Haas+Sohn HRT 160 Operator's And Service Manual page 45

Parameter 13: Maximum Positive Travel, range 0 to 65535 (0 to 99999)
This is the positive travel limit in units*10 (entered value loses last digit). It applies only to linear motion
(i.e. Parameter 12=1,2,3, or 4). If it is set to 1000, positive travel will be limited to 100 inches. The entered
value is also affected by the gear ratio divider (parameter 20).
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)
Rotary Example (with a parameter 20 value of 3): 120.0 degrees of travel x 4000 ratio/3 = 160000
(entered value: 16000).
Parameter 14: Maximum Negative Travel, range 0 to 65535 ( 0 to 99999)
This is the negative travel limit in units*10 (entered value loses last digit). It applies only to linear motion
(i.e. Parameter 12=1,2,3, or 4). For examples see parameter 13.
Parameter 15: Backlash Amount, range 0 to 99
This parameter is used to compensate electronically for mechanical gear backlash. It is in units of encoder
steps. Note: this parameter cannot correct mechanical backlash.
Parameter 16: Auto Continue Dwell, range 0 to 99
This parameter causes a pause at the end of a step when the automatic continuation option is used. The
delay is in multiples of 1/10 second. Thus, a value of 13 will give 1.3 seconds of delay.
Used primarily for continuous duty, allowing for motor cool down time and longer motor life.
Parameter 17: Servo Loop Integral Gain, range 0 to 255 PROTECTED!
Servo loop integral gain. In addition to the range of 0 to 255, if the integral is to be disabled during
deceleration (for less overshoot), set Parameter 24 accordingly. Integral gain provides larger increases of
current to achieve target. This parameter, set too high, will often cause a hum.
Parameter 18: Acceleration, range 0 to 30000 (0 to 999999x100) PROTECTED!
This parameter defines how fast the motor is accelerated up to the desired speed. The value used in
(par 18)*100 in encoder steps/second/second. The highest acceleration is thus 3000000 steps per
second per second. It must be greater than or equal to Parameter 19, usually 2X. Lowering this value
results in gentler acceleration.
Parameter 19: Maximum Speed, range 0 to 10000 (0 to 999999x100)
This parameter defines the maximum speed (RPM of motor). The value used is (par 19)*100 in encoder
steps/second. The highest speed is therefore 1,000,000 steps per second. It must be less than or equal to
Parameter 18. If this parameter exceeds Parameter 36, only the smaller number is used. See Parameter
36 also. The entered value = the desired value/parameter 20 if a gear ratio divider is used.
Lowering this value results in reduced maximum speed (maximum motor RPM).
Standard Formula: degrees (or inches) per sec X ratio (parameter 9) / 100 = entered value in parameter
19.
Formula with Gear Ratio Divider (parameter 20): degrees (or inches) per second X ratio (parameter 9)/
[ratio divider (parameter 20) x 100] = entered value in parameter 19.
Parameter 20: Gear Ratio Divider, range 0 to 100 PROTECTED!
This parameter can be used to select non-integer gear ratios for Parameter 9. If Parameter 20 is set to
2 or more, Parameter 9 is divided by Parameter 20 before it is used. If this parameter is set to 0 or 1, no
change is made to the Parameter 9 value.
Example 1: Parameter 9=2000 and Parameter 20=3, the number of steps per unit will be 2000/3 =
666.667.
Example 2 ( with a gear ratio divider parameter 20 needed):
32768 (brushless) encoder pulses per revolution X 72:1gear 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.
44 96-5047 rev L June 2005