Parker SLVD1N User manual

1
SLVD-N
EtherCAT (COE)
SLVD1N SLVD2N
SLVD5N SLVD7N
SLVD10N SLVD15N
SLVD17N
User’s manual
rev.0.2
May 2010

Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual
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This user manual is for the standard version of the converter.
All information in this user manual, including methods, techniques and concepts described
herein, are proprietary information of Parker Hannifin Divisione S.B.C. – EME Division and
of its licensees, and they shall non be copied or used without express authorization.
Parker Hannifin S.p.A. Divisione S.B.C. is committed to a continuous product upgrade and
reserves the right to modify products and user manuals at any time without prior notice. No
part of this user manual may be howsoever reproduced without previous consent by Parker
Hannifin S.p.A. Divisione S.B.C..
Abbreviations
FBK Feedback.
Pr… Decimal parameter.
b… Binary parameter (bit).
FFW Feedforward, control advance function.
R Read parameter.
W Write parameter.
Keypad-display Keypad
Drive Converter
Cod 1006111600

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INDEX
1. INTRODUCTION.................................................................................................... 8
1.1. General information.............................................................................................8
1.2. Product description..............................................................................................8
1.3. Identification.........................................................................................................9
2. SAFETY INSTRUCTIONS.................................................................................... 11
2.1. Symbols and signals ...........................................................................................11
2.2. General information...........................................................................................11
2.3. Safety instructions for transportation and storage.........................................12
2.4. Safety instructions for commissioning .............................................................12
2.5. Safety instructions for operation ......................................................................13
2.6. Safety instructions for maintenance.................................................................14
2.7. Compatibility with RCD devices.......................................................................14
2.8. Applicable standards..........................................................................................15
2.9. Materials and disposal.......................................................................................15
2.10. Warranty.............................................................................................................16
3. MAIN HARDWARE FEATURES.......................................................................... 16
3.1. Ambient conditions ............................................................................................16
3.2. Vibrations and shocks........................................................................................16
3.3. Power supply.......................................................................................................17
3.4. Technical characteristics...................................................................................18
3.5. Main software features......................................................................................20
4. MOUNTING.......................................................................................................... 21
4.1. Dimensions and weights.....................................................................................21
4.2. Fastening.............................................................................................................24
4.3. Mounting instructions........................................................................................25
5. ELECTRICAL CONNECTIONS ........................................................................... 26
5.1. Signal connectors layout....................................................................................26
5.2. Sections and cable specifications.......................................................................30
5.3. Protections...........................................................................................................31
5.4. PE (Protective Earth) connections....................................................................31
5.5. Line connection diagrams..................................................................................32
5.6. Motor connection diagrams ..............................................................................34
5.7. Resolver connection diagrams ..........................................................................35
5.8. Encoder connection............................................................................................36
5.9. Encoder EnDat connection................................................................................37
5.10. Incremental encoder with Hall sensor..............................................................38
5.11. Frequecy input/output connection....................................................................39
5.11.1. Connecting the SLVD-N to the digital-lock ........................................................ 40

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5.12. Serial line connection.........................................................................................41
5.13. External +24V power supply for the control stage .........................................42
5.14. Second/third axes connection............................................................................42
5.15. External braking resistance ..............................................................................44
5.16. Cable connections...............................................................................................45
5.17. How to suppress interference............................................................................46
5.17.1. Grounding............................................................................................................. 46
5.17.2. Cable connections and shielding.......................................................................... 47
5.17.3. General suggestions on cable connections........................................................... 47
5.17.4. Mains and motor side filters................................................................................. 48
6. STATUS LED....................................................................................................... 49
7. USING THE KEYBOARD (OPTIONAL)............................................................... 49
8. POWER SUPPLY MODE..................................................................................... 50
8.1. “Low” voltage power supply.............................................................................50
8.2. “High” voltage power supply............................................................................51
9. START-UP ........................................................................................................... 53
9.1. Setting the default parameters..........................................................................53
9.2. Setting parameters of EtherCAT communication..........................................53
9.3. Selection of motor type ......................................................................................53
9.4. Changing motor data.........................................................................................54
9.5. Setting feedback .................................................................................................54
9.5.1. Feedback configuration........................................................................................ 55
9.6. Feedback from incremental encoder at square or sinusoidal wave ..............55
9.7. Encoder phasing.................................................................................................56
9.7.1. Type 1 phasing ..................................................................................................... 56
9.7.2. Type 2 phasing ..................................................................................................... 56
9.8. Feedback from SinCos encoder with Endat interface....................................58
9.8.1. Motor phases ........................................................................................................ 59
9.9. First commissioning...........................................................................................60
9.10. Speed control adjustment..................................................................................61
10. PARAMETERS AND PROGRAMMING............................................................. 67
10.1. Decimal parameters...........................................................................................71
10.2. Binary parameters..............................................................................................77
10.3. Operating modes ................................................................................................82
10.4. Torque control (operating mode 1) ..................................................................87
10.5. Digital Lock + Positioner (operating mode 13) ...............................................88
10.5.1. TAB0: profiles in memory ................................................................................... 88
10.6. Electronic cam (operating mode 14).................................................................92
10.6.1. Positioning............................................................................................................ 92
10.6.2. Speed mode .......................................................................................................... 93
10.6.3. Electronic cam...................................................................................................... 93
10.6.4. Linear engage CAM........................................................................................... 100
10.7. Electronic cam (op. mod. 11)...........................................................................102

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10.7.1. Positionator ........................................................................................................ 103
10.7.2. CAM1 and CAM2.............................................................................................. 103
10.7.3. Automatic activation of CAM tables ................................................................. 107
10.8. Additional useful functions..............................................................................114
10.8.1. Homing function ................................................................................................ 114
10.8.2. Speed adjustment................................................................................................ 115
10.8.3. Current or torque adjustment (typical)............................................................... 115
10.8.4. Virtual encoder................................................................................................... 115
10.8.5. Value comparators.............................................................................................. 116
10.8.6. Value capture...................................................................................................... 116
10.8.7. Output cam programmer .................................................................................... 117
10.8.8. Analogue output programmable......................................................................... 117
10.8.9. Master reference................................................................................................. 118
10.8.10. Encoder Can ....................................................................................................... 119
11. PROGRAMMING DIGITAL INPUTS AND OUTPUTS ......................................121
11.1. The pico-PLC....................................................................................................121
11.2. Programming with MotionWiz.......................................................................126
11.3. MotionWiz.........................................................................................................127
12. SERIAL INTERFACE........................................................................................128
12.1. Communication protocol.................................................................................128
13. ETHERCAT INTERFACE..................................................................................133
13.1. CANopen DSP402 (D version) ........................................................................133
13.1.1. Dictionary object summary of ds301 in SLVD-N ............................................. 134
13.1.2. Dictionary object summary of dsp402 in SLVD-N ........................................... 135
13.1.2.1. Object 6040h: Controlword............................................................................ 139
13.1.2.2. Object 6041h: Statusword .............................................................................. 141
13.1.2.3. Object 605Bh: Shutdown option code ........................................................... 143
13.1.2.4. Object 605Ch: Disable operation option code ............................................... 144
13.1.2.5. Object 605Ah: Quick stop option code.......................................................... 145
13.1.2.6. Object 605Eh: Fault reaction option code..................................................... 145
13.1.2.7. Object 6060h: Modes of operation................................................................. 146
13.1.2.8. Object 6061h: Modes of operation display .................................................... 146
13.1.3. Functional description........................................................................................ 147
13.1.3.1. Modes of operation function .......................................................................... 147
13.1.4. Homing mode (operative mode 200) ................................................................. 148
13.1.5. General information ........................................................................................... 148
13.1.5.1. Input data description..................................................................................... 148
13.1.5.2. Output data description .................................................................................. 149
13.1.5.3. Internal states ................................................................................................. 149
13.1.5.3.1. Controlword of homing mode................................................................ 149
13.1.5.3.2. Statusword of homing mode .................................................................. 149
13.1.6. Object dictionary entries .................................................................................... 150
13.1.6.1. Objects defined in this chapter....................................................................... 150
13.1.6.2. Objects defined in other chapters................................................................... 150
13.1.7. Object description .............................................................................................. 150
13.1.7.1. Object 607Ch: Home offset............................................................................ 150
13.1.7.2. Object 6098h: Homing method...................................................................... 151
13.1.7.3. Object 6099h: Homing speeds ....................................................................... 151

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13.1.7.4. Object 609Ah: Homing acceleration.............................................................. 152
13.1.8. Functional description........................................................................................ 153
13.1.8.1. Homing methods ............................................................................................ 153
13.1.8.1.1. Method 1: Homing on the negative limit switch and index pulse.......... 153
13.1.8.1.2. Method 2: Homing on the positive limit switch and index pulse .......... 154
13.1.8.1.3. Methods 3 and 4: Homing on the positive home switch and index pul. 154
13.1.8.1.4. Methods 5 and 6: Homing on the negative home switch and index pul.155
13.1.8.1.5. Methods 7 to 14: Homing on the home switch and index pulse ............ 155
13.1.8.1.6. Methods 15 and 16: Reserved ................................................................ 156
13.1.8.1.7. Methods 17 to 30: Homing without an index pulse ............................... 157
13.1.8.1.8. Methods 31 and 32: Reserved ................................................................ 157
13.1.8.1.9. Methods 33 to 34: Homing on the index pulse ...................................... 157
13.1.8.1.10. Method 35: Homing on the current position .......................................... 157
13.1.9. Profile position mode (operative mode 201)...................................................... 158
13.1.9.1. Internal states ................................................................................................. 158
13.1.9.1.1. Controlword of profile position mode ................................................... 158
13.1.9.1.2. Statusword of profile position mode ...................................................... 158
13.1.9.2. Object dictionary entries ................................................................................ 159
13.1.9.2.1. Objects defined in this chapter............................................................... 159
13.1.9.2.2. Object 607Ah: Target position............................................................... 159
13.1.9.2.3. Object 6081h: Profile velocity ............................................................... 160
13.1.9.2.4. Object 6083h: Profile acceleration/deceleration .................................... 160
13.1.9.2.5. Object 6085h: Quick stop deceleration .................................................. 161
13.1.9.2.6. Object 6086h: Motion profile type......................................................... 161
13.1.9.3. Functional description.................................................................................... 162
13.1.9.4. Functional description.................................................................................... 163
13.1.10. Interpolated Position Mode (operative mode 202)............................................. 165
13.1.10.1. Object 60C0h: Interpolation sub mode select ............................................ 166
13.1.10.2. Object 60C1h: Interpolation data record.................................................... 166
13.1.11. Mode Cyclic synchronous position (operative mode 203) ................................ 169
13.1.11.1. Functional description................................................................................ 170
13.1.11.2. Use of controlword and statusword............................................................ 171
13.1.11.3. Detailed object definitions ......................................................................... 171
13.1.11.3.1. Object 60B0h: Position offset ................................................................ 171
13.1.11.3.2. Object 60B1h: Velocity offset................................................................ 172
13.1.11.3.3. Object 60B2h: Torque offset.................................................................. 172
13.1.12. Drive parameters ................................................................................................ 173
14. APPENDIX A: CONVENTIONS ........................................................................174
15. APPENDIX B: SOFTWARE TIMING.................................................................175
16. APPENDIX C: DEFAULT PROGRAM FOR THE PICO-PLC ...........................175
17. APPENDIX D: FLASH INFORMATION ............................................................176
18. APPENDIX E: ALARMS ...................................................................................177
19. APPENDIX F: CONTINUOUS WORKING........................................................178
20. APPENDIX G: EXTERNAL CAPACITOR.........................................................179
21. REVISION HISTORY OF THE USER MANUAL...............................................180

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1.INTRODUCTION
1.1. General information
This manual describes the installation and commissioning of the frequency converter SLVD-
N (Small Low Voltage Drive-New) for brushless motors.
Read carefully all the sections and the history of the revision of the manual on the final page
before using it.
1.2. Product description
The SLVD-N is a digital frequency converter for brushless motors. The operator interface
based on parameters makes it easy to configure the converter. Configurations of different
kinds make suitable it for many applications.
The drive, by the EtherNet interface optional card, can support the EtherCAT protocol to
management the state machine, in according to the standard CANopen DSP402, using the
COE messages (CANopen over CAT). Through the management of the real-time synchronous
of the cyclic messages (PDO), the master of EtherCAT can control the trajectories and the
multi-axes interpolations.
The SLVD-N is equipped with a RS-422/RS-485 serial interface which is used to configure,
monitor, and send commands to up to 32 SLVD-Ns at the same time.

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1.3. Identification
The converters of the SLVD -N series are available in 6 models: SLVD1N, SLVD2N,
SLVD5N, SLVD7N, SLVD10N and SLVD15N. The number that follows the SLVD-N
abbreviation corresponds to the rated current of the converter in amperes.
Use the following table to specify the order code:
Where :
SLVD Servodrive series
1 Drive size (nominal current, up to 1 digit: 1, 2, 5, 7, 10, 15, 17)
N New series
D CAN Open protocol (DS402)
Resolver
E EnDat/incremental/sinc encoder input (from motor feedback)
H Incremental encoder+hall sensors input (from motor feedback)
F SinCos (one sin wave per pole pitch)
Y1 Optional board:
E5 : scheda EtherCAT
E5 EtherCAT release software
A label is attached on the right side of the converter that contains all the essential information
to correctly identify the unit:
Serial number
Model
Nominal plate data
It is important to refer to this label before requesting any kind of technical information from
Parker Hannifin S.p.A S.B.C. Division
SLVD 1 N D Y1 E5
2 E
5 H
7 F
10
15
17

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An example of this label is given below.
The performance of converter is guaranteed only with synchronous
motors with permanent magnets
MB and SMB Series that have been manufactured by us.
Model
Power supply
Output voltage
Serial number
Input voltage
In
p
ut fre
q
uenc
y
Out
p
ut fre
q
uenc
y

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2.Safety instructions
2.1. Symbols and signals
Several symbols and signals are used in this safety instruction.
Pay attention to the following meanings :
Extremely severe risk. Disregarding the following advise may involve
danger of life.
Severe risk. Disregarding the following advise may involve serious personal
injury.
Medium risk. Disregarding the following advise may involve personal
injury
2.2. General information
•Only persons who are qualified and trained for the use and operation of the equipment
may work on this equipment or within its proximity. The persons are qualified if they
have sufficient knowledge of the assembly, transportation, installation and operation
of the 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 the drive, read carefully this documentation and
strictly observe all technical, safety and wiring information, including identifying
labels placed on the drive (ratings). In case of doubt contact the Parker Hannifin
service centre.
•Drives are to be intended as components for use in machine or systems. Therefore
they can be used only in machine or systems that are in compliance with the low
voltage directive 73/23/CEE (modified by 93/68/CEE) and with the electro-magnetic
compatibility directive 89/336/CEE.
•Electronic equipments are generally not “fail-safe” components. Therefore the
machine manufacturers should carry out a risk analysis for the whole machine in order
to ensure that moving parts (motors) cannot bring personal injury in case of failures of
electronic devices.

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2.3. Safety instructions for transportation and
storage
•The ambient conditions given in the product documentation must be observed for
transportation and storage (temperature, humidity, mechanical stress and aggressive
atmosphere).
•Drives contain components sensitive to electrostatic charges which can be damaged by
inappropriate handling. Therefore during installation / removal of drives, provide the
necessary safety precautions against electrostatic discharges (discharge electrostatic
charges of the human body before touching the drive, always place the drive above
conductive plates and avoid touching it with insulating material like synthetic fibres,
polymeric materials etc…)
Risk of injury by incorrect handling !
•Incorrect handing of the equipment may cause severe personal injury. Use appropriate
tools for transportation, lifting, handling and mounting. Wear appropriate clothing for
accident-prevention (safety shoes, safety glasses, safety gloves, etc...).
2.4. Safety instructions for commissioning
•The high voltages inside the drive imply risk of electric shock. Make sure that drive
and motor are properly grounded accordingly to national regulations. Furthermore the
drive, before switching it on, must be 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 tools and following the safety precautions given in
this instruction. Make sure that supply voltage has been switched off before installing
and wiring.
•Drives are only allowed to be operated on TT, TN grounded industrial mains having
maximum 480V+10% line to line rms voltage, as specified in the user manual. Do not
directly install the drive on ungrounded (IT) or asymmetrically grounded mains. In
case of ungrounded mains, coupling with Dyn transformer with grounded secondary
circuit is necessary. Refer to drive technical data and wiring instruction.
•All the components used in the cabinet in which the drive is installed, (cables,
contactors, inductors and transformers, fuses, etc...), and the connected motor, must be
in compliance with the specification given in the product documentation, in addition
to national regulations. Make sure that the maximum temperature inside the cabinet
does not exceed 45°C (113°F). If necessary, use an appropriate air conditioning.
•The size and temperature rating of wires and cables used for connecting the drive must
be in compliance with the specification given in the instruction manual (see NEC 310-
16 for USA). Use also the specified tightening torque.
•Make sure about the correct drive-motor matching: voltage and current ratings must
be compatible.

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•The user is responsible for over-current and short circuit protection of the drive. Read
carefully the specification given in the user manual.
2.5. Safety instructions for operation
High voltage ! Risk of electric shock ! Danger of life !
•All live parts must be protected against direct contact. The drive must be closed inside
a cabinet before switching it on.
•Working on power live parts (terminals) must be conducted with the drive switched-
off. Dangerous voltages may be present at power terminals even after the supply has
been switched off and the motor stopped. Make sure the equipment cannot switched
on unintentionally. Wait at least 6 minutes before working on live parts after the unit
has been switched-off.
•The drive and the motor must be permanently connected to earth accordingly to the
connection diagram, even for brief measurements or tests.
High leakage current ! 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
10mm2throughout all the length.
•Before switching the equipment on, make sure that all devices, including the motor,
are permanently connected to earth, even for brief test or measurements, as shown in
the wiring diagrams. Otherwise high voltages may appear on equipment conductive
surfaces with danger of electrical shock.
•Always refer to current local regulations for grounding. For installation within
European Community refer to EN61800-5-1 product standard, section 4.2.5.4.2. For
installation in the USA refer to NEC (National Electric Code) and NEMA (National
Electric Manufacturers Association). The product installation should always comply
with the above said standards.
Hot surfaces ! Danger of injury ! Danger of burns !
•Some external surfaces of the equipment and same internal part may reach very high
temperatures. Danger of burn and injury if touching these parts.
•After switching the equipment , wait at least 15 minutes to allow it to cool before
touching it.

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Dangerous movements ! Danger of life !
•Dangerous movements can be caused by faulty control of the connected motor.
Same common example are :
Improper or wrong installation and wiring
Wrong input parameters before or during operation (programming)
Defective components (drive, motor, wires, sensors, etc...)
Incorrect control (software or firmware errors)
•In order to prevent personal injury due to unintended dangerous motor movements, pay
the maximum attention and work on the machine with a qualified and tested safety system
:
Isolate the drive power connection.
Mount the emergency stop switch in the immediate reach of the operator. Verify that
the emergency stop works before start-up. Don’t operate the machine if the emergency
stop is not working.
Install properly fences, guards, coverings and light barriers in order to prevent 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 safe standstill before accessing or entering
the danger zone.
2.6. Safety instructions for maintenance
•It is extremely dangerous to remove covers or part of the external enclosure from the
equipment. Risk of personal injury. The warranty immediately decay.
•In case of malfunction consult the alarm list described in the user manual or address
Parker Hannifin. The drives are not field repairable.
2.7. Compatibility with RCD devices
The use of RCD (Residual Current Devices) is strongly not recommended.
If the use of RCD is mandatory, use type B only (for DC and AC prospective earth current).
Set the trip level at 300mA (fire protection level) or more.
Setting the trip level at 30mA (protection level against direct contact) is possible only using
time-delayed RCD and low leakage current EMC filters, but in any case the drives are not
guaranteed to operate with 30mA trip level.

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2.8. Applicable standards
Safety
2006/95/EC Low voltage directive
EN61800-5-1 Adjustable speed electrical power drive systems – safety
requirements, thermal and energy
2006/42/EC Machinery Directive
EN60204-1 Safety of machinery – Electrical equipment of machines – Part 1:
General requirements
UL508C (USA) Power Conversion Equipment
CSA22.2 Nr. 14-05 (Canada) Power Conversion Equipment
The drive is CE marked in accordance with the Low Voltage Directory when installed and
operated with reference to the product manual.
The drive is considered as a component in machinery. The complete machinery or installation
may only be put into service when in accordance with the safety considerations of the
Machinery Directive. Particular reference should be made to EN60204-1.
Electromagnetic Compatibility (Immunity/Emission)
2004/108/EC EMC directive
EN 61800-3 Adjustable speed electrical power drive systems. Part 3 : EMC
product standard including specific test method
EtherCAT IEC 61800-7 Generic interface and use of profile for power drive systems
IEC 61800-7-1 Interface definition type 1
IEC 61800-7-201 Profile specifications type 1
IEC 61800-7-301 Mapping of profile type 1
To EtherCAT standards, referred to the web-site: EtherCAT Technology Group
The drives are to be intended as components to be used in a second environment (industrial
environment) and category C3, together with specific EMC filters and installed accordingly to
the recommendation given in the user manual. When used in the first environment (residential
/ commercial environment), drives may produce radio-frequency interference dangerous for
other equipments: additional filtering measures must be implemented by the user.
2.9. Materials and disposal
- zinc coated steel sheet, thickness 1mm and 2mm
- extruded aluminium AlSi
- ABS “Novodur” thickness 2mm minimum
- adhesive polycarbonate (label)
Electrolytic capacitor contain electrolyte and printed circuit boards contain lead, both of
which are classified as hazardous waste and must be removed and handled according to local
regulations.

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The S.B.C. division of the Parker Hannifin Company, together with local
distributors and in accordance with EU standard 2002/96/EC, undertakes to
withdraw and dispose of its products, fully respecting environmental
considerations.
2.10. Warranty
The warranty duration if 1 (one) year. The converter must not be opened, accessed or
modified in any of its part. Any attempt to do so would cause the 1-year warranty to be
cancelled with immediate effect.. Parker Hannifin declines any responsibility for damages
that may be caused by inappropriate use of the converter.
3.Main hardware features
3.1. Ambient conditions
operation 3K3 Class, 0 … +45 °C (+32 …+113 °F)
storage 1K4 Class, -25 … +55 °C (-4 …+131 °F)
temperature
transportation 2K3 Class, -25 … +70 °C (-13…+158 °F)
operation 3K3 Class, 5-85 % without ice and condensation
storage 1K3 Class, 5-95 % without ice and condensation
humidity
(3K3 class) transportation 2K3 Class, 95% a 40°C
altitude (*) ≤1000 m slm (≤3281 feet asl)
Protection degree IP20 (only in close electric cabinet)
UL open type equipment
Pollution degree 2 or lower (no conductive dust allowed)
(*) For higher installation altitude, derate the output current by 1.5% each 100m up to 2000m
maximum
3.2. Vibrations and shocks
Frequency
(Hz) Width(mm) Acceleration
(m/s²)
10 ≤f ≤57 0,075 -
IEC 60068-2-6 57 < f ≤150 - 9,81

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3.3. Power supply
Control stage
Supply voltage V= 24V (-0%...+10%)
Max ripple Vpkpk Do not go over the range
Current rating of the external power supply A 1
Control electronics dissipation W 15
EMC Filter - internal
Power stage
Mains frequency Hz 50 - 60 ± 5%
Variation rate of frequency Hz/sec 1,2
Supply voltage
(3-phase or 1-phase)
V~ 200-10% ... 230+10%
(only for TT,TN mains)
DC voltage range V= 282-10% ... 325+10%
Maximum dissymmetry of voltage % 3
EMC Filter - internal

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3.4. Technical characteristics
Description UdM Value
Input and output characteristic
Models - SLVD1N SLVD2N SLVD5N SLVD7N SLVD10N SLVD15N SLVD17N
Rated input current Arms 1,5 2,99 5,99 8,38 11,97 17,96 20,36
Rated output current Arms 1,25 2,5 5 7 10 15 17
Peak output current (2 sec) Arms 2,5 5 10 14 20 30 34
(30@8kHz)
Shaft power kW 0,345 0,7 1,5 2,2 3,0 4,5 5
1ph 0,85 1,5 1,5 1,8 3,0 3,3 3,3Continuous service installed load
(power derating) 3ph kVA 0,95 1,6 2,3 3 5,25 6,5 6,5
1ph 3,8 6,5 6,5 7,8 14,3 14,3 14,3Continuous service input current
(power derating) 3ph Arms 2,4 4,2 5,9 7,6 13,3 17,2 17,2
Power stage dissipation W 9,3 19,2 52,0 75,1 100,3 158,3 180
Internal fan capacity m3/h 39,6 79,0
Switching frequency kHz 4-8 4-8
Output frequency Hz 0 - 450
dynamic braking and intermediate DC circuit
Models - SLVD1N SLVD2N SLVD5N SLVD7N SLVD10N SLVD15N SLVD17N
Internal DC capacitors (±20%) µF 680 820 1800
Braking resistor internal Ω40 16
Internal braking power mean W 60 120
Peak internal braking power to 415Vdc kW 4,3 10,7
Max continuous external braking power kW 1 2
Max peak braking current A 11 26
Current mean (internal resistance ) A 0,14 0,29
Current rms (internal resistance) A 1,22 2,73
Max duty cycle (internal resistance) % 1,20 1,10
Braking threshold Vdc 400 - 415
Overvoltage level Vdc 435
Undervoltage level Vdc 135 intervention, 230 restoration

Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual
Page 19 of 181
Other characteristics
Feedback
- SLVD-N
Resolver
SLVD-NE
Encoder
SLVD-NH
Encoder+Hall
Auxiliary Encoder input
Max Frequency encoder input
-
kHz
in quadrature
400
RS-422 encoder simulation output
Max Frequency
steps/rev
kHz
4…65000
160
Serial link - RS-422 / RS-485
Field bus EtherCAT IEC 61800-7- 1, 201, 301 (Type 1)
4 Digital inputs
input impedance
Input High voltage range
Input Low voltage range
Type of driving required
Reaction time
kΩ
V
V
-
μs
20 ±5%
10...24
0...5
PNP
< 2,5
2 digital outputs open collector (PNP)
Output High voltage range
Output Low voltage range
Max current for single output
Overload / Short circuit protection
pull-down interno
V
V
mA
-
kΩ
> (Vsupply–1)
<1
100
si
20
1 differential analog reference
voltage
CMR
resolution
input impedance
max frequency
V
dB
bit
kΩ
Hz
±10
>50
15 + sign
> 10
500
1 differential auxiliary analog input
t voltage
CMR
resolution
input impedance
max frequency
V
dB
bit
kΩ
Hz
±10
>50
10
> 10
500
1 analog output ”single ended” (refer to 0VA)
voltage
max current
resolution
Overload / Short circuit protection
V
mA
bit
-
±4,096
1,5
10
yes

Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual
Page 20 of 181
3.5. Main software features
The following functions have been implemented in the basic software of the SLVD-N:
•Speed controller
•Advanced manager of torque limits
•Management of speed windows
•Carries out positioning with a trapezoidal speed profile
•Provides the functions of an electrical shaft with variable ratio and phase correction
•Provides the functions of an electronic cam
•Simulates a stepper motor
•Controls the motor torque with the addition of speed control
•The internal PLC can be programmed to manage inputs and outputs
•Communication mode and real-time synchronous controls via field bus based on
EtherCAT protocol- CANopen DSP402, state machine and COE (CANopen over
EtherCAT) messages.
This manual suits for next models
6
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