Coordinate Setting; Figure 53. Internal Blocks Of Indexing Position Mode - Parker P Series User Manual

Analog Input1
12bit A/D
A-TLMT
Analog Torque Limit
Scale 0x221C
0x221D
Offset
0x60B2
Torque Offset
[0.1%]
Velocity
Limit
Function
A
Gear Ratio
7
Inverse
Speed Feedback
0x606C
Velocity Actual
Time
Value [UU/s]
0x6077
Torque Actual
Value [0.1%]
6
Positon
B
Calulation

Figure 53. Internal Blocks of Indexing Position Mode

8.1.2 Coordinate Setting

Under the indexing mode, the two coordinate methods below can be used.
 Linear Coordinate Method
Linear coordinate expresses the position value within the range from–2147483648 to
+2147483647. If the value exceeds +2147483647 when rotating forward, the lowest
value (–2147483648) is displayed. If the value exceeds–2147483648 when rotating
reverses, the highest value (+2147483647) is displayed.
Parker Hannifin
Torque
Feed-Forward
Gain 0x210E
Filter 0x210F
Speed Control
+
P Gain I Gain
1 0x2102 0x2103
-
2 0x2106 0x2107
Filter
0x210B
Velocity
Calulation
Encoder Motor
+
+
P/PI Gain Conversion
P/PI
0x2114
Mode
+
Torque 0x2115
Speed 0x2116 +
0x2117
Acc.
Following
0x2118
Error
Disturbance
Observer
Gain 0x2512
Filter 0x2513
Current Control
Gain 0x2514
0x6074
Torque Demand
Value [0.1%]
Notch Filter
Adaptive Filter
0x2500
function Select
Frequency Width Depth
1 0x2501 0x2502 0x2503
0x2506
2 0x2504 0x2505
3 0x2507 0x2508 0x2509
4 0x250A 0x250B 0x250C
Torque Command
Filter
1 0x2104
2 0x2108
Torque Limit
Select 0x2110
Ext. Positive 0x2111
Ext. Negative 0x2112
Positive 0x60E0
0x60E1
Negative
Max. 0x6072
P series User Guide 162