- Parker Compact Servo Controller User Guide

Interfaces
Process coupling using HEDA (Option A1 / A4)
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P18 is expanded with the following bits:
P18 Meaning
Bit 0 =0 without PLC data interface
=1 with PLC data interface
Bit 1 =0 fast start on I15 not active
=1 fast start on I15 active
Bit 2 reserved
Bit 3 =0 fast start on HEDA bit 8 not active
=1 fast start on HEDA bit 8 active
only permitted with P18: bit 1=1 (see below).
The fast start is synchronized using P18 bit 3 for HEDA with master and slave, i.e.
input 15 must be on the slave and the master fast start (triggered by I15 in master)
must also be on HEDA so that it can be executed.
This operating mode is also set with P18=10.
If I15 is not required on the slave, then set I15="1".
The fast start is additionally delayed by 1 ms for all axes; i. e. in total 2.5ms
(+1.5ms reaction time I15)
The master transmits one data block per ms to address 1, consisting of
♦
HEDA control word, inc. fast start on bit 8 (bit 8 is automatically generated in the
master from I15 "Fast start").
♦
Process value, selected with parameter P184 depending on family (COMPAX
XX00, COMPAX XX60, COMPAX XX70) between:
Output quantity
Master
Encoder position (COMPAX XX70) +
master channel duration period
P184=40
Internal time base / encoder velocity before P35*
(COMPAX XX70)
P184=42
Scaled master position before P35* (COMPAX XX70)
P184=43
Nominal position value in resolver increments
[65536 increments/revolution]
P184=44
Actual position value in resolver increments
[65536 increments/revolution]
P184=45
Differentiated resolver position [increments/ms]
P184=46
* The quantity is unaffected by P35.
Coupling the slave to the transmitted quantity is implemented with P188.
Input quantities
Slave
Encoder coupling (P184 in master =40)
The input signal is used as an encoder signal.
P188=40
Internal time base / encoder velocity before P35* (COMPAX
XX70)
The input signal is used as a master velocity.
Application: coupling several axes to one master signal (e.g. an
internal time base)
P188=42
Scaled master position before P35* (COMPAX XX70)
The input signal is used as a master position.
Application: coupling several axes to one master signal (e.g. an
internal time base)
P188=43
Input quantity is interpreted as an encoder signal even though it is
not an encoder signal (P184 in master ≠ 40)
see below for more
information
.
P188=140
* The quantity can be influenced by P35.
Fast start
Note:
Transmittable
parameters:
Master output
quantity:
Slave input
quantities: