Parker P Series, Руководство пользователя, Страница: 134 / 316

Parker Hannifin
P Series User Guide 132
Torque Offset (0x60B2)
Torque Actual Value (0x6077)
Control Mode(0x3000)
Velocity Actual Value (0x606C)
Position Actual Value (0x6064)
Generate
Velocity
Command
Velocity
Control
Torque
Control
+
+
M
Velocity Demand
Value (0x606B)
Enc.
Velocity
Calculation
Position
Calculation
Control Mode : Velocity
Analog Velocity Command(A-OVR)
Digital Velocity Command(SPD1, SPD2, SPD3)
Analog Velocity Command Scale(0x2229)
Velocity Command Switch Select(0x231A)
Velocity Reached
Window
Comparator
Velocity Window
Time (0x606E)
Target Velocity
(0x60FF)
+ -
Target Reached in
Statusword (0x6041.10)
Velocity Reached
Velocity Window
(0x606D)
C
1
1
1
Figure 43. Velocity Controller Inner Block Diagram
6.4.1 Related objects
Index
Sub
Index
Name
Variable
Format
Accessibility
PDO
Allocation
Unit
0x2121 - Drive Status Output1 UINT RO Yes -
0x2122 - Drive Status Output2 UINT RO Yes -
0x6062 - Position Demand Value DINT RO Yes UU
0x60FC - Position Demand Internal Value DINT RO Yes pulse
0x6063 - Position Actual Internal Value DINT RO Yes pulse
0x6064 - Position Actual Value DINT RO Yes UU
0x60B1 - Velocity Offset DINT RW Yes UU/s
0x60B2 - Torque Offset INT RW Yes 0.1%
0x606C - Velocity Actual Value DINT RO Yes UU/s
0x6077 - Torque Actual Value INT RO Yes 0.1%
0x6065 - Following Error Window UDINT RW No UU
0x6066 - Following Error Timeout UINT RW No ms
0x6067 - Position Window UDINT RW No UU
0x6068 - Position Window Time UINT RW No ms
0x3000 - Control Mode UINT RW No -
0x3002 - Baud Rate Select UINT RW No -
0x3006 - Encoder Output Pulse UDINT RW No Pulse
0x3007 - Encoder Output Mode UINT RW No
0x221C -
Analog Torque
Input(command/limit) Scale
UINT RW Yes 0.1%/V
0x221D -
Analog Torque
Input(command/limit) Offset
INT RW Yes mV
0x3007 - Digital Input Signal 1 Selection UINT RW No -
0x2201 - Digital Input Signal 2 Selection UINT RW No -
0x2202 - Digital Input Signal 3 Selection UINT RW No -
0x2203 - Digital Input Signal 4 Selection UINT RW No -
0x2204 - Digital Input Signal 5 Selection UINT RW No -
0x2205 - Digital Input Signal 6 Selection UINT RW No -
0x2206 - Digital Input Signal 7 Selection UINT RW No -
0x2207 - Digital Input Signal 8 Selection UINT RW No -
0x2208 - Digital Input Signal 9 Selection UINT RW No -
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