Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual
59
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
). If Pb70.1=0 the feedback is from resolver, if
Pb70.1=1 the feedback is from encoder.
OPERATING MODE 15 PARAMETERS
Par. Description
Field/Unit
Def.
Type/
Notes
Pr102
CanBus status
(see the section on the
CANBUS
).
0
R/W
Pr103
CanBus status
(see the section on the
CANBUS).
0
R/W
Pr104
Feed-forward spee
.The value of this parameter
is summed at the output of the position loop in
order to obtain the speed request Pr6.
0..
±
9000
[rpm]
0
R/W
Pr105
Feed-forward speed via CanBus
. This is the
feed-forward value received via the CanBus.
When the SYNC (Pb150.8=1) is received,
Pr105 will be copied to Pr104 and will become
active.
[rpm]
0
R/W
Pr114:115
Position reference via CanBus
This is the
position reference received via the CanBus.
When the SYNC (Pb150.8=1) is received,
Pr114:115 will be copied to Pr60:61 and will
become active.
[count]
0
R/W
Pr116:117
Motor position via the CanBus
When the
SYNC (Pb150.8=1) is received, Pr62:63 will be
copied to Pr116:117 and, if feedback
transmission has been enabled (b150.2=1), it
will automatically be transmitted via the
CanBus.
[count]
0
R/W