Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
48
3.13 Spindle orientation
When this mode (12) is selected it becomes operational when b40.2=1. The motor reaches
the speed in Pr50 on the ramps in Pr52. It now spins at constant speed until it reaches the
position set in Pr54; at this point the position loop is closed.
OPERATING MODE 12 PARAMETERS
Pr50 Maximum speed during spindle orientation. Unit=rpm, default=200,
range=0..500. This parameter makes it possible to limit maximum motor speed
during the spindle orientation phase.
Pr52 Deceleration ramp. Unit=s/krpm, default=500, range=2...30000, resolution=0.001
seconds. When the spindle orientation command is transmitted (b40.2=1) the
deceleration requested of the motor can be limited by this parameter so that a speed
change of 1000 rpm takes Pr52 thousandths of a second.
Pr54 Motor shaft position for spindle orientation. Unit=step, default=0, range=0...4095.
One revolution of the motor shaft corresponds to 4096 steps.
Pr56 Servo-error window. Unit=steps, default=100. If the absolute value of the position
error exceeds the value set in Pr56, b70.5 is set to 1.
Pr57 Proportional gain of the position loop. Default=100, range 0..32000.
b70.5 Servo error. b70.5 is set to 1 if the absolute value of the position error exceeds the
value entered in Pr56, otherwise it is set to zero.
3.14 Digital locking + Positioner
Operating mode 13 is a digital locking plus a dynamic positioner plus a slip speed that can be used
at the same time.
About the digital-lock the ratio between master and slave can be programmed using parameters
Pr51 and Pr53. You can also select the ramp to utilise during catch or release cycles (Pr52) and add
slip speed (Pr58); using Pr52, the main ramps and the internal PLC makes it possible to program
various different catch and release modes with or without phase recovering. For connection diagrams
refer to the chapter Frequency input connection. If using a digital input for catch commands, to
minimise phase errors use digital input 1 in FAST-IN mode.
The positioner executes a trapezoidal profile. For define the motion the user have to define
acceleration with Pr59, steady time speed with Pr54 and absolute target position using the double
word parameter Pr68:Pr69 (one motor revolution is equivalent to 4096 steps). It is possible to change
all the parameters during motion. The actual demanded position can be read on parameter Pr64:65.
The position loop has proportional gain (Pr57) with a limit speed demands (Pr50) and a servo error
window (Pr56). Further information are available: master and slave locked, profile on, profile
direction, servo-error flag and master speed (Pr55).
OPERATING MODE 13 PARAMETERS
Pr50 Maximum speed. Unit=rpm, default=3000, range=0..9000. This parameter makes it
possible to restrict maximum motor speed; it may be useful to limit motor speed during
catch on fly cycles or during sudden speed changes (cf. Pr58).
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