Delta MH300 Series

Chapter 12 Description of Parameter Settings
MH300
12.1-11-16
 When using a communication absolute encoder, force Pr.11-60 bit1 = 1 to calculate the single-
turn revolution at the load side by PPR, and to ensure the single-point positioning function is
normal.
 If you need to use the hardware limitation function, enable the MIx = 44 (Negative limit switch)
or MIx = 45 (Positive limit switch).
 Conditions to use Pr.11-60 bit8 (Operation direction definition):
1. The position, speed and torque command source are all from CANopen.
2. The position, speed and torque command source are communication card, and the
communication decoding method is CiA402 or Delta defines 60xx.
 Pr.11-60 bit 8 (Operation direction definition) is valid after powering ON again.
11-62
Encoder at Load Side ppr Number (High byte)
Default: 0
Settings 0–65535
11-63
Encoder at Load Side ppr Number (Low byte)
Default: 2400
Settings 0–65535
 When the encoder is installed at the motor side and the Z-phase is installed at the load side, you
must set the PPR number at the load side to ensure the actual number of pulses per revolution
because the pulse number for single revolution relates to the mechanical gear ratio and encoder
PPR.
For example:
Assume that the mechanical gear ratio of the motor side to the load side is 10:1 (motor’s 10
revolutions = load’s 1 revolution) and Pr.10-01 = 1024:
 If the position is at zero degree of the load side, you should set Pr.11-62 = 0, Pr.11-63 = 10240
( =1024 x 10).
 If the position is at 270 degrees of the load side, you should set Pr.11-65 = 0, Pr.11-68 = 7680
( =1024 x 3/4).
 Change the setting of Pr.10-01, the value of Pr.11-63 will be changed, and this may also affect
the setting range of Pr.11-66 at the same time.
For example:
In the beginning, Pr.10-01 = 600, Pr.11-63 = 2400, the setting range of Pr.11-66 = 0–2399. If
Pr.10-01 changes to 1024, then Pr.11-63 changes to 4096 automatically, and the setting range of
Pr.11-66 becomes 0–4095.
11-64
Single-point Positioning Rising Speed
Default: 10.00
Settings 0.10–according to the settings for Pr.11-43 and Pr.11-45
 When you perform a single-point positioning function, decelerate the system to Pr.11-64 setting
speed before positioning.
 The setting range for single-point positioning rising speed is calculated according to the setting
of Pr.11-43 (Position control maximum frequency) and Pr.11-45 (Position control deceleration
time).