Parker PD-04 Series

Parker Hannifin
P series User Guide 199
Applies low pass filter to the compensation added to the speed command by speed feed-
forward gain. Using this when a large speed feed forward gain is set or the change of
position command is severe will lead to improved system stability.
0x210E
Torque Feed-forward Gain
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 100
0
%
RW
Yes
At all
times
Yes
Set to feed forward gain to torque command for speed control.
0x210F
Torque Feed-forward Filter Time Constant
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 1000
10
0.1ms
RW
Yes
At all
times
Yes
Applies low pass filter to the compensation added to the torque command by torque-feed
forward gain torque
0x2110
Torque Limit Function Select
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 4
2
-
RW
Yes
At all
times
Yes
Select the function to limit the drive‘s output torque.
Set
Value
Descriptions
0
Torque is limited using the positive/negative torque limit value
depending on the direction of rotation. The maximum value is limited
by the maximum torque (0x6072)
- Forward: 0x60E0, B Torque is limited using the forward/negative
torque limit value depending on the direction of rotation. ackword:
0x60E1
1
The torque is limited using the torque limit value(0x6072) regardless
of operation direction
2
Torque is limited using the external positive/negative torque limit
value depending on the operation direction
- Forward: 0x2111, Reverse: 0x2112
3
Torque is limited using the internal and external positive/negative
torque limit value depending on the direction of rotation and torque
limit signal.
- Forward: 0x60E0(PCL without signal input), 0x2111(with PCL
signal input)
- Reverse: 0x60E1(NCL without signal input), 0x2112(with NCL
signal input)
4
The torque is limited using the torque limit value depending on the
analog input voltage.
- See analog torque limit scale (0x221C) and offset(0x221D)