Block Diagram; Figure 41.Inner Block Diagram Under The Pulse Input Position - Parker P Series User Manual

6.1.3 Block Diagram

0x60B1
Velocity Offset
[UU/s]
Pulse Input
FP+/FP-
RP+/RP-
1
Logic
Filter
0x3000
Control Mode
0x60F4
Following Error
Actual Value [UU]
0x6040.10
Position Reached
Position Reached Window
in Statuswor
Comparator
Position
Window
TimeOut
Pulse Output
A phase
Encoder Output Pulse
B phase
Regeneration
Z phase
OutPulse
Output
Mode
Analog Input1
12bit A/D
A-TLMT Analog Torque Limit
Scale 0x221C
Offset 0x221D
0x60B2
Torque Offset
[0.1%]
Velocity
Limit
Function
A
Gear Ratio
7
Inverse
0x606C
Velocity Actual
Value [UU/s]
0x6077
Torque Actual
Value [0.1%]
6
Positon
B
Calulation

Figure 41.Inner Block Diagram under the Pulse Input Position

Parker Hannifin
Gear Ratio
0x6062
Position Demand
Value [UU]
C
Pulse Input Setup Gear Ratio
0x3003
Motor 0x6091:01
0x3004
Shaft 0x6091:02
9
8
0x6067
0x6066
0x6064
Position Actual
Value [UU]
0x3006
0x3007
Torque
Feed-Forward
Gain 0x210E
Filter 0x210F
Speed Control
+
P Gain I Gain
1 0x2102 0x2103
-
2 0x2106 0x2107
Speed Feedback
Filter
Time 0x210B
Velocity
Calulation
Encoder Motor
0x60FC
Position Demand
Internal Value [pulse]
Smoothing
Position Command Filter
Filter Time 0x2109
Average
0x210A
Filter Time
0x60BA or 0x60BC
Touch Probe 1/2
0x60BB or 0x60BD
Positive Edge
Touch Probe 1/2
Position Value[UU]
Negative Edge
Position Value[UU]
+
Gear Ratio
Inverse
-
+
P/PI Gain Conversion
P/PI
0x2114
Mode
Torque 0x2115
Speed 0x2116 +
Acc. 0x2117
Following
0x2118
Error
Disturbance
Observer
Gain 0x2512
Filter 0x2513
Current Control
Gain 0x2514
0x6074
Torque Demand
Value [0.1%]
P series User Guide
Velocity
Feed-Forward
Gain 0x210C
+
0x210D
Filter
Position Control
P Gain
+
Gain 1 0x2101
+
-
Gain 2 0x2105
0x6063
Position Internal
Actual Value [pulse]
Gain Conversion
Mode 0x2119
Time1 0x211A
Time2 0x211B
Waiting
0x211C
Time1
Waiting
0x211D
Time2
Notch Filter
+
Adaptive Filter
0x2500
function Select
Frequency Width Depth
1 0x2501 0x2502 0x2503
0x2506
2 0x2504 0x2505
+
3 0x2507 0x2508 0x2509
4 0x250A 0x250B 0x250C
Torque Command
Filter
1 0x2104
2 0x2108
Torque Limit
Select 0x2110
Ext. Positive 0x2111
Ext. Negative 0x2112
Positive 0x60E0
Negative 0x60E1
Max. 0x6072
117
+
+
A
B