Parker PD-04 Series User Manual

Parker Hannifin
P series User Guide ３
4.4.4 Encoder Output .......................................................................................................................85
4.5 I/O Signal Setting .............................................................................................................. 86
4.5.1 Allocating Digital Input Signals .............................................................................................86
4.5.2 Allocating Digital Output Signals ...........................................................................................89
4.5.3 Using User I/O ........................................................................................................................92
5. Tuning ............................................................................................................ 97
5.1 Servo Tuning Overview .................................................................................................... 98
5.2 Position Variable Overview .............................................................................................. 98
5.2.1 Commanded Position ..............................................................................................................98
5.2.2 Actual Position ........................................................................................................................99
5.3 Servo Response Overview ................................................................................................ 99
5.3.1 Stability ...................................................................................................................................99
5.3.2 Position Response Types ........................................................................................................99
5.3.3 Performance Measurements ..................................................................................................100
5.4 Automatic Gain Tuning .................................................................................................. 100
5.4.1 Related Objects .....................................................................................................................101
5.5 Manual Gain Tuning ....................................................................................................... 102
5.5.1 Speed Controller Tuning ...................................................................................................102
5.5.2 Position Controller Tuning ...............................................................................................102
5.6 Vibration Control ............................................................................................................ 103
5.7 Filters .............................................................................................................................. 103
5.7.1 Related Objects .....................................................................................................................104
5.7.2 Adaptive Filter ......................................................................................................................104
5.7.3 Related Objects .....................................................................................................................105
5.8 Analog Monitor ............................................................................................................... 105
5.8.1 Related Objects .....................................................................................................................106
5.8.2 Analog monitor output mode(0x2220) setting ..................................................................107
5.8.3 Analog monitor channel 1 setting (0x2221) .....................................................................107
5.8.4 Setting Example ................................................................................................................108
5.9 Gain Conversion ............................................................................................................. 109
5.9.1 Gain Group Conversion ........................................................................................................109
5.9.2 P/PI Control Conversion .......................................................................................................110
6. Command Reference .................................................................................... 113
6.1 Pulse Input Position Operation ....................................................................................... 114
6.1.1 Function Setting of Pulse Input Logic ..................................................................................115
6.1.2 Related Objects .....................................................................................................................115
6.1.3 Block Diagram ......................................................................................................................117
6.2 Function Setting of Pulse Input Filter ............................................................................. 118
6.3 Function Setting of PCLEAR ......................................................................................... 118
6.4 Homing ........................................................................................................................... 118
6.4.1 Homing Methods ..................................................................................................................119
6.4.2 Related Objects .....................................................................................................................120
6.5 Electronic Gear Setting ................................................................................................... 131
6.5.1 Electronic Gear .....................................................................................................................131
6.5.2 Example of Electronic Gear Setting .....................................................................................133

Parker PD-04 Series Specifications

General

Brand	Parker
Model	PD-04 Series
Category	Servo Drives
Language	English