Parker MDC Series, User Manual

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Parker Hannifin Manufacturing Srl user’s manual MDC
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6.1.2 Dictionary object summary of dsp402
[0x6007] 'Abort connection option code': with the following available values
0: No action
1: Alarm (alarm MISSING_SYNC_TRIP (Er16) if sync is missing when b271.8=1 the
sync signal interval exceeds the 120% of the nominal sync cycle lasting time of index 0x1006
communication cycle period the regularity of sync signal is checked with a resolution of 2.048
msec.
(If the node does not receive the guarding message before its lifetime an
ABORT_CONN_TRIP (Er13)) is generated.
2: disable voltage
3: quick stop
[0x6040] 'Control word':
[0x6041] 'Status word':
[0x605a] 'Quick stop option code': valid values 0, 2, 3, 6, 7
[0x605e] 'Fault reaction option code': valid values 0, 2, 3.
[0x6060] 'Mode of operation': valid values 7 (om202), 8 (opm203)
[0x6061] 'Modes of operation display': see the previous.
[0x6064] '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.
[0x6065] 'Following error window': it is converted in counts by mean of position factor then
set in SERVO1 (pr[55]) the parameters is used to test following error. The
parameters of SERVO1 are changed by the firmware only if in remote mode.
[0x6066] 'Following error timeout': resolution of 1.024 msec per unit
[0x6067] 'Position window': in user units converted by mean of position factor and compared
with the motor position to check if target reached in profile position and
interpolated position modes.
[0x6068] 'Position window time': resolution of 1.024 msec per unit
[0x607a] 'Target position': in user units converted by mean of position factor and used in
profile position mode.
[0x6085] 'quick stop deceleration': deceleration in quick stop action
[0x60c0] 'Interpolation sub mode selection': valid values 0(linear interpolation),-1(cubic
interpolation with position and velocity)
[0x6502] 'Supported drive modes': see (see 0x6060)