Parker Hannifin
P series User Guide ï¼”
6.6 Speed Control Setting ..................................................................................................... 134
6.6.1 Smooth Acceleration/Deceleration .......................................................................................134
6.6.2 Servo Lock Function .............................................................................................................135
6.6.3 Related Signal .......................................................................................................................135
6.7 Position Control Setting .................................................................................................. 136
6.7.1 Position Command Filter ......................................................................................................136
6.7.2 Signals Related with Position Control ..................................................................................138
6.8 Limit Setting ................................................................................................................... 139
6.8.1 Forward/Reverse Limit Setting .............................................................................................139
6.8.2 Brake Output Signal Function Setting ..................................................................................140
6.8.3 Torque Limit Setting .............................................................................................................142
6.9 Absolute Encoder Data Transmission ............................................................................. 146
6.10 Touch Probe Function ................................................................................................... 147
7. Procedure ..................................................................................................... 150
7.1 Procedure Function ......................................................................................................... 151
7.1.1 Manual Jog Operation ...........................................................................................................151
7.1.2 Program Jog Operation .....................................................................................................152
7.1.3 Alarm Record Detection ...................................................................................................153
7.1.4 Automatic Gain Tuning ....................................................................................................154
7.1.5 Index Pulse Probing ..........................................................................................................154
7.1.6 Absolute Encoder Reset ....................................................................................................155
7.1.7 Instantaneous Maximum Torque Reset ............................................................................156
7.1.8 Phase Current Offset Tuning ............................................................................................156
7.1.9 Software Reset ......................................................................................................................157
7.1.10 Commutation ......................................................................................................................157
8. Indexer.......................................................................................................... 158
8.1 Indexer Overview ............................................................................................................ 159
8.1.1 Control Methods ...................................................................................................................159
8.1.2 Coordinate Setting ............................................................................................................162
8.1.3 Index Structure ......................................................................................................................164
8.2 Indexing Position Operation ........................................................................................... 166
8.2.1 Concept of Index ...................................................................................................................166
8.2.2 Absolute and Relative Move .................................................................................................171
8.2.3 Registration Absolute and Relative Move ........................................................................172
8.2.4 Blending Absolute and Relative Move .............................................................................173
8.2.5 Rotary Absolute and Relative Move .................................................................................173
8.2.6 Rotary Shortest Move ...........................................................................................................174
8.2.7 Rotary Positive and Negative Move .....................................................................................175
8.3 Functions of Index Input Signal ...................................................................................... 176
8.4 Functions of Index Output Signal ................................................................................... 179
8.5 Analog Speed Override ................................................................................................... 180
9. Object ........................................................................................................... 181
9.1 Object Dictionary ............................................................................................................ 182
9.1.1 Data Type..........................................................................................................................182
9.1.2 General Objects ................................................................................................................182
9.1.3 Manufacturer Specific Objects .........................................................................................186
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