Table 23. Profile Torque Mode Related Objects - Parker P Series User Manual

Sub
Index
Index
0x606D - Velocity Window
0x606E - Velocity Window Time
0x6077 - Torque Actual Value
0x606C - Actual Velocity Value
0x6064 - Actual Position Value
Actual Internal Position
0x6063 -
Value

Table 23. Profile Torque Mode Related Objects

 Internal Block Diagram of PT Mode
0x607F
Max. Profile
Velocity [UU/s]
0x6071
Target Torque
[0.1%]
1
2
0x60787
Target Slope
[0.1%/s]
Velocity
Limit
Function
Gear Ratio
7
Inverse
0x606C
Velocity Actual
Value [UU/s]
0x6077
Torque Actual
Value [0.1%]
6
Positon
0x6064
Calulation
Position Actual
Value [UU]
Gear Ratio
8
Inverse
Parker Hannifin
Variable
Name
Gear Ratio
Motor 0x6091:01
Shaft 0x6091:02
Velocity Limit
Select & Command
Generate
Torque Select
Command
Value
Speed Control
+
P Gain I Gain
1 0x2102 0x2103
-
0x2106 0x2107
2
Speed Feedback
Filter
Time 0x210B
Velocity
Calulation
Encoder Motor
0x6063
Position Internal
Actual Value [pulse]
P series EtherCAT Drive User Guide
Accessibility
type
UINT RW
UINT RW
INT RO
DINT RO
DINT RO
DINT RO
0x230D
0x230E
P/PI Gain Conversion
P/PI
0x2114
Mode
Torque 0x2115
Speed 0x2116
Acc. 0x2117
Following
0x2118
Error
0x6074
Torque Demand
Value [0.1%]
Current Control
Gain 0x2514
PDO
Unit
assignment
No UU/s
No ms
Yes 0.1%
Yes UU/s
Yes UU
Yes pulse
Gain Conversion
Mode 0x2119
Time1 0x211A
0x211B
Time2
Waiting
0x211C
Time1
Waiting
0x211D
Time2
Notch Filter
Adaptive Filter
0x2500
function Select
Frequency Width
1 0x2501 0x2502 0x2503
2 0x2504 0x2505 0x2506
3 0x2507 0x2508 0x2509
0x250A 0x250B 0x250C
4
Torque Command
Filter
1 0x2104
2 0x2108
Torque Limit
Select 0x2110
Ext. Positive 0x2111
C
Ext. Negative 0x2112
Positive 0x60E0
Negative 0x60E1
Max. 0x6072
Depth
91