Parker SPD 16N Manuals

Manuals and User Guides for Parker SPD 16N. We have 1 Parker SPD 16N manual available for free PDF download: User Manual

Parker SPD 16N User Manual

Parker SPD 16N User Manual (192 pages)

Brand: Parker | Category: Media Converter | Size: 3 MB

Table of Contents

Table of Contents
3
1 Introduction

8
- General Information
  8
- Product Description
  8
- Identification
  9
- Safety Instructions
  11
- Main Hardware Features
  16
  - Ambient Conditions
    16
  - Technical Data
    17
- Main Software Features
  19
- Expansibility: the Parker-SBC Bridge and Its Philosophy
  19
2 Mounting

21
3 Using the Keyboard

41
4 Power Supply Mode

43
- Low" Voltage Power Supply
  43
- High" Voltage Power Supply
  44
5 Start-Up

45
- Setting the Default Parameters
  45
- Selection of Motor Type
  45
- Changing Motor Data
  46
- Setting Feedback
  46
  - Feedback Configuration
    47
  - Select Supply Feedback
    47
- Feedback from Sincos Encoder or Sincsos + Endat Encoder
  48
- Feedback from Incremental Encoder
  49
- Encoder Phasing
  49
  - Type 1 Phasing
    49
  - Type 2 Phasing
    50
- First Commissioning
  51
- Speed Control Adjustment
  52
6 Parameters and Programming

58
- Main Parameters
  61
- Binary Parameters
  66
7 Operating Modes

71
- Position Control
  72
- Torque Control (Operating Mode 1)
  75
- Digital Lock + Positioner (Operating Mode 13)
  76
  - TAB0: Profiles in Memory
    76
- Electronic Cam (Operating Mode 14)
  80
  - Positioning
    80
  - Speed Mode
    81
  - Electronic Cam
    81
  - OPM 14 Linear Engage CAM
    87
- Electronic Cam (Op. Mod. 11)
  89
  - Positionator
    90
  - CAM1 and CAM2
    90
    
    Automatic Activation of CAM Tables
    94
- Position Control through the Canbus (Operating Mode 15)
  101
- Basic Functions
  104
  - Homing Function
    104
  - Speed Adjustment
    105
  - Current or Torque Adjustment (Typical)
    105
  - Frequency Input/Output (Encoder Ports)
    105
  - Value Comparators
    106
  - Value Capture
    106
  - Output Programmable on Module
    106
  - Analogue Output Programmable
    107
  - Master Reference
    107
  - Encoder CAN
    108
8 Programming Digital Inputs/Outputs

110
- The Pico-PLC
  110
- Programming with Motionwiz
  115
- Motionwiz
  116
9 Serial Interface

117
- Communication Protocol
  117
10 Can Bus Interface

122
- Sbc Can
  122
  - Description of the Fields in Real Time Mode
    123
  - Sub-Field CMD [0
    126
  - Bytes
    126
  - Description of the Fields in Communication Mode
    130
  - Value Meaning Read Request
    130
  - SET Bit
    130
  - RESET Bit
    130
  - TOGGLE Bit
    130
  - Data Address
    130
  - Address
    130
  - Pr = Pr .OR. Data
    130
  - Pr = Pr .AND. (.Not.data)
    130
  - Number of Significant Bytes in the Data Field
    130
  - Addr & Spare
    131
  - Description of the Fields Extended Message Set # 2
    132
- Canopen (C Version)
  134
  - Identifier ID2 ID1 ID0 - - A2 A1 A0
    135
  - A0:A6
    135
  - Bit Reply Data
    135
  - Id10 Id9 Id8 Id7 Id6 Id5 Id4 Id3
    135
- Canopen Dsp402 (D Version)
  142
  - Dictionary Object Summary of Ds301 in Drive
    143
  - Dictionary Object Summary of Dsp402 in Drive
    144
    
    Object 6040H: Controlword
    147
    
    Object 6041H: Statusword
    149
    
    Object 605Bh: Shutdown Option Code
    151
    
    Object 605Ch: Disable Operation Option Code
    152
    
    Object 605Ah: Quick Stop Option Code
    153
    
    Object 605Eh: Fault Reaction Option Code
    153
    
    Object 6060H: Modes of Operation
    154
    
    Object 6061H: Modes of Operation Display
    154
  - Functional Description
    155
    
    Modes of Operation Function
    155
  - Homing Mode (Operative Mode 200)
    156
  - General Information
    156
    
    Input Data Description
    156
    
    Controlword of Homing Mode
    157
    
    Internal States
    157
    
    Output Data Description
    157
    
    Statusword of Homing Mode
    157
  - Object Dictionary Entries
    158
    
    Objects Defined in this Chapter
    158
  - Object Description
    158
    
    Object 607Ch: Home Offset
    158
    
    Objects Defined in Other Chapters
    158
    
    Object 6098H: Homing Method
    159
    
    Object 6099H: Homing Speeds
    159
    
    Object 609Ah: Homing Acceleration
    160
  - Functional Description
    161
    
    Homing Methods
    161
    
    Method 1: Homing on the Negative Limit Switch and Index Pulse
    161
    
    Method 2: Homing on the Positive Limit Switch and Index Pulse
    162
    
    Methods 3 and 4: Homing on the Positive Home Switch and Index Pul
    162
    
    Methods 5 and 6: Homing on the Negative Home Switch and Index Pul
    163
    
    Methods 7 to 14: Homing on the Home Switch and Index Pulse
    163
    
    Methods 15 and 16: Reserved
    164
    
    Method 35: Homing on the Current Position
    165
    
    Methods 17 to 30: Homing Without an Index Pulse
    165
    
    Methods 31 and 32: Reserved
    165
    
    Methods 33 to 34: Homing on the Index Pulse
    165
  - Profile Position Mode (Operative Mode 201)
    166
    
    Controlword of Profile Position Mode
    166
    
    Internal States
    166
    
    Statusword of Profile Position Mode
    166
    
    Object 607Ah: Target Position
    167
    
    Object Dictionary Entries
    167
    
    Objects Defined in this Chapter
    167
    
    Object 6081H: Profile Velocity
    168
    
    Object 6083H: Profile Acceleration/Deceleration
    168
    
    Object 6085H: Quick Stop Deceleration
    169
    
    Object 6086H: Motion Profile Type
    169
    
    Functional Description
    170
    
    Functional Description
    171
  - Interpolated Position Mode (Operative Mode 202)
    173
    
    Object 60C0H: Interpolation Sub Mode Select
    174
    
    Object 60C1H: Interpolation Data Record
    174
  - Drive Parameters
    177
11 Appendix A: Mechanical Dimensions

178
12 Appendix B: Conventions

179
13 Appendix C: Software Timing

179
14 Appendix D: Default Program for Pico-Plc

180
15 Appendix E: Flash Information

181
16 Appendix F: Alarms

182
17 Appendix G: Option "R" for Safe Disable Function

184
- Introduction
  184
- Signals Description
  185
- Drive Function Blocks
  187
- Connections
  188
- Operation, Sequence and Timing
  188
- Example
  190
- Test and Maintenance
  190
18 Revision History of the User Manual

191

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