Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual
85
Cyclic message from the SPD to the master
Cyclic reply
Data length
6 bytes
Field Name
Address
Data
Status
Data
Pr27+1
motor position 32 bits
Pr103
Identifier
ID2 ID1 ID0 - - - - - ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3
A2 A1 A0 X X X X X 0 0 0 1 0 1 0 A3
A0:A3
SPD slave address (Pr27+1), valid values 1..15.
The Pr103 parameter is used as the status, if b150.3=0 all the 16 bits are sent, if b150.3=1 only the first
8 bits are sent.
If b150.0=1 the message is 8 byte long, and it isn’t dependet on b150.3; Pr103 made up of 16
bit. When b150.1=1, the message has the following information:
Byte 1
Byte8
7bit 6bit 5bit 4bit 3bit 2bit 1bit 0bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0bit
MSB
LSB
In3 In2 In1 In0
Multiple cyclical message from Master to SPD
MultiCyclic data
Data length
2 bytes
Field Name
Data
Contents
speed ref. bits
speed ref. bits
speed ref. bits
speed ref. bits
Identifier
ID2
ID1
ID0
- - - - -
ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3
0 A1
A0 X X X X X 0 0 0 0 1 1 1 0
This message contains several data which are sent to several slave drives. One data
(speed reference) is addressed for one drive, based on an addressing logic. The
following table shows which information (speed reference, Pr105) is sent to which
drive, based on the A0:A1(=group address) value.
A0:A1
Speed reference 0
Speed reference 1 Speed reference 2 Speed reference 3
0
Drive 1
Drive 2
Drive 3
Drive 4
1
Drive 5
Drive 6
Drive 7
Drive 8
2
Drive 9
Drive 10
Drive 11
Drive 12
3
Drive 13
Drive 14
Drive 15
Torque
