47
96-5047 rev L June 2005
Parameter 34: Belt Stretch Adjustment, (0 to 399) PROTECTED!
This parameter is used to correct for stretching in a belt if one is used to couple the motor to the load being
moved. It is a count of the number of steps of motion that are added to the motor position while it is in
moving. It is always applied in the same direction as the motion. Thus, when motion stops, the motor will
snap backwards to take the load off of the belt.
Parameter 35: Dead Zone Compensation, (0 to 19) PROTECTED!
This parameter is used to compensate for the dead zone in the driver electronics. It is normally set to 3.
Parameter 36: Maximum Speed, range 0 to 10000 (0 to 999999x100) PROTECTED!
This parameter defines the maximum speed. The value used is (par 36)*100 in encoder steps/second.
The highest speed is thus 1,000,000 steps per second. It must be less than or equal to Parameter 18.
If this parameter exceeds Parameter 19, only the smaller number is used. See Parameter 19 also.
Parameter 37: Encoder Test Window Size, 0 to 999
This parameter defines the tolerance window for the Z channel encoder test. This much error is allowed
in the difference between the actual encoder position and the ideal value when the Z channel is
encountered.
The following parameters do not apply to brush motors:
Parameter 38: KDD (0 to 9999)
Servo loop second differential gain.
Parameter 39: Phase Offset (0 to 9)
Offset of encoder Z-pulse to zero degree of phasing.
Parameter 40: Max Current (0 to 2047)
Maximum peak current output to the motor. Units DAC bits.
Warning! Changes to this parameter from HAAS recommended values will damage the motor.
Parameter 41: not used (0 to 537289)
Parameter 42: KLAG (0 to 3)
Filter coefficient for the output current.
0 is 0% of 65536
1 is 50% of 65536 or 0x8000
2 is 75% of 65536 or 0xC000
3 is 7/8 of 65536 or 0xE000
Parameter 43: Erev per Mrev (1 to 9)
Number of electrical revolutions of the motor per one mechanical revolution.
Parameter 44: Accel_Const (0 to 999)
Exponential acceleration time constant. Units are 1/10000 seconds.
Parameter 45: Grid Offset (0 to 99999)
The distance between the home switch and the final stopped motor position after homing, is added
by this grid-offset amount. It is modulus of parameter 28, which means if Parameter 45=32769 and
Parameter 28=32768, then it is interpreted as 1.
Parameter 46: Beeper Timing (0 to 999)
Length of beeper tone in milliseconds. 0-35 no tone. Default 150 milliseconds.
Parameter 47: Zero Offset (0-9999) For HRT320FB.
Angular value to offset zero position. Units are 1/1000 of a degree.
Summary of Contents for HRT 160
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