD-N is used with a numeric control or with an intelligent axis board, are not used.

  • Page 71: Decimal Parameters

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.1. Decimal parameters The extended menu is used to set all the following parameters. This menu is invoked by setting b99.6 to 1 and b99.7 must be set to 0. Description field: R: read;...
  • Page 72 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Range Def. Ris. Acceleration ramp for positive speed. Positive 0.002 0.001 0.002÷ speed acceleration required by the motor via the 65.535 speed reference is internally limited so that to...
  • Page 73 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Range Def. Ris. Pr19 Peak current. This is the maximum current that 0÷100.0 100.0 0.1% the converter can supply to the motor. It is [%Ip] picco expressed as a percentage of the peak current of the converter.
  • Page 74 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Range Def. Ris. Pr36 Thermal image winding (read-only). Unit = % 0÷100.0 0.1% of the rated temperature. Indicates the estimate of [%Temp] the heat in the innermost coils of the motor. If this reaches the value of 100.0 % equal to the nominal...
  • Page 75 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Range Def. Ris. Pr188 Analogue output pointer. The number indicates ±512 which parameter to monitor. It comes used with to the Pr189. If the parameter pointed is Pr0, will be had in escape ±4,096V when Pr0=Pr32.
  • Page 76 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Range Def. Ris. Pr219 SLIP_ASYNC. Asynchronous motor slip. 0÷32767 [rpm] Pr220 MAGN_CURR_ASYNC. Asynchronous motor 0÷32767 magnetizing current: ϕ × Pr33 Page 76 of 181...

  • Page 77: Binary Parameters

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.2. Binary parameters The binary parameter Pb40 can be read and set and then stored. The binary parameter Pb41 provides indications about the status of the system. The parameters Pb42 and Pb99 be read and set and then stored.
  • Page 78 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Descrption Field Def. b40.13 Selector of internal reference Pr5 or frequency reference Pr4. If b40.12 = 1, b40.13 can be used to make the selection. If = 0, the internal reference can be used. If = 1, the frequency input (encoder- in) which can be configured as frequency/direction or as a quadrature signal by using b42.5.
  • Page 79 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Descrption Field Def. b42.5 Frequency input (X3 connector). If set to 1, the frequency input is programmed to receive two quadrature phases and this is the default value. If set to 0, a frequency/direction type of input can be received.
  • Page 80 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Descrption Field Def. b99.10 Command to reset alarms. This command sets Pr23 and Pr24 to 0. If the alarm continues, it is displayed on the screen. This command cannot be used if there is a check-sum error (Pr23 = 10, 11). In this case, it is necessary to set the default parameters (b99.12) and then...
  • Page 81 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Left limit 40.4 Analogue reference offset Right limit 40.5 Analogue reference Main analogue input Pr45 Stop 40.6 input Reference offset Main reference Accel and decel Stop Full scale ref 1 ramp Analog input...

  • Page 82: Operating Modes

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.3. Operating modes Parameter Pr31 (default = 0) is used to select the operating mode. Every operating mode controls speed using parameter Pr6 and can use parameter PR21 to limit the torque at the motor (see the block diagram).
  • Page 83 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Pr106 Reference speed Feedforward feedforward scale b70.7 b70.6 Window of position error Pr55 Servo error Servo window 1 b70.4 Pr56 Servo error Servo window 2 b70.5 abs() Pr51 Position error Pr61:60 Pr57...
  • Page 84 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Range Def. Res. Pr50 3000 Maximum speed. This parameter limits the 0÷9000 maximum speed of the motor. It can be useful to limit the speed during a sudden link or during a [rpm] quick change of speed.
  • Page 85 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Range Def. Res. Pr158 ENCODER CAN pointer (b70.10). Pr159 Speed encoder IN via CAN. Pr212 -32000÷ F/Dir reference multiplier. Using this parameter +32000 and Pr213, the user can set the ratio desired for the input reference frequency.
  • Page 86 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Description Par. Field Def. b70.0 Encoder in capture. If = 0, the capture of the value encoder master is made from input 0. Otherwise, it is made by the input of the zero trace encoder.

  • Page 87: Torque Control (Operating Mode 1)

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.4. Torque control (operating mode 1) This operating mode does not control the torque in the classic way since the speed control continues to work to control the speed limit. The torque reference will be the Pr7 main reference.

  • Page 88: Digital Lock + Positioner (Operating Mode 13)

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.5. Digital Lock + Positioner (operating mode Operating mode 13 includes the Digital Lock, dynamic positioner and flow speed functions in order to use them at the same time. The tracking function refers to the input frequency signal (X3 connector) set as an input encoder signal by setting b42.0 = 0, b42.1 =1, and b42.5...
  • Page 89 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual b231.10=1 TAB0 activation by profiles TAB0 point Positioner variables Pointer to table Pr193 Pr108 Speed Pr109 Accel/Decel. ramp. Pr107 Decel. Ramp (b231.13=1) Pr118 Final position Pr119 Speed Pr108 Accel/Decel. ramp. Pr109 Pr107 Decel.
  • Page 90 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Range Def. Res. Pr109 Acceleration ramp (positioner). This is the 0.002÷ 1 ms acceleration ramp that will be used during the 30000 positioning profile. If b231.13=0, this parameter [s/Krpm] defines the acceleration and deceleration ramps of the position profile.
  • Page 91 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual OPM13 In progress b150.0 Speed Pr108 Acceleration Target position Pr109 Reset 1 b150.10 Pr61:60 Ref.Position=Motor ref.=0 Profile direction b150.4 Posizione attuale Actual position Reset 2 b150.11 Ref.Position=Motor ref. Pr117:116 Pr115:114 Velocità in somma b150.13...

  • Page 92: Electronic Cam (Operating Mode 14)

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.6. Electronic cam (operating mode 14) Operating mode 14 is expressly designed to meet the needs of packaging machines that require electronic cams. This program is in the drive’s basic configuration and it can be programmed by selecting Pr31=14 and b99.11=1, parameters to select the operating mode and...

  • Page 93: Speed Mode

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.6.2. Speed mode It actives with Pr102=3 and the parameters are Pr100, speed, and Pr101, acceleration and deceleration ramp. 10.6.3. Electronic cam Four tables are available, namely TAB0, TAB1, TAB2 and TAB3, that have been implemented to perform a series of cam functions.
  • Page 94 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual r a m p a a g g a n c i o Pr102=9 Tab1 Engage ramp r a m p a s g a n c i o Pr102=10 Tab2 Disengage ramp...
  • Page 95 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual b150.12 and b150.13 command the engage and the disengage in correspondence of the master phases written in Pr127:126 and in Pr 129:128, they are always referred to master module of CAM1. The engage/disengage of CAM1 (b150.12 e b150.13) commands, in correspondence of the master phases written in Pr127:126 and in Pr 129:128, are always referred to normalization of the module.
  • Page 96 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Range Def. Res. Pr112:113 Master axis position. This is the present position of the master axis. Pr114:115 Slave axis module. This is the value of the slave 0÷2 10000 axis module.
  • Page 97 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Range Def. Res. Pr185:184 Change of the value slave axis module in phase. ±2 Variation of slave module, and with b181.12 slave module value is changed immediately. Pr212 Multiplicative factor of Frequency/Direction reference.
  • Page 98 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Def. b180.1 Start Tab1 on master phase of Pr170:171. =1 activates the Tab1 table to the specified phase master in Pr170:171. The values of the parameters for the activation on specific phase must be comprised between 0 and the written module master in Pr110:111.
  • Page 99 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Positioning OPM14 Speed Change of the value slave axis Acceleration Pr108 module in phase Pr185:184 Pr109 b181.12 Target position Pr169:168 Pr119:118 Select CAM1 table Position slave No source b180.0 Pr135:134 TAB0 Master b180.4...

  • Page 100: Linear Engage Cam

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.6.4. Linear engage CAM With OPM14 exists the possibility to program a linear engage cam on master module. It’s necessary to define the space to use of the module master in which executing the engage cam of the slave.
  • Page 101 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Cam table engage automatic b150.12=1 (autoset after engage and autoreset after engage to the drive’s TAB) Master Module Pr110:111=30000 Step/Motor Slave Module Pr114:115 = 10000 Step/Motor space covered engage from slave Pr137:136=1000 step slave module Reservation engage slave axis, on master module b150.11=1 (autoreset)

  • Page 102: Electronic Cam (Op. Mod. 11)

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.7. Electronic cam (op. mod. 11) Operating mode 11 is expressly designed to meet the needs of packaging machines that require 2 electronic cams. This program is in the drive’s basic configuration and it can be programmed by selecting Pr31=14 and b99.11=1, parameters to select the operating mode and...

  • Page 103: Positionator

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.7.1. Positionator This is a trapezoidal profile generator, with the following user-definable parameters: speed profile acceleration and deceleration ramp value target position in motor step The parameter referred to the target position is absolute. The difference between the target position and the reference position, generates the direction of the movement.
  • Page 104 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Predetermined function Table y = x - s e n x Pr102=5 Pr102=6 Function y=x Function y=x-senx Tab0 y=senx p r o f i l o t r i a n g o l a r e...
  • Page 105 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual in correspondence of the master phases. The b180.9, beyond signaling the state of engage/disengage of the CAM1, it allows an engage/disengage immediate of the same without to consider the master phase. Modules with negative sign cannot be set in CAM1.
  • Page 106 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Example 1 Speed profile axis slave without cam scale 3000 Scale CAM1: Profilo risultante 2500 Pr115:114=10000 module Pr177:176=00 start point 2000 Pr179:178=10000 execution space 1500 CAM1 Scale CAM2: 1000 Pr185:184=10000 module Pr177:176=0...

  • Page 107: Automatic Activation Of Cam Tables

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.7.3. Automatic activation of CAM tables Beside enabling tables on programmable master phase or by immediate command as shown above, the drive offers a default function providing for an automatic sequence to enable the tables in order to concur some functionalities like engage and disengage cam, with connection tables.
  • Page 108 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual b181.14 Disengage comand b181.13 Engage comand Pr105 Pr105 Sector Sector disengage engage ramp ramp Tab 3 Tab 1 Tab 0 Tab 2 Tab 3 360° 360° 360° 360° 0° Master module Master module...
  • Page 109 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Decimal parameters Par. Description Field Range Def. Res. ±2 Pr101:100 Reference module position ( addition as module of POS+CAM1+CAM2). 0÷14 Function selector. The value indicates one Pr102 predetermined function ( see the predetermined function table).
  • Page 110 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Range Def. Res. Pr129:128 Master axis disengage phase. If b150.13=1, 0÷2 when master position, Pr113:112 exceeds Pr129:128 Pr102 is brought in position 1 and b150.13 returns 0 to indicate that the positioner is enabled and which will control the disengage phase.
  • Page 111 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Decimal parameters. Par. Description Field Def. b150.2 Position loop. If =1 the position loop is absolute value, otherwise is in slave module. b150.3 Command phase shift master. If =1 positioner module comes used in order to modify the phase between master and slave or like generator of virtual axis.
  • Page 112 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Def. b180.10 Electronic CAM2 engaging on master phase 0. b180.11 Electronic CAM2 release on master phase 0. b180.12 CAM 2 engaging immediately ( Signal lock/Unlock CAM 2). b180.13 Electronic CAM2 execution on single shot.
  • Page 113 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual OPM11 Positioning Speed Acceleration Pr108 Pr109 Target position Pr119:118 Master position Master axe b180.0 Reference position offset TAB0 module position Pr117:116 Master axe Master axe b180.4 Pr169:168 b150.3 Pr101:100 Master position module...

  • Page 114: Additional Useful Functions

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.8. Additional useful functions The standard drive functions include protection functions whose parameters can be set, such as automatic limitations of current delivered based on the estimated dissipation (thermal image or i t drive and motor);...

  • Page 115: Speed Adjustment

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.8.2. Speed adjustment In the operating mode default conditions (Pr31=0), the drive adjusts the motor in speed based on the reference value. The reference origin can be selected with the main block parameters, between analogue (external potentiometer), internal (digital), or external pulse string.

  • Page 116: Value Comparators

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Pulse numebr per Motor position turn motor b42.0 Pr44 (encoder OUT) Virtual speed encoder Address encoder Enable virtual axis CAN our Enable encoder Motor position Pr27 b40.1 Enable reference (CAN) b42.0 b70.8...

  • Page 117: Output Cam Programmer

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Captured motor value b70.15 Captured value Position control Pr69:68 Zero encoder (only with encoder + hall feedback sensor feedback) b231.4 Motor position Digital input “1" Pr63:62 b70.0 b70.1 Zero encoder Digital input “0”...

  • Page 118: Master Reference

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Pr188=Pr35 , (monitor torque) has in escape 4,096V when Pr35 is equal to pick current, if Pr19=100% [with Pr189=0]. In other cases : Pr188=Pr… , range in escape ±512 counts as ±4,096V. Therefore if the parameter to...

  • Page 119: Encoder Can

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 10.8.10. Encoder Can If this function is enable, it is possible to generate and receive the “encoder like” signals by the CAN line, which replaces quadratures signal. The running is trasparent, respect to the traditional encoder signals:the CAN line must be connected instead of quadratures signals, and must be considered that every encoder signal is available every 1,024msec over the CAN, and the signal has 4byte for data.
  • Page 120 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual If the encoder CAN function is activated, the number of the free parameter decrease. See the next table. Par. Description Field Range Def. Res. ±32000 Pr154 ratio numerator encoder in CAN ±32000 Pr155 ratio denominator encoder in CAN ±2...

  • Page 121: Programming Digital Inputs And Outputs

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 11.PROGRAMMING DIGITAL INPUTS AND OUTPUTS 11.1. The pico-PLC The internal pico-PLC is used to connect the external world (inputs/outputs) with the world of the parameters of the SLVD-N. The PLC can be used to copy digital input to a binary parameter, to copy a binary parameter to a digital output and to execute mathematical and Boolean operations.
  • Page 122 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Par. Description Field Range Def. Res. Pr88 Free parameter. A parameter that can be stored -32768÷+32767 by the user (word). Par. Description Field Def. b90.0 Digital input 0. b90.1 Digital input 1.
  • Page 123 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual PLC INSTRUCTIONS Pa.y loads the y bit of the Pa parameter on the stack Pa.y Pa.y loads the negated y bit of the Pa parameter on the stack Pa,y Pa.y sets the y bit of the Pa parameter to the value loaded on the stack Pa,y Pa.y...
  • Page 124 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual FUNCTIONAL DESCRIPTION The pico-PLC program is scanned every 6.144 milliseconds. With this sampling, the input is first read, the two timers (Pr92 Pr93 b99.0 and b99.1) are updated, the user program is scanned and the output is updated.
  • Page 125 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual In the mathematical operations on double words, the operands and the result are defined as follows: the parameter of the operand defines the least significant part while the most significant part is represented by the next word.

  • Page 126: Programming With Motionwiz

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 11.2. Programming with MotionWiz The serial kit: USBTODRIVE is supplied to enable communication between a PC and the drive. The kit (*) includes an USB/RS-422 converter, and serial connection cable. The enclosed communication software (supplied free of charge) designated MotionWiz has the following HW/SW requirements: PII microprocessor or higher, Windows2000 or WindowsXP , mouse and serial port for drive connections.

  • Page 127: Motionwiz

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 11.3. MotionWiz The configuration tool is called “MOTIONWIZ” and is used to program the drive while controlling the whole system in real time. PLC programs can also be edited and new files can be generated.

  • Page 128: Serial Interface

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 12.SERIAL INTERFACE The serial communication of the converter is half-duplex, master-slave, using an asynchronous RS-485/RS-422 line. The converters take control of the line only if interrogated by the master. The same serial line can be connected to up to 32 converters by setting a different serial address in each to the Pr27 parameter.
  • Page 129 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual bit 7 bit 6 bit 5 type of message converter response reading a pico-PLC instruction writing a pico-PLC instruction reading a parameter writing a parameter bit modification writing a parameter to all the slaves [BK+LUN] = the LUN field (first 3 bits) indicates the number of bytes of the data transmitted (a parameter or a PLC instruction);...
  • Page 130 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual [CMD6] = is the change bit message of a byte parameter. The message has the following format: [STX] [110+ADDR] [BK+LUN] [PAR] [D0] [D1] [CHK] In this case LUN=2 or else two bytes are sent for the data. The first byte is the mask...
  • Page 131 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Instruction Code Length (bytes) Pa.y Pa.y Pa.y OUTN Pa.y Pa.y ANDN Pa.y Pa.y Pa.y Pa, Pb, Pc Pa, Pb, Pc Pa, Pb, Pc Pa, Pb, Pc Pa.y Pa.y FIN Pb40.y/Pb150.y The first 4 bits (b0..b3) of the first byte in each instruction contain the instruction code.
  • Page 132 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual The converter responds with the message: [$7E][$20][$01][$32][$2B][$7E][$00] Second example: reading a 2 byte parameter Suppose we want to read the reference speed (Pr7) and that its value is 2000. Suppose also that the converter has the serial address 1. The message to be sent is the following:...

  • Page 133: Ethercat Interface

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.EtherCAT interface The EtherCAT optional realizes the messages in according to the CANopen DSP402 standard: CoE EtherCAT – CANopen DSP402 13.1. CANopen DSP402 (D version) The CANbus node must be set through Pr49 with values from 1 to 127.

  • Page 134: Dictionary Object Summary Of Ds301 In Slvd-N

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual PDO 4 tx : [0x6041] status word [0x6063] position feedback in counts [0x6064] position feedback in counts (normally in user unit in this case as well in counts) [0x2060] Word composed with digital input and aux analog input .

  • Page 135: Dictionary Object Summary Of Dsp402 In Slvd-N

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual //manufacturer [0x2000] : parameters’ array 0..254 read write access [0x2001] : parameters’ array 254..NR_PAR read write access [0x2002] : parameters’ array 0..254 set bit access [0x2003] : parameters’ array 254..NR_PAR set bit access [0x2004] : parameters’...
  • Page 136 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual [0x6063] 'position actual value (counts)': If read by mean of SDO or mapped on PDO 1 or 2 returns the value of position feedback in counts from pr[63:62] if mapped on PDO 4 returns the value of the position feedback at the sync signal.
  • Page 137 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual [0x6504] 'Drive Manufacturer': "Parker Hannifin div. SBC Italy" [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...
  • Page 138 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Device Control state machine Homing mode Device Profile 402 Motor CAN node Profile Position mode Interpolated Position mode Here by the schematic of device control with controlword e statusword Control word (6040h)

  • Page 139: Object 6040H: Controlword

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Power disable Fault Fault reaction start active Not ready to Fault switch On Switch On disabled Ready to Switch On Power enable Switched On Operation enable Quick stop active If I t current clamping is active bit 11 of the statusword rises.
  • Page 140 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual INDEX 6040h Name Controlword Object Code VAR Data Type UNSIGNED16 Category Mandatory ENTRY DESCRIPTION Access PDO Mapping Possible Value Range UNSIGNED16 Default Value DATA DESCRIPTION The bits of the controlword are defined as follows:...

  • Page 141: Object 6041H: Statusword

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual BITS 4, 5, 6 AND 8: These bits are operation mode specific. The description is situated in the chapter of the special mode. The following table gives an overview: Operation mode Velocity mode...
  • Page 142 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Description M /O Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Switch on disabled Warning Manufacturer specific Remote Target reached Internal limit active 12 - 13 Operation mode specific O 14 - 15 Manufacturer specific BITS 0 –...

  • Page 143: Object 605Bh: Shutdown Option Code

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual BIT 8: This bit may be used by a drive manufacturer to implement any manufacturer specific functionality. BIT 9: REMOTE If bit 9 is set, then parameters may be modified via the CAN-network, and the drive executes the content of a command message.

  • Page 144: Object 605Ch: Disable Operation Option Code

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual OBJECT DESCRIPTION INDEX 605Bh Name Shutdown option code Object Code Data Type INTEGER16 Category Optional ENTRY DESCRIPTION Access PDO Mapping No Value Range INTEGER16 Default Value DATA DESCRIPTION Value Description -32768 ... –1 manufacturer specific Disable drive function Slow down with slow down ramp;...

  • Page 145: Object 605Ah: Quick Stop Option Code

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.2.5. Object 605A : Quick stop option code The parameter quick stop option code determines what action should be taken if the Quick Stop Function is executed. OBJECT DESCRIPTION ENTRY DESCRIPTION INDEX...

  • Page 146: Object 6060H: Modes Of Operation

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual DATA DESCRIPTION Value Description -32768 ... -1 manufacturer Specific disable drive, motor is free to rotate slow down on slow down ramp slow down on quick stop ramp 13.1.2.7. Object 6060 : Modes of operation The parameter modes of operation switches the actually choosen operation mode.

  • Page 147: Functional Description

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual OBJECT DESCRIPTION INDEX 6061h Name Modes of operation display Object Code VAR Data Type INTEGER8 Category Mandatory ENTRY DESCRIPTION Access PDO Mapping Possible Value Range INTEGER8 Default Value DATA DESCRIPTION Same as for object 6060 modes of operation .

  • Page 148: Homing Mode (Operative Mode 200)

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.4. Homing mode (operative mode 200) In homing mode (Pr31=200) all the standard methods are available the index is referred to the feedback C encoder input track Z, it is also possible to refer the index to the absolute (in the shaft revolution) position of zero of the position feedback (resolver, SinCos absolute etc) setting the homing method to the same absolute value as for track Z indexing but negative .In...

  • Page 149: Output Data Description

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual There are two homing speeds ; in a typical cycle the faster speed is used to find the home switch and the slower speed is used to find the index pulse. The manufacturer is allowed some discretion in the use of these speeds as the response to the signals may be dependent upon the hardware used.

  • Page 150: Object Dictionary Entries

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.6. Object dictionary entries 13.1.6.1. Objects defined in this chapter Index Object Name Type Attr. 607Ch VAR INTEGER32 Home offset 6098h INTEGER8 Homing method 6099h ARRAY Homing speeds UNSIGNED32 rw Homing 609Ah VAR...

  • Page 151: Object 6098H: Homing Method

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual ENTRY DESCRIPTION Access PDO Mapping Possible Value Range INTEGER32 Default Value 13.1.7.2. Object 6098 : Homing method The homing method object determines the method that will be used during homing. OBJECT DESCRIPTION...

  • Page 152: Object 609Ah: Homing Acceleration

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual ENTRY DESCRIPTION Sub-Index Description number of entries Entry Category Mandatory Access PDO Mapping Value Range Default Value Sub-Index Description Speed during search for switch Entry Category Mandatory Access PDO Mapping Possible Value Range...

  • Page 153: Functional Description

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.8. Functional description By choosing a method of homing by writing a value to homing method will clearly establish the homing signal (positive limit switch, negative limit switch, home switch) the direction of actuation and where appropriate the position of the index pulse(*).

  • Page 154: Method 2: Homing On The Positive Limit Switch And Index Pulse

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Homing on the negative limit switch and index pulse 13.1.8.1.2. Method 2: Homing on the positive limit switch and index pulse Using this method the initial direction of movement is rightward if the positive limit switch is inactive (here shown as low).

  • Page 155: Methods 5 And 6: Homing On The Negative Home Switch And Index Pul

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.8.1.4. Methods 5 and 6: Homing on the negative home switch and index pul. Using methods 5 or 6 the initial direction of movement is dependent on the state of the home switch.

  • Page 156: Methods 15 And 16: Reserved

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual (10) (10) (10) Index pulse Home switch Positive limit switch Figure 26: Homing on the home switch and index pulse - positive initial move (14) (12) (13) (11) (14) (11) (13) (12)

  • Page 157: Methods 17 To 30: Homing Without An Index Pulse

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.8.1.7. Methods 17 to 30: Homing without an index pulse These methods are similar to methods 1 to 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions. For example methods 19 and 20 are similar to methods 3 and 4 as shown in the following diagram.

  • Page 158: Profile Position Mode (Operative Mode 201)

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.9. Profile position mode (operative mode 201) In profile position mode (Pr31=201) the buffer of targets allowed is 2 elements long one for the profile in execution the other for the next, the motion profile type only valid value is 0 (trapezoidal profile with linear ramp).

  • Page 159: Object Dictionary Entries

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Name Value Description Target Halt = 0: Target position not reached Halt = 1: Axle decelerates reached Halt = 0: Target position reached Halt = 1: Velocity of axle is 0 Trajectory generator has not assumed the positioning values...

  • Page 160: Object 6081H: Profile Velocity

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual OBJECT DESCRIPTION INDEX 607Ah Name Target position Object Code Data Type INTEGER32 Category Conditional; Mandatory, if pp or pc supported EN TRY DESCRIPTION Access PDO Mapping Possible Value Range INTEGER32 Default Value 13.1.9.2.3.

  • Page 161: Object 6085H: Quick Stop Deceleration

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual OBJECT DESCRIPTIION INDEX 6083h Name Profile acceleration/deceleration Object Code Data Type UNSIGNED32 Category Conditional; Mandatory, if pp or pv supported ENTRY DESCRIPTION Access PDO Mapping Possible Value Range UNSIGNED32 Default Value 13.1.9.2.5.

  • Page 162: Functional Description

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual OBJECT DESCRIPTION INDEX 6086h Name Motion profile type Object Code Data Type INTEGER16 Category Conditional; Mandatory, if pp or pv supported ENTRY DESCRIPTION Access PDO Mapping Possible Value Range INTEGER16 Default Value 13.1.9.3.

  • Page 163: Functional Description

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Figure 17, Figure 18 and Figure 19 show the difference between the "set of set-points" mode and the "single set-point" mode. The initial status of the bit ‘ change set immediately ’ in the controlword determines which mode is used.
  • Page 164 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Position Accepted position range Position window Position window Position reached Position not reached Position not reached target position Figure 33: Position reached Figure 34 shows the meaning of the sub-function following error in the profile position mode.

  • Page 165: Interpolated Position Mode (Operative Mode 202)

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.10. Interpolated Position Mode (operative mode 202) In Interpolated Position Mode (Pr31=202) the cycle time is set in the object 0x1006 'communication cycle period' and depending on the value set in this object different ways of regulation are possible.

  • Page 166: Object 60C0H: Interpolation Sub Mode Select

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.10.1. Object 60C0 : Interpolation sub mode select For the interpolated position mode a manufacturer may offer different interpolation algorithms. This object reflects or changes the actually chosen interpolation mode. OBJECT DESCRIPTION...
  • Page 167 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual ENTRY DESCRIPTION Sub-Index Description number of entries 3 Entry Category Mandatory Access PDO Mapping Value Range Default Value Sub-Index Description Position setpoint in counts the first parameter of ip function fip(x1, ..
  • Page 168 Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual Operation enbled Disable Quick stop voltage shutdown Interpolation inactive Interpolation active Page 168 of 181...

  • Page 169: Mode Cyclic Synchronous Position (Operative Mode 203)

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.11. Mode Cyclic synchronous position (operative mode 203) The overall structure for this mode Cyclic synchronous position (Pr31 = 203) is shown in Figure: Torque offset (60B2h) Velociy offset (60B1h) Position offset (60B0h)

  • Page 170: Functional Description

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.11.1. Functional description Figure below shows the inputs and outputs of the drive control function. The input values (from the control function point of view) are the target position and optionally a position offset (to be added to the target position to allow two instances to set up the position) as well as an optional velocity offset and an optional torque offset used for feedforward control.

  • Page 171: Use Of Controlword And Statusword

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.11.2. Use of controlword and statusword The cyclic synchronous position mode uses no mode specific bits of the controlword and three bits of the statusword for mode-specific purposes. Figure 64 shows the structure of the statusword.

  • Page 172: Object 60B1H: Velocity Offset

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.11.3.2. Object 60B1h: Velocity offset This object shall provide the offset for the velocity value. The offset shall be given in user- defined velocity units. In cyclic synchronous position mode, this object contains the input value for velocity feed forward.

  • Page 173: Drive Parameters

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 13.1.12. Drive parameters Some debug commands and parameters are added concerning CANopen Par. Description Field Range Def. Ris. 0÷10 Pr233 Lifetime factor. Pr273 CANOPEN_CTRL_WORD. Control of drive status. -32768÷ +32767 -32768÷ Pr274 CANOPEN_STATUS_WORD. Status of the drive...

  • Page 174: Appendix A: Conventions

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 14.Appendix A: Conventions Reference Positive Motor shaft movement (motor shaft view) Torque Positive Resolver counter Increments Encoder output Tachometer signal Positive ϑ • couple π • ⎛ ⎞ ϑ • ⎜ ⎟...

  • Page 175: Appendix B: Software Timing

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 15.Appendix B: Software timing Periodo Task 64 μs speed control 128 μs controllo di velocità 128 μs Speed reference management 512 μs Fast operating modes management 512 μs Torque limits management 512 μs Braking resistor management 512 μs...

  • Page 176: Appendix D: Flash Information

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 17.Appendix D: Flash information • TO SAVE USA IL b99.15 PARAMETERS • TO SAVE THE PLC USA IL b99.14 PROGRAM • TO CHANGE THE INSTRUCTIONS, PLC b99.13 MUST BE 0 • WHEN THE OPERATING MODE IS CHANGED, YOU MUST USE b99.11 TO LOAD THE DEFAULT PARAMETERS (b40.2 MUST BE 0)

  • Page 177: Appendix E: Alarms

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 18.Appendix E: Alarms Code Alarm Drive OK Check the three-phase power line. Over Voltage on the D.C. Link. Check the break circuit and the braking resistor Check the three-phase power line. Under Voltage on the D.C. Link.

  • Page 178: Appendix F: Continuous Working

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 19.Appendix F: Continuous working In continuous operation, the limit power depends on the voltage of the supply network and of the model, see the following table. The data are estimated in order to guarantee 20.000 hours of service average life of the capacitor.

  • Page 179: Appendix G: External Capacitor

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 20.Appendix G: External capacitor In the terminal block X7 there are positive and negative poles of the intermediary DC circuit of the drive. Only for some models it’s possible to connect the external capacitors, to storage (all or part) of the kinetic energy of the motor instead of to use the braking resistor.

  • Page 180: Revision History Of The User Manual

    Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual 21.Revision history of the User Manual Rev. 0.0 First edition Rev. 0.1 December 2009 Object [0x6060] Object [0x2030] OPM203 USBTODRIVE For other informations log into website www.sbcelettronica.com. Arranges to the manual data can be made by the manufacturer without advance notice.

This manual is also suitable for:

Slvd2nSlvd15nSlvd17nSlvd5nSlvd7nSlvd10n

Table of Contents