P6Type0No.ofwords9Declarationandconfigurationofspindles.SPINDLEDECLARATION8-bithexadecimal07WordN0Spindle1Spindle2Spindle4Spindle307070707WordN4WordN3WordN2WordN1Spindle4Spindle3Spindle2Spindle1P46-P47-P48-P49SPINDLESPEEDRANGESP46: Rangespindle1P47: Rangespindle2P48: Rangespindle3P49: Rangespindle4Thespeedsareexpressedinrev/minorinhundredthsofarevolutionperminute(dependingonthebit4,wordN1-N4ofP6).Thelimitspeedmustbesmallerorequaltothemaximumspeedoftherange.Ifthereisnovalue(defaultvalue),themaximumspeedoftherangeisthelimitspeed.Error29iftheprogrammedspeedhasnotbeendeclaredoriftheprogrammedspeedisgreaterthanthelimitspeed.MaxMinM40MinMaxWord

0Word

1LimitspeedWord

12M41MinMaxWord

2Word

3LimitspeedWord

13M42MinMaxWord

4Word

5LimitspeedWord

14M43MinMaxWord

6Word

7LimitspeedWord

15M44MinMaxWord

8Word

9LimitspeedWord

16MinMaxWord

10Word

11LimitspeedWord

17P7Bit0=0=1M45Directionofthescanningfortheautomaticrangeselection(option)Numberofencoderpulsesperspindlerevolution(multipliedby4).Example: InternalmeasurementunitIfP40=2000pts/rev,thespindlemoduloisequalto: 212(4096)

360/4096degIfP40=5000pts/rev,thespindlemoduloisequalto: 213(8192)

360/8192degIfP40=20000pts/rev,thespindlemoduloisequalto: 215(32768)

360/32768degIfP40=65536pts/rev,thespindlemoduloisequalto: 216(65536)

360/65536degExample:1spindlerevolution

2encoderrevolutions

1000pulses

4=4000ValuetoenterinthewordN0:4000P40Type4No.ofwords4Usedtodefinethenumberofmeasurementpointsoutputbythespindleencoder.SPINDLEMEASUREMENTCONVERSIONUnsigneddecimalSpindle1Spindle2Spindle3Spindle4WordN0WordN1WordN2WordN3Encoder500pulsesSpindle112P41Type0No.ofwords4Usedtodefinethespindlereferencedirection.SPINDLEREFERENCEREVERSAL8-bithexadecimalRange6 M4507WordN2Spindle307WordN1Spindle207WordN0Spindle107WordN3Spindle4Range1 M40Range2 M41Range3 M42Range5 M44Range4 M43Notes:Thevaluesmustbepositiveornull.Thehighestvalueis255.Thelowestvalueis0.Themaximumvaluemustbehigherthantheminimumvalue.100%mustbecontainedintherange.Ifincoherence

valueforcedbydefault0%min-120%maxforfeedpotentiometer.Spindle1WordN16N17MinMaxSpindle2WordN22N23MinMaxP67Type5No.ofwordsUnsigneddecimal32Usedtomodulate

the

feedratesbetweenminimumandmaximumrange.PARAMETRABLERANGEPOTENTIOMETERP42Type4No.ofwords4Usedtodefinethespindleoriginpositions.SPINDLEORIGINSUnsigneddecimalItispossibletoadjustthepositionofspindlesorigin.Thevaluesareexpressedininternalmeasurementincrements.Spindle1Spindle2Spindle3Spindle4WordN0WordN1WordN2WordN30P42ZeropulseBidirectionalservo-controlP43-P44-P45SPINDLEINDEXINGCRM1toCRM8=1SlopesetbyP45M19OutputtomachineprocessorIn-positionwindowPositionerrorSpindlereferenceNegativeindexingPositiveindexingZerospindlespeedsettingLimitspeedServo-controlphaseP441)Withinthein-positionwindow

POSBR1-POSBR4=1

2)Speed< rev/samplingP43Usedtodefinethemaximumspindlespeedduringindexing.P43Type5No.ofwords4MAXIMUMSPEEDDURINGSPINDLEINDEXINGUnsigneddecimalNotes:Thesespeedsareexpressedinrev/min.Withtheleastfavourableconditions(maximuminertia),thedrivemustbeabletostopthespindleinlessthanhalfaTURNatthisspeed.Foreachspindle,thevalueofP43canbereadandwritteninE9030x(read-onlyparameters).Spindle1Spindle2Spindle3Spindle4WordN0WordN1WordN2WordN3Limitspeed(spindlespeedreference)-P43P430P44Type5No.ofwords4Usedtodefinethespindleservo-loopaccuracy.SPINDLEINDEXINGIN-POSITIONWINDOWUnsigneddecimalNotes:Thesevaluesareexpressedininternalmeasurementunits.Thevaluesentereddependontheaccuracyofthemeasurementandthequalityoftheservo-system.Foreachspindle,thevalueofP44canbereadandwritteninE9031x(read-onlyparameters).Spindle1Spindle2Spindle3Spindle4WordN0WordN1WordN2WordN3P44P45Type5No.ofwords4Usedtodefinethespindleservo-loopramp.SPINDLEINDEXINGSERVO-LOOPGAINUnsigneddecimalNotes:P45isexpressedinrev/min/rev.Intheleastfavourableconditions,thedrivemustbeabletostopthespindleinlessthanhalfaturnwhenthespindlespeedisthel