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user’s manual MDC

6.1.6

Drive parameters

Some debug commands and parameters are added concerning CANopen

Par.

Description

Field

Range Def. Ris.

Pr273 CANOPEN_CTRL_WORD.

Control of drive status.

-32768÷

+32767

Pr274 CANOPEN_STATUS_WORD.

Status of the drive.

-32768÷

+32767

Содержание MDC 100 30 6.5

Страница 1: ...User s manual Rev 0 1 August 2012 MDC MotorNet DC www runcheng net www runcheng net...

Страница 2: ...techniques and concepts described herein are proprietary information of Parker Hannifin Manufacturing is committed to a continuous product upgrade and reserves the right to modify products and user m...

Страница 3: ...URES 12 3 1 Ambient conditions 12 3 2 Vibrations and shocks 12 3 3 Motor data 13 3 4 Power supply 14 3 5 Other characteristics 14 4 MOUNTING 15 4 1 Dimensions and weights 15 4 2 Mounting instructions...

Страница 4: ...tional description 46 6 1 3 1 Modes of operation function 46 6 1 4 Interpolated Position Mode operative mode 202 47 6 1 4 1 Object 60C0h Interpolation sub mode select 48 6 1 4 2 Object 60C1h Interpola...

Страница 5: ...e equipment as well as an understanding of all warnings and precautionary measures noted in these instructions The user must also observe local safety regulations Before installing and commissioning t...

Страница 6: ...e closed in a protective cabinet in order to avoid direct contact with accessible live parts Only qualified and trained personnel is allowed to perform installation and commissioning using appropriate...

Страница 7: ...ent Risk of electric shock Danger of life Earth leakage current during operation may exceed 3 5 mA AC or 10mA DC Earth connection must be permanent use copper wire having a minimum size of 10mm2 throu...

Страница 8: ...revent people from accidentally entering the machine s range of motion Secure vertical axes against falling or dropping after switching off the motor power Make sure that the drives are brought to a s...

Страница 9: ...sures must be implemented by the user 1 9 Materials and disposal zinc coated steel sheet thickness 1mm and 2mm extruded aluminium AlSi adhesive polycarbonate front label Electrolytic capacitor contain...

Страница 10: ...control integrated Motor size from 1 Nm to 7 5 Nm of the SMB motor series high performance brushless The DC bus supply and the auxiliary control supply require the connection to PSU and PSI units As...

Страница 11: ...00 5200 6000 rpm 5 8 Flange type type 5 on size 60 70 82 100 type 8 on size 60 9 24 Shaft diameter With keyway S Without keyway Standard shaft Hxx Hollow shaft xx internal diameter only for MDC70 100...

Страница 12: ...lass 1K3 5 95 without ice and condensation transportation Class 2K3 95 at 40 C altitude 1000 m slm 3281 feet asl Protection degree IP64 UL open type equipment Pollution degree 2 or lower no conductive...

Страница 13: ...Parker Hannifin Manufacturing Srl user s manual MDC 13 3 3 Motor data...

Страница 14: ...t that the aux voltage supplies to the overall MDC chain To evaluate the maximum MDC number the user must consider also the input braking current Power stage Max DC voltage supply V 750V 3 5 Other cha...

Страница 15: ...ifin Manufacturing Srl user s manual MDC 15 4 MOUNTING 4 1 Dimensions and weights the connectors of I O cables are not included Type Lm H QF MDC60 192 shaft 154 60 MDC70 287 shaft 164 70 MDC100 262 sh...

Страница 16: ...Parker Hannifin Manufacturing Srl user s manual MDC 16...

Страница 17: ...Parker Hannifin Manufacturing Srl user s manual MDC 17...

Страница 18: ...Parker Hannifin Manufacturing Srl user s manual MDC 18...

Страница 19: ...t air cooling must be done in an external environment to avoid damage caused by the formation of condensation 4 3 Connectors layout the connectors of I O cables are not included IMPORTANT IMPORTANT X1...

Страница 20: ...nnector female OUT motor side X1 IN motor side A Vdc AUX B DCBUS C DCBUS D 0V AUX PE Ground 1 serv_bus 2 serv_bus 3 0V_serv_bus 4 STO1 5 STO_0V 6 STO2 7 TX 8 TX 9 RX 10 RX X2 OUT motor side A Vdc AUX...

Страница 21: ...ital Outputs motor side the connectors of I O cables are not included X5 Connector female STO motor side the connectors of STO cables are not included X3 INputs motor side 1 24V inputs 2 IN1 3 0V 4 IN...

Страница 22: ...Parker Hannifin Manufacturing Srl user s manual MDC 22 4 5 Hybrid cable Connection PSI MDC...

Страница 23: ...et to 0x01 change error Double flash Application watchdog timeout An application watchdog timeout has occurred On PDI watchdog timeout A PDI watchdog timeout has occurred green D2 Run Status Off Init...

Страница 24: ...Conductor resistance 4 95 km Conductor resistance 91 km Cable capacitance 50nF km Minimum bending radius 5 x diameter fixed laying PF 5x16 80mm 10 x diameter dynamic laying PM 10x16 160mm 4 9 Limits H...

Страница 25: ...Parker Hannifin Manufacturing Srl user s manual MDC 25 4 10 Layout EtherCAT protocol the connectors of I O cables are not included...

Страница 26: ...Parker Hannifin Manufacturing Srl user s manual MDC 26 CANopen DSP402 protocol the connectors of I O cables are not included...

Страница 27: ...will be 0 If b40 7 1 and if the motor speed is less than Pr14 and greater than Pr15 b41 1 will be 1 Otherwise it will be 0 R W M 13000 rpm 20 1 rpm Pr15 Low speedlimit If b40 7 0 and if the difference...

Страница 28: ...only Unit of the rated temperature Indicates the estimate of the heat in the innermost coils of the motor If this reaches the value of 100 0 equal to the nominal value b41 11 will become 1 and theref...

Страница 29: ...e user word R W 32768 32767 0 1 Pr81 Free parameter A parameter that can be stored by the user word R W 32768 32767 0 1 Pr82 Free parameter A parameter that can be stored by the user word R W 32768 32...

Страница 30: ...1 1 1 Otherwise 0 If b40 7 1 and if the motor speed is less than Pr14 and greater than Pr15 b41 1 1 Otherwise 0 R b41 2 Zero speed If the motor speed Pr0 0 b41 2 1 Otherwise b41 2 0 R b41 3 Forward If...

Страница 31: ...remented If it is equal to 0 b99 1 is set to 1 W 0 b94 0 Force a double word formatted operation When the unit is powered on this is 0 If it is set to 1 the first mathematical operation executed by th...

Страница 32: ...et automatically Analogous situation at every positive or negative b39 3 1 front of digital input 0 the value of Pr63 62 is captured and stored in Pr58 59 and b70 14 is set to 1 to signal the event b7...

Страница 33: ...can be mapped the RTR is allowed event time and inhibit time are active they can handle synchronous requests serviced every 2 048 msec or they can be handled as event driven PDO 4 is the PDO channel...

Страница 34: ...ccess 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 array 0 254 reset bit access...

Страница 35: ...ad 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 Followi...

Страница 36: ...g modes of operation of DSP402 are implemented beside the device control state machine Interpolated position mode Cyclic synchronous position only for EtherCAT The field Error Code will contain a spec...

Страница 37: ...th controlword e statusword CAN node Application layer and communication profile DS 301 Device Profile 402 Device Control state machine Motor Homing mode Profile Position mode Interpolated Position mo...

Страница 38: ...d The controlword consist of bits for the controlling of the state the controlling of operating modes and manufacturer specific options start Not ready to switch On Switch On disabled Ready to Switch...

Страница 39: ...M M MSB LSB 0 Optional M Mandatory BITS 0 3 AND 7 Device control commands are triggered by the following bit patterns in the controlword Command Bit of the controlword Transitions Fault reset Enable o...

Страница 40: ...rd BITS 9 10 These bits are reserved for further use They are inactive by setting to zero If they have no special function they must be set to zero BITS 11 12 13 14 AND 15 These bits are manufacturer...

Страница 41: ...1111 Fault reaction active xxxx xxxx x0xx 1000 Fault Table 7 Device state bits x irrelevant for this state BIT 4 VOLTAGE ENABLED High voltage is applied to the drive when this bit is set to 1 BIT 5 QU...

Страница 42: ...ers this bit If quick stop option code is 5 6 7 or 8 this bit must be set when the quick stop operation is finished and the drive is halted If halt occurred and the drive has halted then this bit is s...

Страница 43: ...ction 2 32767 reserved 6 1 2 4 Object 605Ch Disable operation option code The parameter disable operation option code determines what action should be taken if there is a transition OPERATION ENABLE S...

Страница 44: ...6 Default Value 2 DATA DESCRIPTION Value Description 0 disable drive function 1 slow down on slow down ramp 2 slow down on quick stop ramp 5 slow down on slow down ramp and stay in QUICK STOP 6 slow d...

Страница 45: ...gory Mandatory ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range INTEGER8 Default Value No DATA DESCRIPTION Value Description 1 Profile Position Mode 6 Homing Mode 7 Interpolated Position M...

Страница 46: ...on It is possible to implement different device modes Since it is not possible to operate the modes in parallel the user is able to activate the required function by selecting a mode of operation An e...

Страница 47: ...he cycle time Otherwise feedforward of velocity may be sent with PDO4 rx mapping in RPM units the object 0x60c1 3 Depending on the different algorithms of interpolation there is a different delay betw...

Страница 48: ...ecord are the data words which are necessary to perform the interpolation algorithm The number N of data words in the record is defined by interpolation data configuration The interpretation of the da...

Страница 49: ...ip x1 xN Entry Category Mandatory Access rw PDO Mapping Possible Value Range INTEGER32 Default Value No Sub Index 2 Description Velocity setpoint in counts sec the second parameter of ip function fip...

Страница 50: ...50 Operation enbled Interpolation inactive Interpolation active Enable interpolation Disable interpolation Interpolated position mode selected Changoing the mode of operation or deselect interpolated...

Страница 51: ...nd torque to the control device The behaviour of the control function is influenced by control parameters like limit functions which are externally applicable The drive internal control function is no...

Страница 52: ...control device Further outputs may be the velocity actual value torque actual value and the velocity sensor actual value The following error actual value may be used as an additional parameter All va...

Страница 53: ...or 1 Following error Definition of bit 10 bit 12 and bit 13 6 1 5 3 Detailed object definitions 6 1 5 3 1 Object 60B0h Position offset This object shall provide the offset of the target position The o...

Страница 54: ...locity Object description INDEX 60B1h Name Velocity offset Object code VAR Data type Integer 32 Category Optional Entry description Sub index 00h Access rw PDO mapping See CiA402 3 Range value Integer...

Страница 55: ...6 1 6 Drive parameters Some debug commands and parameters are added concerning CANopen Par Description Field Range Def Ris Pr273 CANOPEN_CTRL_WORD Control of drive status R 32768 32767 0 1 Pr274 CANO...

Страница 56: ...he User Manual Rev 0 2011 First edition For other informations log into website www sbcelettronica com Arranges to the manual data can be made by the manufacturer without advance notice The data shown...

Страница 57: ...www runcheng net www runcheng net...

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