Pulse Input Position Operation - Parker P Series User Manual

6.1 Pulse Input Position Operation

You can operate pulse input-type position control using a host controller with position
determination function.
To do this, the control mode [0x3000] should be set to 1.
The figure below shows the internal block diagram of pulse input-type position control
mode.
Control Mode : Pulse Input Position
Torque Offset (0x60B2)
Velocity Offset (0x60B1)
Pulse Input ( PF+/PF- , PR+/PR- )
Pulse Input Logic (0x3003)
Pulse Input Filter (0x3004)
Control Mode (0x3000)
Torque Actual Value (0x6077)
Velocity Actual Value (0x606C)
Position Actual Value (0x6064)
Pulse Output (A/B/Z Phase)
Following Error Actual Value (0x60F4)
Following Error Window (0x6065)
Following Error in
Following
Statusword (0x6041.13)
Error TimeOut
(0x6066)
Following Error
Figure 40. Pulse Input Position Operation
Parker Hannifin
Gear Ratio
Position Demand
1
Value (0x6062)
C
Gear Ratio
Pulse
Input
Setup
6
7
8
Encorder Output Pulse
Regeneration
Position Demand
C
Value (0x6062)
+
9
-
Following
Error Window
Comparator
Position Demand Internal
Value (0x60FC)
+
+
Position
Control
Gear Ratio
Inverse
Position Actual Internal
Value (0x6063)
Gear Ratio
Inverse
Position Window (0x6067)
Target Reached in
Position
Statusword (0x6041.10)
WindowTime
(0x6068)
Position Reached
P series User Guide
+
+
Velocity Torque
M
Control Control
Enc.
Velocity
Calculation
Position
Calculation
Trajectory
Generator
ePosition
+
Position
Reached Window 8
Comparator
-
Position Actual
Value (0x6064)
114