Parker TPDM User Manual page 137

Parker Hannifin Manufacturing Srl
[0x6061] 'Modes of operation display': see the previous.
[0x6063] 'position actual value (counts)': If read by mean of SDO or mapped on PDO 1 or 2
returns the value of position feedback in counts from pr[63:62] if mapped on PDO
4 returns the value of the position feedback at the sync signal.
[0x6064] 'position actual value (units)': If read by mean of SDO or mapped on PDO 1 or 2
returns the value in counts of position feedback pr[63:62] transformed in user units
by mean of position factor if mapped on PDO 4 returns the value of the position
feedback at the sync signal in counts (the algorithm of interpolated mode does not
support factor group).
[0x6065] 'Following error window': it is converted in counts by mean of position factor then
set in SERVO1 (pr[55]) the parameters is used to test following error. The
parameters of SERVO1 are changed by the firmware only if in remote mode.
[0x6066] 'Following error timeout': resolution of 1.024 msec per unit
[0x6067] 'Position window': in user units converted by mean of position factor and compared
with the motor position to check if target reached in profile position and
interpolated position modes.
[0x6068] 'Position window time': resolution of 1.024 msec per unit
[0x607a] 'Target position': in user units converted by mean of position factor and used in
profile position mode (in this mode some elements of CAM tab 0 are used as spare
memory and so affected by changes).
[0x607c] 'Home offset': in position units converted by position factor
[0x6081] 'profile velocity': profile velocity in profile position mode(in counts/sec o RPM
depending on unit selection (standard or not) with b272.1)
[0x6083] 'profile acceleration': acceleration of profile in profile position mode (in
counts/sec^2 or ms/kRPM depending on unit selection (standard or not) with
b272.1)
[0x6084] 'profile deceleration': deceleration of profile in profile position mode (in
counts/sec^2 or ms/kRPM depending on unit selection (standard or not) with
b272.1)
[0x6085] 'quick stop deceleration': deceleration in quick stop action
[0x6086] 'Motion profile type': valid values 0.
[0x6093][1] 'Position factor': Numerator position factor
[0x6093][2] 'Position factor': Denominator position factor
[0x6094][1] 'Velocity encoder factor': Numerator velocity factor
[0x6094][2] 'Velocity encoder factor': Denominator velocity factor
[0x6097][1] 'Acceleration factor': Numerator acceleration factor
[0x6097][2] 'Acceleration factor': Denominator acceleration factor
[0x6098] 'Homing method': all standard values available.
[0x6099][1] 'Homing speeds': searching sensor velocity (in counts/sec or RPM depending on
unit selection (standard or not) with b272.1)
[0x6099][2] 'Homing speeds': searching index velocity (in counts/sec or RPM depending on
unit selection (standard or not) with b272.1)
[0x609a] 'Homing acceleration': acceleration homing (in counts/sec^2 or ms/kRPM depending
on unit selection (standard or not) with b272.1)
[0x60b8] 'Touch Probe function': this object shall indicate the configured function. Bit 0 (1)
enable probe1, bit 4 (1) enable sampling at positive edge of probe1; bit 8 (1) enable
probe2, bit 12 (1) enable sampling at positive edge of probe2.
[0x60b9] 'Touch Probe status': this object shall provide the status of the touch probe. Bit 0-
probe1: (0) switched off, (1) enabled. Bit 1-probe1: (1) touch probe 1 positive edge
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user's manual TPDM