Parker HPD2N, User Manual, Page: 52 / 125

Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual
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Pr59 Reserved.
Pr60:61 Position controller reference. Unit=steps.
Pr62:63 Motor position . Unit=steps, 4096 steps per revolution.
Pr64:65 Reserved.
Pr66:67 Reserved.
Pr68:69 Reserved.
b70.2 Digital locking engaged . During locking with ramp (Pr52) other than zero, this bit
indicates the termination of the transitional phase.
b70.3 Enable position . Default=0. During unlocking b70.3=1 enable position with
Pr61:60.
b70.5 Servo-error . b70.5 is set to 1 if the absolute value of the position error exceeds the
value set in. If utilised, b70.5 must be reset by the user, e.g. by the PLC program,
following servo-errors.
b70.6 Feed-forward . Default=1. If set to 1 feed-forward is enabled on the position
controller.
b70.8 Axis lock/release . With this bit you can lock (=1) or release (=0) the axis from the
input encoder reference.
b70.9 Reserved.
b70.10 Reset type 1 . Resets motor and reference position. Implemented only with b70.8=0.
b70.15 Reserved.
4.6.7. Stepper motor emulation
This mode emulates the operation of a stepper motor: each pulse received on the frequency
input (terminal board X6 channel A=frequency, channel B=direction) is multiplied by Pr51
and the result is added to the reference position. The frequency input must be programmed as
a direction/sign signal by setting b42.5=0. Just as in all other operating modes it is possible to
enable feed forward, limit the action of the proportional part, obtain servo-error indication and
select the most suitable type of reset. Note that the frequency count occurs on the negative
front of the signal and changes of the direction signal must be made at least 1
μ
S before the
negative frequency front. Unlike stepper motors, in this case there is no risk of step loss. Refer
to
Frequency input connection chapter for the connection diagrams.
PARAMETERS FOR OPERATING MODE 11
Pr50 Maximum speed . Unit=rpm, default=3000, range=0..9000. This parameter makes it
possible to limit maximum motor speed.
Pr51 Reference multiplication factor . Default=1, range=-0..+4096. This parameter
allows you to set the required multiplication ratio for input reference frequency.
Pr54 Reserved.
Pr56 Servo-error window . Unit=steps, default=100. If the absolute position error is
greater than the value in Pr56, b70.5 is set to 1. If utilised, b70.5 must be reset by the
user, e.g. by the PLC program, following servo-errors.