Parker SPD 2 User Manual
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Parker SPD 2 User Manual

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SPD
(2, 5, 8, 16, 24)
USER'S
MANUAL
Rev. 2.7
June 2005
(software rel. 12)

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Summary of Contents for Parker SPD 2

  • Page 1 (2, 5, 8, 16, 24) USER’S MANUAL Rev. 2.7 June 2005 (software rel. 12)
  • Page 3 This user manual is for the standard version of the converter. La Parker Hannifin S.p.A. – Divisione S.B.C. declines any responsibility for any type of damage that may be caused by the inappropriate use of the converter.

  • Page 4: Table Of Contents

    INTRODUCTION ....................6 General information....................6 Product description ....................6 Main software features....................6 Expansibility: the Parker-S.B.C. bridge and its philosophy ........7 Support tools ......................8 Conformity to EMC standards ................... 8 Safety .......................... 8 Data for the UL certification..................8 Mechanical dimensions ....................
  • Page 5 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Binary parameters main block ................. 33 Functions and operating modes ................ 37 Block diagram and introduction to parameter setting ..........37 Basic functions ......................40 8.2.1 Saving/restoring default parameters..............40 8.2.2 Homing function ....................
  • Page 6 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual SERIAL INTERFACE..................78 13.1 Communication protocol..................78 13.2 Message types......................79 13.3 Initialising and managing the serial line ..............80 13.4 Examples of using the serial line................81 SBC Can......................83 14.1...

  • Page 7: Introduction

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 1 INTRODUCTION 1.1 General information This manual describes the installation and commissioning of the frequency converter for SPD brushless motors. Please, read all chapters carefully. 1.2 Product description The SPD is a digital frequency converter for brushless motors. The operator interface based on parameters makes it easy to configure the converter.

  • Page 8: Expansibility: The Parker-S.b.c. Bridge And Its Philosophy

    Besides having all of the features required by the market of a servo converter, the Parker- S.B.C. drives for brushless motors are also capable of executing “motion” functions that can be used for a large number of applications, without having the typical need of programming an axis control.

  • Page 9: Support Tools

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 1.5 Support tools To simplify the drive configuration in motion-control applications, a software package is provided to be installed on a personal computer (PC), which implements a serial communication with the drive.

  • Page 10: Mechanical Dimensions

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 1.9 Mechanical dimensions Power termina SPD 2, 5 e 8 SPD 16 e 25 weight: 6kg...

  • Page 11: Technical Specifications

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 2 Technical specifications Item U.o.m. Value Power supply 380..480 ± 10% Control voltage 24 - 2 A Models SPD2 SPD5 SPD8 SPD16 SPD24 Rated output current Peak output current (4 s) Shaft power 12.8...

  • Page 12: Connectors And Terminal Boards

    3 Connectors and terminal boards Note: if there isn’t corrispondence between the label on the drive and this manual, please contact the service department. 3.1 SPD 2, 5 and 8 Power terminal connections SPD2, SPD5 and SPD8 LINE Earth I...

  • Page 13: Spd 16 E 25

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual CAN bus (X2) (DB9 male) N. Pin Signal Description n.c. CAN_L Low communication line CAN_GND CAN ground n.c. CAN_SHLD Optional screen connection Optional CAN ground CAN_H High communication line n.c. n.c.
  • Page 14 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Signal terminal connections (X3) AUX Ref. + (AN1+) Analogue Ref. + (+REF) AUX Ref. – (AN1-) Analogue Ref. – (-REF) ( shield ) ( shield ) Vout + ECC Resolver ( shield )

  • Page 15: Installation And Safety Instructions

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 4 Installation and Safety instructions • The converter must be mounted vertically with the power block above using an omega guide. • A space of at least 100 mm. must be left free above and beneath the converter.

  • Page 16: How To Suppress Interference

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 4.1.1 How to suppress interference For the drive to meet the product requirements regarding electromagnetic compatibility, the installation must be carried out according to the following instructions. The criteria are essentially based on grounding, filtering and screening.

  • Page 17: Filters

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual PE connection mains mounting plate cable Filter contro cables * PE bar 30 cm Connection copper strap motor cable POWER CONTROL *The PE bar must be mounted directly in contact; insulated columns are not to be used.

  • Page 18: Power Connections

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 4.2 POWER CONNECTIONS 4.2.1 Motor cable A choice shall be made between a cable for flexible or static installation. The cable must be shielded and sized properly in terms of insulation and sections. It should be made of reticular polypropylene since it has a lower distributed capacity.

  • Page 19: Power Connection Diagrams

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 4.4 Power connection diagrams 4.4.1 Power connection diagrams for SPD16 and SPD25 PE GROUND MAIN STUD FILTER FERRITE TOROID PE bar (safety ground) HF ground line Connection 360° MOTOR RESOLVER HF LINE HF GROUND SERVOMOTOR "MB"...

  • Page 20: Power Connection Diagrams For Spd2, Spd5 E Spd8

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 4.4.2 Power connection diagrams for SPD2, SPD5 e SPD8 PE GROUND MAIN STUD filtro EMC PE BAR FERRITE (SAFETY TOROID GROUND) GROUND Connection 360° LINE MOTOR I e II RESOLVER HF LINE HF GROUND SERVOMOTOR "MB"...

  • Page 21: Signal Connection Diagrams

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 4.4.3 Signal connection diagrams AXIS CONTROLLO TWIN CONTROL ASSE REF+ Reference Riferimento Reference in REF - Riferimento in Connection 360° Encoder in Encoder out 24 V DC 24Vcc Connection 360° Output...

  • Page 22: Serial Line Connection

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 4.4.4 Serial line connection The serial line of the SPD can be configured as either RS-422 or as RS-485 depending on how the connection is made. In both cases you must use termination resistors (150 Ω). If...

  • Page 23: Canbus Connection

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual A line closing 180 Ohm resistance should be connected between A /A and B /B. If several input ports are connected in parallel, this operation must be carried out only on the last unit in the chain.

  • Page 24: Incremental Encoder Connection

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 4.4.7 Incremental Encoder connection The following picture shows the connection of the external incremental encoder. The termination resistance are necessary and the value is show in the picture. Burden Resistance 180Ω...

  • Page 25: Heidenhain Encoder Connection

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 4.4.8 Heidenhain Encoder connection It’s possible use a Heidenhain cable or a cable with equal characteristics, but the length must be less to 20 meters.

  • Page 26: External Braking Resistance

    Terminal power X4 for SPD 16 and 25 External resistance Internal resistance Resistenza Interna Resistenza Esterna Morsettiera X4 per SPD 2, 5 e 8 Terminal power for SPD 2, 5 and 8 Internal resistance Resistenza Interna External resistance Resistenza Esterna Resistance value: RFE1= 40Ω;...

  • Page 27: Using The Keyboard

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 5 Using the keyboard The keyboard-display module is easy to use. It is useful to program the functional data, control the status of the converter and send commands. It consists of only three keys located directly beneath the display.
  • Page 28 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual The following messages may be displayed on the screen, in addition to the value of the parameters and the instructions of the pico-PLC: r. xx When the converter is powered on, this message indicates which version of the software is installed.

  • Page 29: Parameter

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 6 Parameter Reduced and extended menu In the SPDgital drive, the parameters are of two basic classes: decimal parameters, that can be adjusted in a range of real numerical values, characterised by the initial letters Pr, e.g. Pr3, and Type bit parameters, that configure the drive or activate some functions that can only take the values of 0 or 1 and are characterised by the initial letters Pb before the number, e.g.

  • Page 30: Main Block Decimal Parameters Table

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 7 Main block decimal parameters table Type/ Par. Description Field Def. Notes Pr 0 Motor speed; message Pr0 will never be shown on ± 9000 the display, and the message corresponding to the converter status (run, idle, …) is displayed in its place.
  • Page 31 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Description Par. Field Def. Type/ Notes Pr 8 0,002÷65,535 0,002 Acceleration/deceleration ramp in the reduced [s/krpm] menu; Acceleration ramp for positive speed in the extended menu Positive speed acceleration required by the motor...
  • Page 32 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Def. Type/ Description Par. Field/Unit Notes Pr 19 Peak current: This is the maximum current that the 0÷100.0 100.0 R/W converter can supply to the motor. It is expressed as [%Ip] a percentage of the peak current of the converter.
  • Page 33 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Def. Type/ Par. Description Field/Unit Notes Pr 36 Thermal image winding (read-only): Indicates the 0÷100.0 estimate of the heat in the innermost coils of the motor. [%Temp] If this reaches the value of 100.0 % equal to the nominal value, b41.11 will become 1 and therefore the current...

  • Page 34: Binary Parameters Main Block

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 7.1 Binary parameters main block Description Par. Def. Type/ Notes Pb40.0 Selection of the first or second full scale of the speed reference: If = 0, Pr2 will be used to rate the analogue reference 2, If = 1, parameter Pr3 will be used.
  • Page 35 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Description Par. Def. Type/ Notes Pb40.13 Selector of internal reference Pr5 or frequency reference Pr4: If Pb40.12=1 through Pb40.13 it can be selected, If = 0, the internal reference can be used, if one, the frequency input (encoder-in), which in turn can be configured as frequency/direction or as signal in quadrature using Pb42.5.
  • Page 36 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Par. Description Def. Type/ Notes Pb42.3 Reinitialising serial line SBCCAN. Command to reinitialise serial or Canbus communication if address or operating speed have been changed. The serial line and the SBCCAN are in any case initialised when the converter is powered on.
  • Page 37 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Description Par. Def. Type/ Notes Pb94.10 Value comparator. (See paragraph Functions and operating modes) Pb94.11 Value comparator. (See Further functions paragraph) Pb99.0 See picoPLC Pb99.1 See picoPLC Pb99.2 See picoPLC Pb99.3 See picoPLC Pb99.6...

  • Page 38: Functions And Operating Modes

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 8 Functions and operating modes 8.1 Block diagram and introduction to parameter setting 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 39 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual • Read/write of the PrX parameter Pr X A = value of the PrX parameter • Read/write of the PrX parameter Pr X B = value that depends on the values of A and PrX •...
  • Page 40 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Drive A / D offset Pr 45 left-sw b40.4 MAIN BLOCK DIAGRAM Pr 1 full scale main ref. ref. 1 right-sw b40.5 Pr 7 Pr 2 b40.0 stop b40.6 torque demand...

  • Page 41: Basic Functions

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 8.2 Basic 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 42: Backup

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual RESET TYPE 1 - DESCRIPTION When the procedure is activated (b94.12=1) the axis is brought to the speed programmed in Pr4 (Pr5=Pr4); the axis is then brought to zero speed (Pr5=0) on the positive front of the homing sensor signal;...

  • Page 43: Current Or Torque Adjustment (Typical)

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual It is possible to make comparison by zero speed, and other speeds, set acceleration and deceleration ramps, change the current and torque limits, and check the drive status. The main block diagram shows the main drive structure, how the configuration parameters act (bit or Pb parameters) and the main numerical parameters (Pr).

  • Page 44: Feedback From Sincos Encoder Or Sincsos + Endat Encoder

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 8.2.7 Feedback from SinCos encoder or SinCsos + Endat encoder This type of feedback must be expressly requested when placing your order. Because the hardware of the drive must be modify and in this configuration the drive can’t use other type of feedback.

  • Page 45: Feedback From Incremental Encoder

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 8.2.8 Feedback from incremental encoder In place of the resolver it is possible to use an incremental encoder, which provides feedback for both speed control and space. Select the feedback from encoder, setting Pb42.6=1 and Pb42.7=0.
  • Page 46 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual PROCEDURE 2: Pb94.4 actives this procedure. The parameters are shown in the table below: Par. Description Field/Unit Def. Type/ Note Pb94.4 Command phasing 2. It’s necessary to disable he software (Pb40.9=0); enable the hardware (Pb41.5=1), and driver OK (Pr23=0).

  • Page 47: Value Comparators

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 8.2.9 Value comparators The Pr96:95 and Pr98:97 parameters have the alternative function of value comparators. With b94.10 = 0, then b94.8 = 1 if Pr96:95 > Pr63:62 (or Pr66:67 if feedback encoder) With Pb94.10 = 1 then Pb94.8 = 1 se Pr96:95 >...

  • Page 48: Slow Operating Modes Management

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 8.3 Slow operating modes management New functions can be added to the basic ones, for specific applications, by setting one of the operating modes from 1 to 15. 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 49 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Par. Description Field/Unit Def. Type/ Notes Maximum speed. This parameter limits the 0÷9000 3000 Pr50 maximum speed of the motor. It can be useful to limit the speed during a sudden link or during a quick [rpm] change of speed.
  • Page 50 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Par. Description Def. Type/ Notes Pb70.0 Encoder in capture. If set to zero, the master encoder value is captured by input 0, otherwise by the zero encoder track input. Pb70.1 Feedback. If = 0, feedback is done by the resolver, if set to one, the feedback is from the encoder;...

  • Page 51: Torque Control (Operating Mode 1)

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 8.4 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 52: Electrical Shaft + Positioner (Operating Mode 13)

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 8.5 Electrical shaft + Positioner (operating mode 13) Operating mode 13 includes the electrical shaft, dynamic positioner and flow speed functions in order to use them at the same time. The tracking function refers to the input frequency signal (X42 connector) set as an input encoder signal by setting b42.0=0 and b42.5=1.
  • Page 53 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual OPERATING MODE 13 BIT PARAMETERS Par. Description Type/ Notes Active positioner. During the positioning (Pr118:119 ≠ Pb150.0 Pr116:117) this bit is high. Pb150.2 Engaged electrical shaft. During the engaging phase when the ramp (Pr103) is not 0, this bit indicates the end of the transitory phase.
  • Page 54 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual opm 13 for drive in progress reset 1 b150.0 b150.10 target position = motor position = 0 profile generator b150.11 target position = motor position reset 2 Pr61:60 Pr 109 Pr 108...

  • Page 55: Electronic Cam (Operating Mode 14)

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 8.6 Electronic cam (operating mode 14) Operating mode 14 was expressly designed to meet the needs of packaging machines that require electronic cams. The table of the cam function is described with a vector composed of 257 elements, each of which indicates the position that must be assumed by the controlled axis when the master axis is in the position (element_number * master_module) / 256.
  • Page 56 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Par. Description Field/Unit Def. Type/ Notes Pr100 0÷±6000 Speed in speed mode. [rpm] Pr101 Ramp time for Pr100. This is the acceleration 0,002÷30000 0,50 ramp that will be used by the speed mode.
  • Page 57 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Par. Description Field/Unit Def. Type/ Notes Pr114:115 Slave axis modul.This is the value of the slave 0÷2 18 1000 axis module. [counts] Pr116:117 Offset master axis position. 0÷2 23 [counts] Pr118:119 Final position (positioner). Parameter to...
  • Page 58 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Par. Description Type/ Notes Pb150.2 Position loop. If 1, the Position loop works in absolute, otherwise in slave module. Pb150.3 Master phase-shift command. If = 1, the positioner module is used to change the phase between the master and the slave or as the generator of the virtual axis.
  • Page 59 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual opm 14 for SPD drive target pos. Pr118:119 slave Pr134:135 Pr 109 mod slave speed Pr 108 Pr116:117 to the position loop normalized at b 150.3 10000 mod slave master position...

  • Page 60: Position Control Through The Canbus (Operating Mode 15)

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 8.7 Position control through the CanBus (operating mode 15) If the operating mode 15 is enabled, the SPD will execute a Position loop of proportional type with feed-forward, the profile generator is regarded as external and it will send the information regarding the position and speed reference via CANBUS, according to the SBCCAN protocol (see chapter CANBUS).
  • Page 61 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Par. Description Type/ Notes Pb150.2 Feedback transmission enable. If = 1, when the type 0 SYNC is received, Pr116:117 will be transmitted via the CanBus. Pb150.3 Reply status. In the cyclic reply message, if b150.3=0...
  • Page 62 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual opm 15 for SPD drive Pr105 Pr104 feedforward speed feedforward speed from CanBus Pb150.10 target position = motor position = 0 reset 1 Pb150.2 enable auto-answer sync 0 Pb150.4 Pr 115:114...

  • Page 63: Start Up And Calibrations

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 9 Start up and calibrations 9.1 First SPD start up When the drive is started for the first time, of after giving the command “load default parameters” the message dEF is shown on the display, to indicate the converter status.

  • Page 64: Speed Control Adjustment

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual inputs Converter on ( 24V - on ) IN Stop / Start ( 24V – Stop ) IN outputs 11 Drive OK ( 24V - ok ) OUT 12 Motor Overloaded (i t) OUT 9.3 Speed control adjustment...

  • Page 65: Before Starting

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 9.3.3 Before starting 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 the practice, the probe has been connected to the terminal (Vout), The two traces cannot be seen at the same time, but the trace to be displayed can be programmed using the binary parameter Pb42.4.
  • Page 66 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual user can begin with 10 degrees that is the default adjustment if a motor with the same rated current as the converter’s is used. At this point, let us set the Pr16 to the estimate and turn on the axis with a square wave reference.
  • Page 67 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual The optimal value of Pr17 will be attained with a response of the system as shown in figure 4 below: Fig. 4 An overshoot of about 10% must be obtained. It is important that after the overshoot, an undershoot does not occur.
  • Page 68 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” 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 SPD typically dampens the torque request of the motor in order to avoid triggering mechanical oscillations.

  • Page 69: Adjustment Without Using Instrumentation

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 9.3.5 Adjustment without using instrumentation If you do not have an oscilloscope, you must: Determine the value of Pr16 as described above. Determine the Pr17 parameter by using the following formula: ⋅...

  • Page 70: Programming Digital Inputs/Outputs

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 10 Programming digital inputs/outputs 10.1 The pico-PLC The internal pico-PLC is used to connect the external world (inputs/outputs) with the world of the parameters of the drive. 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 71: Bit Parameters Of The Pico-Plc

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 10.3 Bit parameters of the pico-PLC Par. Description Def. Type/ Notes Pb90.X Status of digital input X. If X is greater than 3, this is a bit that can be stored by the user (b90.0 = converter enabled).

  • Page 72: Pico-Plc Instructions

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 10.4 pico-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...

  • Page 73: Functional Description

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 10.5 Functional description The pico-PLC program scan occurs every 6.144 milliseconds, thus with this sampling the inputs are read first, then the two timers are updated (Pr92 Pr93 Pb99.0 and Pb99.1), the user program is scanned and the outputs are finally updated.
  • Page 74 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual These settings remain active until the next arithmetic operation is executed (the operation is executed only if the stack bit is equal to 1). A mathematical operation can be executed by placing the result in one of the constant parameters (Pr71...Pr79) in order to set bit b99.2 and...

  • Page 75: Programming The Drive By Pc

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 11 Programming the drive by PC It is available a serial kit is supplied to enable communication between a PC and the drive. The kit includes an RS-422/RS-232 converter, relative 230V~ power supply and serial connection cable.

  • Page 76: Motionwiz

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 11.1 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 77: Diagnostics, Alarms, Troubleshooting

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 12 Diagnostics, alarms, troubleshooting The drive is provided with a diagnostics program that allows the user an easier troubleshooting. The alarms immediately lock the drive. The error code is displayed on the keypad intermittently and corresponds to parameter Pr23.

  • Page 78: Alarm Codes

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 12.2 Alarm codes Alarm code Alarm Description (Pr23, Pr24) No alarm Overvoltage On the D.C. link; check the power supply three- phase line (max 480V); the braking circuit and the braking resistance...

  • Page 79: Serial Interface

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 13 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 80: Message Types

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” 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...

  • Page 81: Initialising And Managing The Serial Line

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual [STX] [101+ADDR] [BK+LUN] [PAR] [D0]... [Dn] [CHK] [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.

  • Page 82: Examples Of Using The Serial Line

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Instruction Code Length (in 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 83 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” 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.

  • Page 84: Sbc Can

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 14 SBC Can A CanBus interface based on the physical layer ISO/DIS11898 is included on the SPD converter. The Data link layer is the full CAN version 2.0 part A (ID 11 bit) and a subset of the application layer SBCCAN is used.

  • Page 85: Description Of The Fields In Real Time Mode

    Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual 14.1 Description of the fields in real time mode Cyclic message from the master to the SPD Cyclic data 8 bytes Data length Data Field Name position ref. bits speed ref. bits...
  • Page 86 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Cyclic message from the SPD to the master Cyclic reply 6 bytes Data length Address Data Status Field Name Pr27+1 motor position 32 bits Pr103 Data Identifier ID2 ID1 ID0 ID10 ID9...
  • Page 87 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Multiple synchronism message from Master to SPD MultiSynchronism message 1 bytes Data length Data Field Name Command 0 Command 1 Command 2 Command 3 Contents Identifier ID2 ID1 ID0 ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3 Each drive receives and executes the speed reference and saves the actual motor position;...
  • Page 88 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Acyclic data write message or parameter request from the master to the Acyclic data write or request 7 bytes Data length Cmd & Len Data Address Data Field Name 5 bit command and 3 bit...
  • Page 89 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual Broadcast write parameter message from the master to the SPD Broadcast data write 7 bytes Data length Cmd & Len Data Address Data Field Name 5 bit command and 3 bit...
  • Page 90 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual To evaluate the minimum sampling time, use the following formula: = ( Nr + Nt + 5 ) * 0.12 where: is the minimum sampling time in milliseconds Nr is the number of SPDs that receive the reference Nt is the number of SPDs that transmit the feedback The constant 0.12 is valid for 1 Mbps bus speed...
  • Page 91 Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual SBCCAN Feedback from drive1 Feedback from drive2 Feedback from drive3 Feedback from drive4 T X reference Sync RX Feedback Change Pr of drive X Tx reference >400µs cyclic msg to drive1...

  • Page 92: Description Of The Fields In Communication Mode

    Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD 14.2 Description of the fields in communication mode Write or parameter request message from the master to the data write or request 7 bytes Data length Cmd & Len Data Address Data Field Name...
  • Page 93 Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD Response to a parameter request message from the SPD to the master Data reply 5 bytes Data length Addr & Spare Data Field Name Pr27+1 32 bit reply data Contents Identifier ID2 ID1 ID0...

  • Page 94: Description Campi Extended Message Set #2

    Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD 14.3 Description campi Extended message set #2 The set 2 extended message allows the exchange of memory areas between the master and the SPD both in communication and in real time mode. Data exchange is synchronous and the master transmits data to all SPD, which store them to a temporary buffer;...
  • Page 95 Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD Response message from SPD to Master Block reply 8 bytes Data length Data Field Name 64 bit of data Contents Identifier ID2 ID1 ID0 ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3 A0:A3 Unit address of the drive, valid values 1..15.

  • Page 96: Can Open

    Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD 15 CAN Open An alternative to the SBCCAN protocol is CANopen (to be expressly requested when placing your order: the drive may only have one protocol at a time) with the following implementations and functions: The following objects are available based on CANopen’s Pre-defined Connection Set:...
  • Page 97 Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD 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...
  • Page 98 Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD Object dictionary: Index 0x1000 : Device type (301) 0x1001 : Error register 0x1014 : COB-ID emergency obj 0x1018 : Identity 0x100c : Guard time 0x100d : Life time factor 0x1200 : Server SDO parameters...
  • Page 99 Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD Write bytes 0 and 1 of the pico-PLC area: You will need to write the object by SDO with index-sub_index 0x2003-0x01 (0+1) with the value corresponding to the operating code of the instruction to add. For example, the instruction LD 90.0 requires the value 0x00 to be written in byte 0 and 0x5a in byte 1.
  • Page 100 Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD Acyclic response to a parameter request message from drive to master (PDO 2) Data reply 8 bytes Data length Addr & Spare Data address Data Field Name Pr27 16 address 32 bit reply data...
  • Page 101 Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD In much the same way as described above, the parameters Pr84..87 are sent through PDO4 tx by the slave to the master with the following format: Parameter Pr84..87 read message from master to drive (PDO 4 rx)
  • Page 102 Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD PDO1 (tx/rx) object : Realtime Mode (Pr31 = 15): In the same way as for the SBCCAN protocol, a real-time mode has been implemented (operating mode 15) which, for CANopen networks, uses PDO1 (rx/tx) for cyclical data exchange and the SYNC message for synchronizing the position loops.
  • Page 103 Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD...

  • Page 104: Appendix A : Conventions

    Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD 16 Appendix A : Conventions Reference Positive Motor shaft movement (motor shaft view) Torque Positive Resolver counter Increments Encoder output Tachometer signal Positive ϑ • coppia π • ⎛ ⎞ ϑ • ⎜...

  • Page 105: Appendix C : Software Timers

    Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD 17 Appendix C : software timers Period Task 128 µs current control 512 µs speed control torque limits management speed reference management braking resistor management FIN management 6.144 ms thermal motor image digital inputs...

  • Page 106: Appendix C : Default Program For The Pico-Plc

    Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD 18 Appendix C : Default program for the pico-PLC digital input 0 used to power 90.0 41.5 90.0 the drive 41.5 digital input 1 used for the stop 90.1 40.6 90.1 function 40.6 digital output 0 indicates that 41.4...

  • Page 107: Appendix D : External Braking Modul

    Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD 19 Appendix D : external braking modul TECHNICAL CHARACTERISTICS Resistance value: RFE1 = 40 ohm, RFE2 = 27 ohm IP protection Max power dissipated 1000 W Max ambient temperature 45° C Delta T 90°...
  • Page 108 Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD...

  • Page 109: History Of The Revisions Of The User Manual

    Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD 20 History of the revisions of the User Manual Rev. 0 : First edition of the user’s manual; December 2002. Rev. 1.0: data for the UL certification Note about restricted sales Rev. 2.7: June 2005 Adjournement english manual (equal to “manSPD II rev2.7”)

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