Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual
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4.6. Operating modes
Operating modes are selected by means of parameter Pr31, whose default value is 0. Each
operating mode commands a speed loop by means of parameter Pr6 and can limit motor
torque with parameter Pr21 (see block diagrams). Speed control uses Pr7 or Pr6 as a reference
depending on the value of b40.2. Before changing Pr31, b40.2 must be set to 0 to prevent
undesired motor movement; it is now possible to set Pr31 to the value of the chosen operating
mode and load default parameters by means of parameter b99.11. The operating mode will be
enabled by setting b40.2 to 1.
4.6.1. Torque control
This operating mode (1) does not perform “classic” torque control because the speed loop
remains active to monitor limit speed; the torque reference is the main reference Pr7. To set
torque control first program the speed loop to create a stable system. Now set Pr2=1000 (10 V
= 100.0 % torque) b40.0=0 & b40.12=0; b40.2=1 to program the reserved reference, Pr31=1
to enable the operating mode and Pr50 for maximum speed.
PARAMETERS FOR OPERATING MODE 1
Pr50 Maximum speed. Unit=rpm, default=3000, range=0..9000. This parameter makes it
possible to limit maximum absolute motor speed during torque control operation.
4.6.2. Acceleration control
Instead of performing closed loop acceleration control, this mode (2) uses main reference
Pr7 for dynamic modulation of the ramps. To program analogue acceleration control the first
requirement is a stable speed loop. When this is present set Pr2=ACC / 3.2 where ACC is
acceleration in rad/s
2
required with a 10V reference signal, b40.0 = 0, b40.12 = 0, b40.2 = 1
and Pr31 = 2. Maximum speed must be programmed in Pr50.
PARAMETERS FOR OPERATING MODE 2
Pr50 Maximum speed. Unit=rpm, default=3000, range=0..9000. This parameter makes it
possible to limit maximum absolute motor speed during operation with acceleration
reference.
Pr55 Acceleration/deceleration ramp, read-only parameter. Unit=s/krpm,
range=2..30000, resolution=1 thousandth of a second.
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