Programmable Parameters - Haas+Sohn HRT 160 Operator's And Service Manual

There are 37 stored parameters (46 for brushless units) associated with each servo controller. There is a
battery in the controller which will keep the parameters (and the stored program) saved for up to eight years.
These parameters are used to change the way the controller and servo loop operate. To change a parameter,
go to the PROGRAM mode by pressing the MODE button. Then press the up arrow and hold it at Step 1 for
three seconds. After three seconds, the display will change to the parameter entry mode. The display will
indicate:
01 PP.nnnnn
For brushless units the display will indicate:
01U.nnnnnn
Where n is the value of Parameter 1. Parameters are one to five digits in length and are decimal integers. If
changing parameters associated with the servo loop, it is safest to do this with the servo loop off. Turn the
servo loop off by pressing EMERGENCY STOP. To exit from parameter entry mode, either press the MODE
button to go to RUN mode or push the down arrow key until you return to Step 1.
The up arrow key is used to select the next higher numbered parameter and the down arrow key is used to
select the next lower numbered parameter. Pressing the up arrow, down arrow, or MODE keys will cause an
entered parameter to be stored.
Most parameters have particular values to which they must be assigned to gain an intended result. There are
several parameters, however, which give numbers to add, such as +1. With these parameters, start at zero and
add the value for each option you would like.
Some of the parameters are protected from being changed by the user. This is because they could result in
unstable or unsafe servo operation. If you need to change any of these parameters, call HAAS Automation.
6.1 SC 4.0, 5.0 A
ND
The SC 4.0, 5.0 and 9.0 may require the following parameters to be recalculated for your application to enable
coordinated display feedback during operation. The default parameter list should be used as a starting point for
initial parameter settings.
1. Parameter 9 (and 20 if required) – is the calibration ratio between encoder pulses (encoder lines X4) and
your unit of measurement (degrees or inches) in steps per unit. Several examples follow:
Linear Example (6mm pitch ballscrew):
32768 (brushless) encoder pulses per revolution X 25.4 milimeters per inch / 6mm per revolution = 138718
Rotary Examples:
8000 (brush) encoder pulses per revolution X 90:1 gear ratio X 2:1 belt ratio / 360 degrees per revolution =
4000
32768 (brushless) encoder pulses per revolution X 90:1 gear ratio X 3:1 belt ratio / 360 degrees per
revolution = 24576
Rotary Example with a gear ratio divider (parameter 20) needed:
32768 (brushless) encoder pulses per revolution X 72:1 gear ratio X 2:1 belt ratio / 360 degrees per
revolution = 13107.2 since 13107.2 is non-integer we require a ratio divider (parameter 20) set to 5 then:
13107.2 ratio = 65536 (parameter 9) encoder steps / 5 (parameter 20) ratio divider.
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6. PROGRAMMABLE PARAMETERS

9.0 P S
ARAMETER ETUP
96-5047 rev L June 2005