S.B.C. Elettronica S.p.A. - Engineering Division
HPDxxN – High Power User’s Manual
41
Pr52
Rpm at speed
. Unit=rpm, default=1000. Steady state speed used during generation of the
positioning profile.
Pr53
Reserved.
Pr54
Reserved.
Pr55
Reserved.
Pr56
Servo-error window
. Unit=steps, default=100. If the position error as an absolute value
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. This can be achieved, for example, by the PLC program.
Pr57
Position controller proportional gain
. Default=100, range 0..32000.
Pr58
Reserved.
Pr59
Reserved.
Pr60:61 Position controller reference
. Unit=steps.
Pr62:63 Motor position
. Unit=steps, 4096 steps per revolution.
Pr64:65 Incremental position
. Unit=steps. On receipt of the profile request, b70.8, the motor will
execute Pr64:65 steps in the direction set in b70.4.
Pr66:67
Reserved. Cannot be used during profile generation.
Pr68:69
Reserved. Cannot be used during profile generation.
b70.2
Reset incremental position
. Resets Pr64:65. This command is useful when the
incremental value is programmed on the frequency input.
b70.4
Forward/Reverse
. When the start profile command is transmitted (b70.8) if b70.4=0 the
motor will execute Pr64:65 steps in the positive speed direction. If b70.4=1 it will execute
the same number of steps in the negative speed direction.
b70.5
Servo error
. b70.5 is set to 1 if the absolute value of the position error is greater than the
value set in Pr56. If utilised, b70.5 must be reset by the user, e.g. using the PLC program,
following servo-errors.
b70.6
Feed-forward enable
. Default=0. If set to 1 feed-forward is enabled on the position
controller.
b70.7
Profile in execution
. B70.7=1 indicates that the drive is executing a positioning profile.
b70.8
Start profile
. To start positioning.
b70.9
Enable frequency input
. Default=0. If set to 1, Pr64:65 can be set on the frequency
input.
b70.10 Reset type 1.
Resets motor and reference position. This command is only accepted when
no profile is in execution.
b70.11 Reset type 2
. Command to set motor and reference position to equal the absolute
position of the shaft. Accepted only when no profile is in execution.
b70.12 Reset type 3.
Command to set the reference equal to the motor position. Accepted only
when no profile is in execution.
b70.14
Reserved.
b70.15
Reserved.
3.6.5 Digital locking
Operating mode 10 is a tracking function referred to a frequency input signal (connector X6) set
as an encoder signal with b42.5=1; the encoder signal is counted on all A and B signal switching
fronts. The motor position counter increases by 4096 steps each revolution. The ratio between
