Specifications

Positioning Drive Setup Ver. 0002 PSU - 15
PSU.9 STARTUP SUMMARY
General parameters
AP1: Selects the operating mode of the drive.
= 3: Position loop using motor feedback without Feedforward.
= 4: Position loop using direct feedback without Feedforward.
= 11: Position loop using motor feedback with Feedforward. (PP216)
= 12: Position loop using direct feedback with Feedforward. (PP216)
GP10: Direct feedback signal type.
= 0 There is no direct feedback.
= 1 Square TTL signal
= 2 "1Vpp" sinewave signal or differential square TTL signal.
Check the value taken by the parameter:
GP2: Motor feedback type.
= 0 Sinewave encoder
= 1 Resolver.
= 2 Squarewave TTL encoder.
= 5 Heidenhain encoder (ERN 1387) for Siemens motors, 1FT6 family.
When using motor feedback (AP1=3 or AP1=11)
The following parameters are ignored:
GP10: Direct feedback signal type.
PP54: Refvalue with direct feedback.
PP115: Direct feedback parameter setting.
NP117: Pitch/pulses setting for direct feedback.
When using external feedback (AP1=4 or AP1=12)
The following parameters are ignored:
PP150: Refshift for motor feedback.
PP52: Refvalue with motor feedback.
Resolution related parameters:
PP115: External feedback parameter setting.
Bit 5: Structure of distance coded feedback
= 0 counting positive with positive direction
= 1 counting negative with positive direction
Bit 3: Direction polarity
= 0 not inverted
= 1 inverted
Bit 1: Feedback type
= 0 rotational feedback. See NP117.
= 1 lineal. See NP118.
Bit 0: Direct feedback type:
= 0 Rotary (encoder), (NP117 will give pulses per turn).
= 1 Linear (scale), (NP117 will give the period of the scales feedback signal).
NP117: Resolution of the rotary direct feedback in pulses per turn.
NP118: Resolution of the linear direct feedback.
- period of the scale signal. 20 microns for Fagor scales (graduated glass), S118 = 20 microns.
NP121, NP122: The "NP121/NP122" ratio indicates the gear ratio between the motor and the ballscrew.
They only admit integer values up to 32767.
NP123: Ballscrew pitch. If it is a rotary axis, set NP123 = 360000.
Parameters to identify a linear feedback with distance-coded reference marks:
NP165: Distance between reference marks.
NP166: Distance between "coded" reference marks.