Haas+Sohn HRT 160 Operator's And Service Manual page 42

2. Parameter 12, 13, 14 – give optimum display precision (decimal location). See parameter 12 description
for your setting. If travel limits are required, linear settings of 1,2,3 or 4 must be entered in parameter 12
and parameter 13&14 must be calculated and set as follows: (Entered value loses last digit.)
Linear Example (6mm pitch ballscrew):
20.0 inch travel X 138718 ratio = 2774360 (entered value: 277436)
Rotary Example (must also use "linear" settings of 1,2,3 or 4 entered in parameter 12):
120.0 degrees of travel X 4000 ratio = 480000 (entered value: 48000)
3. Parameter 3, 4, 17 – These parameters may have to be changed due to different motor load conditions.
Use standard values as a baseline and revise parameters based on the following:
A. Proportional gain – increases current in proportion to the proximity to the target position.
The farther from the target, the greater the current up to the maximum value in parameter
40. A mechanical analogy is a spring that will oscillate past the target unless dampened
by the derivative gain.
B. Derivative gain – resists motion effectively braking oscillations. This parameter is increased
in proportion to the p gain.
C. Integral gain – provides larger increases of current to achieve target. This parameter, set
too high, will often cause a hum.
4. Parameter 27 – options for home switch usage (required for repeatability after control shutdown).
All HAAS Indexers use a home switch used in conjunction with the Z pulse on the motor encoder (one for
each revolution of the motor) for repeatability. The home switch consists of a magnet (Haas PN 69-18101)
and proximity switch (Haas PN 36-3002), which is of the magnetically sensitive transistor type. When the
control is shut down and restarted, it will give a "no home" display, requiring the user to press the "zero
return" button. The motor then operates slowly in a clockwise direction (as viewed from the platter of a
rotary table) until the proximity switch is magnetically tripped and then backs up to the first Z pulse. (See
parameter code options in parameter section for actual options.) Note: to reverse direction when seeking a
home switch (if it currently moves away from the home switch during the home sequence), add 256 to the
value in parameter 27. Note: A home switch is not required for parameter 27. Setting Parameter 27 to 2 will
home at first Z pulse. To repeat home position when set to 2, the system must be jogged by using the
arrow keys to be manually moved within one revolution of the motor before homing the unit.
5. Summary of additionally useful parameters to SC 4.0, 5.0 and 9.0 users:
A. Parameter 7 – protect a program that won't be changed often.
B. Parameter 10 – continuous cycle repetition.
C. Parameter 11 – reverse the sign (+ or –) on the control display to match your positive direction
convention.
D. Parameter 15 – to enable precise positioning for reversed motion (compensating for mechanical
backlash).
E. Parameter 16 – dwell time between programmed steps. Also functions to cool motor for long motor
life.
F. Parameter 18 – lower number allows for gentler acceleration ( this value must be greater than
parameter 19, usually 2X).
G. Parameter 19 – lower number reduces speed (RPM of motor).
Formula: degrees (or inches) per sec X ratio (parameter 9) / 100 = entered value in parameter 19.
H. Parameters 25,32 – if your system has a brake, it must be timed to avoid motor overheat.
Motor Parameters 23, 28, 29, 36-45 should not be changed! This can damage the motor and will
void the warranty!
96-5047 rev L June 2005 41