Indexer Overview; Control Methods - Parker P Series User Manual

8.1 Indexer Overview

8.1.1 Control Methods

PD drives supports Indexing Position method and Pulse Input Position modes. The former
internally generates and controls position command to determine position, and the latter
receives pulse trains from outside and control them.
Indexing Position mode is a position control mode that internally generates position profiles
without external Host controller. To use index function, set the control mode (0x3000)to
‗Index Mode.'
The block diagram of the Indexing Position mode is as follows.
Control Mode : Indexing Position
Torque Offset (0x60B2)
Velocity Offset (0x60B1)
Load Indexing
Buffer
( Index00 ~ 63 )
Software Min./Max. Position Limit (0x607D:01/02)
Software Position Limit Function Select (0x2400)
Analog Velocity Override Mode (0x221E)
Modulo Factor (0x240C)
Coordinate Select (0x3001)
Control Mode (0x3000)
Start Index Number(0~63) (0x3008)
Quick Stop Deceleration (0x6085)
Quick Stop Option Code (0x605A)
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
Statusword (0x6041.13)
Following Error
Figure 52. Indexing Position Operation
Parker Hannifin
1
Trajectory
Generator
2
3
4
5
6
7
8
Encorder Output Pulse
Regeneration
Position Demand
Value (0x6062)
9
Following Following
Error TimeOut Error Window
(0x6066) Comparator
Gear Ratio
Position Demand Position Demand Internal
Value (0x6062) Value (0x60FC)
C
Position
Gear Ratio
Control
Gear Ratio
Inverse
Position Actual Internal
Value (0x6063)
Gear Ratio
Inverse
C
Position Window (0x6067)
+
-
Target Reached in
Statusword (0x6041.10)
Position Reached
+ +
+ +
Velocity
Control
Velocity
Calculation
Position
Calculation
Position Position
WindowTime Reached Window
(0x6068) Comparator
P series User Guide
Torque
M
Control
Enc.
Trajectory
Generator
ePosition
+
8
-
Position Actual
Value (0x6064)
159