Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6
www.engelantriebe.de
page 16
Polarity
This parameter enables the internal reversal of the positioning direction for the
adjustment to mechanical circumstances of the user:
Positive polarity
increasing position with motor shaft rotating clockwise
Negative polarity
increasing position with motor shaft rotating counter clockwise
Object:
polarity
[607Eh]
Note:
The parameter
Polarity
also takes effect in current and
speed control operating modes.
Minimum positioning range
Negative limitation of the positioning range. If the setpoint or current position
undercuts
the
parameterised
value,
a
positioning
error
is
triggered.
Unit: Revolutions of the motor shaft [R]
Object:
software position limit
[
607Dh]
Maximum positioning range
Positive limitation of the positioning range. If the setpoint or current position exceeds
the
parameterised
value,
a
positioning
error
is
triggered.
Unit: Revolutions of the motor shaft [R]
Object:
software position limit
[607Dh]
Position window
A positioning process applies as completed if the deviation of the current position to
the target position for a duration defined in "Position window time" is less than the
value parameterised under "Position window".
Unit: Revolutions of the motor shaft [R]
Object:
position window
[6067h]
Position window time
see Position window
Unit: Milliseconds [msec]
Object:
position window time
[6068h]
Following error monitoring
A following error is present if the deviation of the current position to the setpoint
position for a duration defined in "Following error timeout" is greater than the value
parameterised under "Following error window".
With following error monitoring
activated
,
following error events are signalled in the
CANopen
status word (Bit 13) and a parameterisable "following error reaction" is
triggered - both under CANopen
and I/O mode.
With following error monitoring deactivated
,
following error events are not signalled
and no "following error reaction" is triggered.
Object:
following error window
[
6065h]
– Bit31 (0 = active)
Following error window
see Following error monitoring
Unit: Revolutions of the motor shaft [R]
Object:
following error window
[
6065h]
– Bit30 ... Bit0
Following error timeout
see Following error monitoring
Unit: Milliseconds [msec]
Object
:
following error timeout
[6066h]
