Parker HPD2N

Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual
47
PARAMETERS FOR OPERATING MODE 9
Pr50 Pulse input multiplication factor K. Default=1. If b70.9=1 frequency/direction
input pulses are multiplied by Pr50 and the result is added to Pr64:65. The frequency
input direction signal must be forced to a fixed level (logical 0). Refer to the chapter
Frequency input connection for the connection diagrams.
Pr51 Acceleration time. Unit=s/krpm, range=0.002..30.000, resolution=0.001 sec,
default=0.002 S. Acceleration ramp for positioning profile.
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.