Parker P Series - Figure 43. Velocity Controller Inner Block Diagram; Related Objects

Parker Hannifin
P Series User Guide 132
Torque Offset (0x60B2)
Torque Actual Value (0x6077)
Control Mode(0x3000)
Velocity Actual Value (0x606C)
Position Actual Value (0x6064)
Generate
Velocity
Command
Velocity
Control
Torque
Control
+
+
M
Velocity Demand
Value (0x606B)
Enc.
Velocity
Calculation
Position
Calculation
Control Mode : Velocity
Analog Velocity Command(A-OVR)
Digital Velocity Command(SPD1, SPD2, SPD3)
Analog Velocity Command Scale(0x2229)
Velocity Command Switch Select(0x231A)
Velocity Reached
Window
Comparator
Velocity Window
Time (0x606E)
Target Velocity
(0x60FF)
+ -
Target Reached in
Statusword (0x6041.10)
Velocity Reached
Velocity Window
(0x606D)
C
1
1
1
Figure 43. Velocity Controller Inner Block Diagram
6.4.1 Related objects
Index
Sub
Index
Name
Variable
Format
Accessibility
PDO
Allocation
Unit
0x2121
-
Drive Status Output1
UINT
RO
Yes
-
0x2122
-
Drive Status Output2
UINT
RO
Yes
-
0x6062
-
Position Demand Value
DINT
RO
Yes
UU
0x60FC
-
Position Demand Internal Value
DINT
RO
Yes
pulse
0x6063
-
Position Actual Internal Value
DINT
RO
Yes
pulse
0x6064
-
Position Actual Value
DINT
RO
Yes
UU
0x60B1
-
Velocity Offset
DINT
RW
Yes
UU/s
0x60B2
-
Torque Offset
INT
RW
Yes
0.1%
0x606C
-
Velocity Actual Value
DINT
RO
Yes
UU/s
0x6077
-
Torque Actual Value
INT
RO
Yes
0.1%
0x6065
-
Following Error Window
UDINT
RW
No
UU
0x6066
-
Following Error Timeout
UINT
RW
No
ms
0x6067
-
Position Window
UDINT
RW
No
UU
0x6068
-
Position Window Time
UINT
RW
No
ms
0x3000
-
Control Mode
UINT
RW
No
-
0x3002
-
Baud Rate Select
UINT
RW
No
-
0x3006
-
Encoder Output Pulse
UDINT
RW
No
Pulse
0x3007
-
Encoder Output Mode
UINT
RW
No
0x221C -
Analog Torque
Input(command/limit) Scale
UINT RW Yes 0.1%/V
0x221D -
Analog Torque
Input(command/limit) Offset
INT RW Yes mV
0x3007
-
Digital Input Signal 1 Selection
UINT
RW
No
-
0x2201
-
Digital Input Signal 2 Selection
UINT
RW
No
-
0x2202
-
Digital Input Signal 3 Selection
UINT
RW
No
-
0x2203
-
Digital Input Signal 4 Selection
UINT
RW
No
-
0x2204
-
Digital Input Signal 5 Selection
UINT
RW
No
-
0x2205
-
Digital Input Signal 6 Selection
UINT
RW
No
-
0x2206
-
Digital Input Signal 7 Selection
UINT
RW
No
-
0x2207
-
Digital Input Signal 8 Selection
UINT
RW
No
-
0x2208
-
Digital Input Signal 9 Selection
UINT
RW
No
-
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