Parker PD-04 Series - Page 202

Parker Hannifin
P series User Guide 200
0x2111
External Positive Torque Limit Value
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 5000
3000
0.1%
RW
Yes
At all
times
Yes
Set the external positive torque limit value in accordance with the torque limit function
setting (0x2110).
0x2112
External Negative Torque Limit Value
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 5000
3000
0.1%
RW
Yes
At all
times
Yes
Set the external negative torque limit value in accordance with the torque limit function
setting (0x2110).
0x2113
Emergency Stop Torque
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 5000
1000
0.1%
RW
Yes
At all
times
Yes
Sets the stop torque for emergency stop (by POT, NOT, ESTOP input
0x2114
P/PI Control Conversion Mode
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 4
0
-
RW
Yes
At all
times
Yes
Set the PI control / P control conversion mode. Using this function improves the speed
control characteristics, reducing overshoot during speed operation as well as position
determination time during position operation.
Set Value
Setting Details
0
PI control at all times
1
Convert to P control when the command torque is over the P
control switch torque(0x2115)
2
Convert to P control when the command speed is over the P
control switch speed(0x2116)
3
Convert to P control when the acceleration command is over the
P control switch speed(0x2117)
4
Convert to P control when the following error is over the P control
switch following error(0x2117)