Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual
47
8.3 Slow operating modes management
New functions can be added to the basic ones, for specific applications, by setting one of the
operating modes from 1 to 15.
Every operating mode controls speed using parameter Pr6 and can use parameter PR21 to
limit the torque at the motor (see the block diagram ). Speed control will use as reference Pr7
or Pr6, depending on the value of b 40.2 . Before changing Pr31, Pb40.2 must be reset to
prevent undesired motor motions, then it is possible to set Pr31 to the value corresponding to
the selected operating mode and through Pb99.11, the default parameters of the operating
mode must be set. By setting b40.2 to 1, the operating mode will be turned on. All operating
modes need to control the motor in position (13, 14, 15) by using the position loop described
in the diagram in the figure.
target position
+
-
d
dt
+
+
Kp
speed demand
speed limit
motor position
Pr61:60
Pr63:62
Pb 70.6
abilitazione feed-forward
Pr 6
Pr 57
Pr 50
abs()
servo window 1
Pr 55
servo vindow 2
Pr 56
Pb70.4
Pb70.5
d
dt
Pr 52
Pr 53
master speed
Pr 54
Pr67:66
encoder in
encoder in
(X3)
Pb70.1
din1
caugth position
Pr69:68
position offset
Pr 65:64
Pb70.15
+
+
Pb 70.7
scalatura feed-forward
Pr 106
positive
edge detector
Pr59:58
Pb70.14
positive
edge detector
din0
zero encoder
Pb70.0
Summary of useful operating modes parameters; for settable ranges, units of
measurement and default values, refer to the parameter tables.
Feed forward Enable
Feed forward scale
