Parker SPD-N Series - Torque control (operating mode 1)

Parker Hannifin S.p.A. Divisione S.B.C. user’s manual TWIN-N and SPD-N
73
Par. Description field/Unit Def. Type
/Note
Pr212
F/Dir reference multiplier. Using this parameter
and Pr213, the user can set the ratio desired for the
input reference frequency.
-32000÷
+32000
1 R/W
M
Pr213 F/Dir reference divider. Using this parameter and
Pr212, the user can set the ratio desired for the input
reference frequency.
-32000÷
+32000
1 R/W
M
Pr215:214 F/Dir counter. Counter of input pulses. [steps] R
M
Pr216 F/Dir rotation speed (read-only). Indicates the
input reference frequency translated into rpm (based
on 4096 imp/revolution).
[rpm] R
M
Par. Description Def. Type
/Note
b70.0 Encoder in capture. If = 0, the capture of the value encoder master
is made from input 0. Otherwise, it is made by the input of the zero
trace encoder.
0 R/W
M
b70.1 Feedback. If = 0, feedback is done by the resolver. If = 1, feedback
is done by the encoder. In this last case, the parameters Pr52 and
Pr53 serve to rate the pulses per revolution at 4096.
0 R/W
M
b70.2 Feedback direction.. If = 1, the rotation of the motor is inverted.
Only with feedback done by the resolver.
0 R/W
M
b70.3
Output programmable on module (out1).
R/W
b70.4 Servo error. B70.4 will be set to 1 if the position error as an
absolute value exceeds the value set in Pr55.
0 R
b70.5 Servo error. B70.5 will be set to 1 if the position error as an
absolute value exceeds the value set in Pr56.
0 R
b70.6 Feed-forward enable. If set to 1, the feed-forward on the position
regulator is enabled.
0(*) R/W
M
b70.7 Feed forward scale enable. If B70.6=1, is possible enable the feed
forward scale.
0 R/W
M
b70.8
Enable encoder CAN.
b70.9
Master frequency reference Encoder in 0 – Encoder CAN 1
b70.10
Enable ENCODER CAN pointer (Pr158).
b70.12 (1) enable Pr152 on emgy message. Command in CANopen, it
generates an user message with value in Pr153:152. Automatic
reset when the message is sent.
b70.13
Reference master Encoder CAN frequency – Reference
frequency/direction IN2/IN3. Select the reference: (0) encoder
CAN, (1) digital inputs IN2/IN3.
0 R/W
M
b70.14 Value master captured. If set to 1, this means that the value
master has been captured. The user must set the bit to 1 (no
autoreset).
0 R/W
M
b70.15 Value motor captured. If set to 1, this means that the value motor
has been captured. The user must set the bit to 1.
0 R/W
M
b180.14 Master/Motor reference captured. (0) from master reference, (1)
from motor position. The value captured is in Pr59:58.
0 R/W
(*) 1 in OPM 14
0 in the other cases