Specifications

Parameters, Variables and Commands Ver. 0002 A - 37
PP103 Os (S103) ModuloValue
Function: Module value. If bit 7 of PP76 selects the "module format", this parameter defines the
position data range it works with. The increment between consecutive position
commands cannot be greater than half the value of PP103.
Valid values: 1 .. 214000°
Default value: 360° (since it is usually used in rotary axes)
PP104.# (S104.#) PositionKvGain
Function: It sets the proportional constant value in the position loop "Kv". It is similar to
parameter "PROGAIN" (P23) for the 8050/55 CNC axes. It is given in m/min of
programmed velocity command per mm of following error.
Valid values: 0..32767 (m/min/mm)
Examples: S104=1 means that the following error for a programmed feedrate of 1000 mm/min
(F1000 at the CNC) will be 1 mm.
S104=2 at F1000 the following error will be 0.5 mm.
To obtain a following error of 5 microns at F2000, Kv will be: 2/0.005, that is:
S104=400
Default value: 1 (1 mm of following error at a feedrate of F1000)
PP115 O (S115) PositionFeedback2Type
Function: It indicates various aspects of the Direct feedback X3:
Bit Meaning
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15 (MSB), 14, 13, 12, 11, 10, 9, 8 (reserved)
7, 6, 4, 2, (reserved)
5, Structure of distance coded feedback
= 0 counting positive with positive direction
= 1 counting negative with positive direction
3, Direction polarity
= 0 not inverted
= 1 inverted
1, Distance coded feedback
= 0 no distance coded reference marks
= 1 distance coded reference marks. See NP165, NP166.
0 (LSB) Feedback type
= 0 rotational feedback. See NP117.
= 1 lineal. See NP118.
PP147 (S147) HomingParameter
Function: 16-bit register to determine the mechanical and electrical relationship between the
homing process and the installation of the machine, the CNC or the Drive. When
homing is controlled by the Drive, only bits 0, 1, 2, 3, 5, 6 and 7 are applicable.
When homing is controlled by the CNC, only bits 1, 2, 3 and 4 are applicable
Bit Meaning
————————————————————————————-
15 (MSB), 14, 13, 12, 11, 10, 9, 8 (reserved)
7, Position after the procedure controlled by the Drive (reserved)
6, The reference mark I0 is ignored or not (reserved)
5, The home-switch is ignored or not
= 0 the home-switch is not ignored (by default)
= 1 the home-switch is ignored
4, To be interpreted at the drive (reserved)
3, Feedback being used
= 0 motor feedback (by default)
= 1 direct feedback
2, Home-switch connection (reserved)
1, Reference Mark position referred to that of the home-switch
= 0 first I0 after the up-flank of the home-switch
(by default)
= 1 First I0 after the down-flank of the home-switch
0 (LSB) Movement direction
= 0 positive: the motor shaft turns clockwise
(by default)
= 1 negative: the motor shaft turns counterclockwise