- Parker Compact Servo Controller User Guide

Configuration
Absolute value function with standard resolver
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8.2.6 Absolute value function with standard resolver
Absolute value function without special sensor for up to 4096 rpm
♦
Parameter P206=2 is used to activate the absolute value resolver.
♦
COMPAX reads the current actual position cyclically every 2ms and stores this
data alternatively onto 2 memory stores (Pos 2, Pos 3) protected against power
failure.
♦
The current imported position is shown in Status S12.
♦
After Power On, the last stored actual positions (Pos 2 and Pos 3) are read and
compared with each other and the current read resolver angle (Pos 1).
A3 is set, when
♦
the last saved actual position (Pos
2) lies within a definable window
(P161) around Pos 1,
and when
♦
Pos 2 and Pos 3 are less than
P161 from one another (to ensure
that the drive stops when
switched off).
Renewed referencing (find machine
zero) is not required.
S12 is copied after Power On,
enabling of the controller or after an
error in S1.
Pos 1
Pos 2
Pos 4
P
1
6
1
P
1
6
1
Pos 3
If the last saved actual position (Pos 4) lies outside a definable window (P161),
then A3 is not set, so a renewed referencing (find machine zero) is necessary.
in the switched off status, the motor or mechanics must not be moved. Ensure this
by using e.g. a motor brake or self-braking gearbox.
P161 gives the maximum permissible angle difference between the saved and the
current actual position when switching on.
Range: 1 ... 2047; default value 100; where 4096 = 1 motor revolution.
If P161 is exceeded, then a new reference is necessary (find machine zero).
♦
After error E42 (resolver/sensor error), referencing must always be implemented.
♦
The absolute value sensor function described above only functions with
resolvers.
♦
The absolute value function with resolvers is not supported by COMPAX XX30.
The value range of the absolute value S12 lies between –2048 and 2047.9999 (0
corresponds to the machine zero when P1=0). In addition, a value sign conversion
occurs (value jumps from the positive maximum value to the negative maximum
value; or vice versa), whereby at the next comparison S12
→
S1 an error of
precisely 4096 occurs.
Use a real zero P1 to shift the value range (around –P1).
Ex. 1: P1=-2000 value range S12: -48 ... 4047 rpm.
With knowledge of this relationship, it is possible to create a positive travel area of
maximum 0 ... 4096 by the following actions:
! Travel to center of total travel area
! PH with P1=-2048 and P212=10
! S1 = S12 = 2048 at this point
Travel from POSA 0 ... POSA 4095.9999 possible without value sign conversion.
Activated with
P206=2
Condition:
Maximum angle
difference P161:
Note
Value range S12