Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
49
Pr51
Reference multiplication factor (digital lock)
. Default=1, range=-32000..+32000. With
this parameter and with Pr53 it is possible to program the required ratio for the input
reference frequency.
Pr52
Acceleration and deceleration ramp (digital lock)
. Unit=s/krpm, default=500,
range=0..30000, resolution=0.001 seconds. The acceleration and deceleration requested of
the motor can be limited so that it takes Pr52 thousandths of a second to change speed by
1000 rpm; this function may prove useful during catch on fly cycles.
Pr53
Reference division factor (digital lock)
. Default=1, range=-32000..+32000. With this
parameter and with Pr51 it is possible to set the required ratio for the input reference
frequency.
Pr54
Steady state speed (positioner)
. Unit=rpm, default=1000. This is the operating speed that
will be utilised during generation of the position profile.
Pr55
Real speed requested (digital lock)
. Unit=rpm. Read-only parameter; shows the input
reference frequency converted into rpm.
Pr56
Servo-error window
. Unit=steps, default=100. If the absolute value of the position error
exceeds the value set in Pr56, b70.5 is set to 1. If b70.5 is utilised, it must be reset by the
user following servo-errors, e.g. by means of the PLC program.
Pr57
Proportional gain of the position loop
. Default=100, range 0..32000.
Pr58
Slip speed
. Default=0, range 0..
±
6000.
Pr59
Acceleration time (positioner)
. Unit=s/krpm, range=0.002..30.000, resolution=0.001s,
default=0.500 s. This is the acceleration ramp that will be utilised during the positioning
profile.
Pr60:61 Position loop reference
. Unit=steps. It is the positioner reference plus the digital lock
reference.
Pr62:63 Motor position
. Unit=steps; increases by 4096 steps each revolution.
Pr64:65 Profile - actual position.
Unit=steps; read only parameter, it shows the actual position of
the trapezoidal profile.
Pr68:69 Profile - final position.
Unit=steps; When you set this parameter, the positioner executes a
trapezoidal profile from the actual position (Pr64:65) to this one.
b70.0
Positioner flag.
During profile generation (Pr64:65
≠
Pr68:69) this bit is on.
b70.1
Reserved.
b70.2
Locked on
. Refer to the digital lock, during the catch cycle with the ramp programmed
(Pr52) other than zero, this bit indicates that the transitory phase is concluded.
b70.4
Profile direction.
Read only flag, if set to 1 the direction is counter-clockwise.
b70.5
Servo error
. b70.5 is set to 1 if the absolute value of the position error exceeds the value
entered in Pr56. If b70.5 is utilised, it must be reset by the user following servo-errors, e.g.
by means of the PLC program.
b70.6
Feed-forward (digital lock)
. Default=1. If set to 1 digital lock feed-forward is enabled on
the position loop.
b70.7
Feed-forward (positioner)
. Default=0. If set to 1 positioner feed-forward is enabled on the
position loop.
b70.8
Axis catch/release
. This bit can be set to 1 to lock, or 0 to release, the axis in relation to the
encoder reference input.
b70.9
Reserved.
b70.10 Reset type 1
. Resets motor position and reference.
b70.11 Reset type 2
. Copy the motor position (Pr62:63) on main reference position (Pr60:61) and
positioner reference (Pr64:65) and resets the digital lock reference.
b70.15
Reserved.
3.15 Position control with CanBus or electronic Cam