Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual
50
Pr57 Position control loop proportional gain. Default=100, range 0..32000.
Pr60:61 Position control loop reference. Unit=steps.
Pr62:63 Motor position. Unit=steps, 4096 steps per revolution.
Pr64:65 Reserved.
b70.5 Servo-error. b70.5 is set to 1 if the absolute position error is greater than the value
in Pr56. If utilised, b70.5 must be reset by the user, e.g. by 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.
b70.8 Axis lock/release. With this bit you can lock (=1) or release (=0) the axis from the
input encoder reference.
b70.9 Reserved.
b70.10 Reset type 1. This command resets motor and reference position.
b70.11 Reset type 2. Sets motor and reference position equal to the absolute shaft position.
b70.12 Reset type 3. Sets the reference equal to the motor position.
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