Specifications

A - 50 Parameters, Variables and Commands Ver. 0002
SP42 O (S124) StandStillWindow
Function: Margin of low speeds that will activate logic mark “n
feedbackl
< n
min
”.
The logic mark is variable SV5.
This nomenclature, n
min
, corresponds to the one defined by SERCOS. In the
machine-tool world, it is called n=0.
Example:
If in a particular application, we would like to know when the motor is stopped within
a 10 rpm margin, we would set this parameter SP42 with a value of 10 and when the
motor stops, its associated mark SV5 will be activated.
Valid values: 0..SP12 (NominalMotorSpeed) rpm.
Default value: 20 rpm.
SP43 O (S43) VelocityPolarityParameter
Función: This parameter is used to switch polarities of velocity data for specific applications.
When in velocity loop, except for the velocity command, the sign is changed only on
the monitored data, but not internally. The motor shaft turns clockwise when there is
a positive velocity command difference and no inversion is programmed. This
parameter cannot be used to solve the positive feedback problem originated
because the 2nd feedback counts in the opposite direction (motor run away). This
case is only solved using parameter PP115 -S115- PositionFeedback2Type.
Version: Operative from version 04.01 on.
Bit Meaning
————————————————————————————-
15 (MSB) - 3 (reserved)
2, Velocity feedback value
= 0 non-inverted
= 1 inverted
1, (reserved)
0 (LSB) Velocity command value
= 0 non-inverted
= 1 inverted
SP60.# O (S138.#) AccelerationLimit
SP62.# O (F1606.#) AccelerationLimit2
SP64.# O (F1608.#) AccelerationLimit3
Function: Acceleration limit 1, 2, 3. They define, together with SP61 and SP63, the ramps for
filtering the velocity command SV8.
In order for them to be effective, SP80 must be "0".
SP60 is also useful in the Jerk limitation mode.
Units: rad/s
2
. The conversion is 1 rad/sec
2
= 9.5492 rpm/s = 0.009549 rpm/ms
Valid values: 0..2
16
(by default, 1000)
SP61.# O (F1605.#) AccelerationLimitVelocity2
SP63.# O (F1607.#) AccelerationLimitVelocity3
Function: Velocity limit up to which acceleration 1, 2 is applied. They define, together with SP60,
SP61 and SP62, the ramps for filtering the velocity command SV8.
In order for them to be effective, SP80 must be "0".
Valid values: 0..10000 rpm.
Default value: 1000 rpm.
SP65.# O (F1609.#) EmergencyAcceleration
Function: In an emergency stop, it limits the velocity command acceleration to stop the motor.
When set to "0", its limiting effect is canceled. SP70 must be set to "1" in order for the
SP65 limitation to be applied during an emergency stop.
Units: rad/s
2
. The conversion is 1 rad/sec
2
= 9.5492 rpm/s = 0.009549 rpm/ms
Valid values: 0..2
16
(by default, 1000)
SP70 O (F1610) AccelerationOnEmergency
Function: Determines whether or not in an emergency stop caused by Speed_Enable, Halt
function, or Stop due to Error, the acceleration limit set by SP65 is applied or not.
Valid values: 0,1 (No ramps applied / Yes)
Default values: 0 (No ramps applied)