FIAMA P3S I Guida

Position control for Servo unit P3S_I

Data: 13/01/16 Codice: P3S_I Rev 1.0 page 1/14

USER’S MANUAL AND MAINTENANCE

POSITION CONTROLLER “P3S_I”

FOR DRIVING OF SERVO UNIT “SERVO.M”

Position control for Servo unit P3S_I

Data: 13/01/16 Codice: P3S_I Rev 1.0 page 2/14

Manual purpose

This manual has been designed by the Manufacturer to provide the necessary information regarding the

instrument to those who are authorized to carry out safely its installation, maintenance, dismantling and

disposal. All the necessary information for the buyers and planners can be found in the Sales catalogue.

Other than adopting good technical construction methods, the information should be read carefully and

strictly applied. Inobservance of this information could cause risks for the health and safety of people and

economical damage. This information, provided by the Manufacturer in the original language(Italian) is also

available in other languages to satisfy legislative and/or commercial needs.

This manual must be kept in a good condition by a responsible person in an ideal place so that it is always

available for consultation. In case this manual is lost or deteriorates, a replacement should be requested

directly from the manufacturer quoting the manual’s code. This manual reflects the state of skill of the

instrument at the time of input on the market: however the manufacturer reserves the right to make changes,

add or improve the manual without giving any reason to hold the present manual inadequate.

Identification of the equipment

The identification plate represented is applied to the instrument.

To find the identification code of the instrument, consult the sales catalogue.

Environmental conditions

Temperature setting: min. 0°C, max. + 50°C.

It is forbidden to use the instrument other than its specific use and in potentially explosive conditions or where

anti- explosive elements are used.

Storage

Here below are some references to be followed for the storage of the instrument.

Avoid environments with excessive humidity and those exposed to bad weather (avoid open areas). Avoid

putting the instrument directly on the ground. Store the instrument in its original packing.

Conformity declaration and CEE marking

The instrument answers to the following Communitarian Directives:

2004/108/CEE Electromagnetic compatibility, with reference to general Rules EN61000-6-2 (immunity in

industrial environment) and EN50081-1 (emission in residential environment),

2006/95/CEE Low tension, modified Directive 93/68/CE.

Maintenance

Turn off the power before touching the internal parts.

Clean the external plastic parts using a soft, damp cloth with ethylic alcohol or water. Do not use hydrocarbon

solvents (petrol, diluents, etc.): using these products could affect the proper mechanical functioning of the

instrument.

Reparations should be done only and exclusively at the FIAMA technical assistance centre.

Calibrations and tests

It is advisable to calibrate the instrument periodically, once every working year.

To do the calibration, follow the calibration procedure indicated in the present manual.

Assistance request procedure

For any kind of technical assistance request, contact the sales department of the Manufacturer directly

indicating the information given on the identification plate, the number of hours used and the type of defect.

Manufacturer’s responsibility

The manufacturer declines any responsibility in case of:

• Using the instrument contrary to the national safety and accident-prevention laws.

• Wrong installation, inobservance or wrong procedures of the instructions provided in the present manual.

• Defective electrical power supply.

• Modifications or tampering.

• Operations carried out by untrained or unqualified staff.

The safety of the instrument also depends on the strict observance of the procedures indicated in the

manual: always operate the instrument in its functioning capacity and carry out a careful routine maintenance.

• All phases of inspection and maintenance should be done by qualified staff.

• The configurations provided in the manual are the only ones permitted.

• Do not try to use them anyway contrary to the indications provided.

• The instructions in this manual do not substitute but accomplish the obligations of the current legislation

regarding the safety laws.

Position control for Servo unit P3S_I

Data: 13/01/16 Codice: P3S_I Rev 1.0 page 3/14

Description

The controller P3S_I combined to the SERVO_E positioning unit carries out a particular suitable system for

the automation of machines that require driving of motorized axes.

The inputs of the position controller start, and emergency are opto-insulated.

The values are displayed on a high-brightness 5-digit display (range -9999 +99999) while an auxiliary 2-digit

display shows the program step during execution or the working constants.

The keyboard with 16 keys and 6 function indicators make the use and setting up of the positioning unit very

easy and immediate. The positioning unit can be linked up to 32 Servo units in network and can store up to

99 positioning program.

In order to optimize the positioning accuracy there are some parameters that can balance the system inertia,

clearances, wear and tear of mechanical couplings. Available working modes are: automatic, manual, single

positioning. A relays-output signals the positioning of all axes, a second possible connection error.

Serial connection to SERVO is RS485 with MODBUS RTU protocol. The keeping of data during machine off

is guaranteed by a non-volatile EEPROM memory. Suitable applications are in automatic size change,

motorized adjusting of reference marks, end strokes for cutting and bending.

Installation

Before installing the instrument, read the following warnings:

a) Connect the instrument strictly following the instructions of the manual.

b) Carry out the connections using the correct wires within the limits of the tension and power supply as

indicated in the technical data.

c) The instrument does not have an ON/OFF switch, hence it comes on when connected to the power supply.

For safety reasons, the equipment connected permanently to the power supply requires a bi-phasal selector

switch which should be within easy reach of the operator.

d) If the instrument is connected to any apparatus not isolated electrically, carry out an earth connection to

avoid it being connected directly through the structure of the machine.

d) It is the responsibility of the user to check, before using , the correct settings of the parameters of the

instrument to avoid damage to persons or things.

e) The instrument cannot function in a dangerous environment (inflammable or explosive). It can be

connected to elements that operate in the same atmosphere only through appropriate interfaces, according

to the current safety regulations.

g) Avoid dust, humidity, corrosive gases, heat sources.

Power supply

a) Before connecting the instrument, check that the power supply tension is within the permitted limits and

that it corresponds to the one indicated on the tag.

b) Carry out the electrical connections with the instrument disconnected.

c) For the power line to instruments and sensors, a power supply line separate from that of the power is

required : it is necessary to use an isolating transformer.

d) The power line should provide a device that separates the set fuses of the instruments and should not be

used to regulate relays, contactors, etc.

e) If the network tension is very disordered (eg. from the change-over of the power units, motors, inverters,

welders, etc.), use the appropriate filters of the network.

f) If an earth connection is needed, ensure that the plant has a good earth system: tension between neutral

and earth <1V and the resistance <6 Ohm.

Position control for Servo unit P3S_I

Data: 13/01/16 Codice: P3S_I Rev 1.0 page 4/14

INPUT DESRIPTIONS

The positioning device is controlled by 3 opto-isolated inputs, that are:

START it causes the positioning start, active from NA to NC

STOP it must be normally closed, if open it blocks or interrupts the positioning

RESET the changing over from NA to NC causes the reset or the preset loading according to the zero

reset procedure constant.

For switches see the connections scheme.

OUTPUT DESCRIPTIONS

The positioning device is able to manage 2 relays outputs:

POSITIONING END: starts at positioning end of axes (only if the positioning ends at the required value) and

works until next start or changing of function mode.

ERROR: starts in case of system error (see paragraph IX) due to:

-one or more axes that signal a connection error inside the serial network RS485,

-one or more axes that at positioning end are not at the programmed value.

For switches see the connections scheme.

PROGRAMMING

The keys used for programming are the following:

PFunction choice programming

EEnter to confirm the entered values

CClear to cancel/enter values

START- Increment or start key(only in the automatic/semiautomatic function)

STOP + Decrement or stop key (only in the automatic/semiautomatic function)

•Decimal point / prompt selection of a program value

KEYBOARD

To easy the use of P3SI, on the front panel under the main display, are reported some numbers to which are

associate the functions of the instrument, and some Led indicators that turn on when the corresponding

function works.

The following scheme describes the association between keys, functions and Led:

KEYS FUNCTION

INDICATOR ASSOCIATED FUNCTION

1MAN Manual axis movement

2SING Positioning of axis at a single value

3A/SAutomatic/semiautomatic positioning

4COST Setting of positioning machine parameters

5PROG Writing of dimensions and positioning programmes

N.B.: in order to ease the association between the wished function and the corresponding number, on the

front panel next to every function indicator it is reported the number corresponding to the associated function.

Position control for Servo unit P3S_I

Data: 13/01/16 Codice: P3S_I Rev 1.0 page 5/14

START COMMAND

Each time that the positioning device recognize a Start command, starts the selected positioning program.

The Start command is as closing the START input in terminal board or to press for a few seconds key

START until the axes start to move. In case of more programs in string (it means with parameter

/,%

/,%/,%

/,%set at 2 or 3, (see chapter “System Register”) the START input has to be activated any times a

program has to start.

STOP COMMAND

At any moment is possible to stop the carrying out of the positioning program (automatic, single or manual)

opening the STOP input or pressing, for more then 1 second, key STOP until appears message /

//

/ .

N.B: if an axis has the servomotor programmed with an high ramp time, after a STOP control, the axis will

not stop immediately but only after ending the downward ramp.

MAIN DISPLAY

By turning on, the P3SI shows its main display. If there is only one axis, the main display visualise the value

of the single axis. In case of more axes, it shows message .%1

.%1.%1

.%1 .

On the auxiliary display is showed the program number that has to be carried out by next start control.

In this case all Led indicators are turned off.

N.B. after carrying out any function, it always returns back on main display.

PASSWORD REQUEST

To keep from accidental handlings, the access of some function is protected by password. Trying to carry

out this function on the main display appear 3 zeroes with last digit blinking: this is the password request and

to go on it is necessary digit number 273 and confirm with key E.

ERROR SIGNAL

Two types of error are carried out: communication error and positioning error. Each time there is one of these

errors switch on relays ERROR.

Communication error

It happens if there is at least one axis with that the P3SI cannot communicate.

In most case this is caused by a wrong connection or a wrong setting of parameter +)

+)+)

+)(number of

axes, see chapter “System Register”) or of parameter %.

%.%.

%.xx (address of axes see chapter “System

......

...and switch on relay ERROR. The

recognition of communication error is assured with P3SI in operating mode, but in programming/setting

mode this relay cannot be up-dated.

Positioning error

It happens when by end of an axis positioning, the value of end positioning is different of value due for a

tolerance given by register //

////

// (see chapter “System Register”). In this case is switched on relay

ERROR and the main display shows an message error as the following: the first 3 digits show message

..

....

.. while the last two indicate the number of axis in that at first has been found a positioning error.

Example: ..

....

.. indicate positioning error on axis 1.

To cancel the end-positioning error and go on it is necessary keep pressed key STOP until appears

+

++

+and relay error is switched off.

CHOICE OF WORKING AXIS

In case that the P3SI controls more then 1 axis, before carrying out some functions, it is necessary to select

the axis with which you want to work. In this phase on the auxiliary display appears the index of the selected

axis with last digit blinking, using keys + and – increase or decrease the digit until the wished value and

confirm with key E.

For a fast choice of axis press key Cand up from this moment begin to blink the two digits of the auxiliary

display, digit with the numeric keys the number of axis required and confirm with key E.

Position control for Servo unit P3S_I

Data: 13/01/16 Codice: P3S_I Rev 1.0 page 6/14

WORKING MODE

The P3SI can work in 3 different modes.

Automatic mode

This mode is that in which the instrument usually is after turning on.

If there is only one servomotor on the display appears the current value of axis, while there are more

servomotors appear .%1

.%1.%1

.%1.

With parameter /,%

/,%/,%

/,% (see chapter “ System Register) set at 1 or 2 (it means when all the axes reach the

value at the same moment), the auxiliary display shows the program number in execution, otherwise shows

the number of selected axis. With one axis on the auxiliary display appears always the selected program.

The instrument wait for the start control (from keyboard or terminal board) to carry out the selected program.

During carrying out of positioning, if there is one axis, on the main display appears the value and in case of

more axes shows the message “your system is running please wait” . At the end of positioning, if all the

axes are in the correct position, switches on the relay END POSITIONING, otherwise start the relay ERROR.

Single mode

Pressing key Pfollowed by 2is possible position a single axis to a given value.

If there is only one servomotor skip to the next paragraph.

If there are more axes it is necessary to choose which axis has to move: on the auxiliary display appears the

blinking number of selected axis; choose that required (with keys + and – or with Cand the numeric

keyboard) and confirm with E.

Now on the display appears a 0 blinking, digit the value to reach and press key E. In this moment the axis

starts to move until reaching the set value. Once that the axis reached the value switches on the end

positioning relay and starts to blink the auxiliary display indicating that the device is waiting for a new control.

Press Eto put in another value or Pto esc of the single positioning mode, or choose another axis (in case of

more servomotors linked to the device). In this working mode, with only one axis, on the auxiliary display

appears SI. At the end of positioning, if the axis is in the correct position, switches on relay END POSITIONING,

otherwise start the relay ERROR.

Manual mode

Pressing key Pfollowed by 1is it possible to move by hand a single axis.

If there is more then 1 axis is it necessary to choose the one that has to be moved (with keys + and – or with

Cand the numeric keyboard see chapter “Choice of working axis”).

Press key >> to move the axis forward fast.

Press key > to move the axis forward slow.

Press key << to move the axis backward fast.

Press key << to move the axis backward slow.

Loosing the key the axis stops.

Pressing on key P, if there is only one axis, goes out of manual mode, otherwise with more axes starts to

blink the last digit of auxiliary display indicating the to make another handling in manual mode it is necessary

to choose another axis.

To esc press Pfor a second time.

N.B.: when there is only one axis, during this working mode, on the auxiliary display appears MA.

POSITIONING PROGRAMS

A positioning program is a series of values in which, to each value corresponds an axis. It is possible to store

up to 99 programs.

Example: supposing to have 2 axes and that program n°1 is as follows: Value1=212,0. Value2=600,0.

By choosing program n°1, after start control, axis 1 will position at 212,0 and axis 2 at 600,0.

Writing of positioning programs

On main display press Pfollowed by 5, will be requested password 273 (see chapter “Choice of working

axis”). Now on the display appears PRG01 to indicate that the selected program is the number 1. Using keys

+ and -, increases or decreases the number of program. This way, by each step, the first 3 digits of main

display show PRG while the last two indicate the number of program. Once reached the wished program

number, press E. On the main display appears the value of the first value of choose program while on the

auxiliary display appears 01 that indicates to which axis corresponds the showed value.

With keys + and – is possible to run all the values of program.

At any moment, the number showed on the auxiliary display indicates to which axis correspond the value

showed. To modify a value, press key C, on the main display appears a blinking “0”, digit the value that has to

be stored and press E. The value will be saved then is possible to go to the next value. Repeat this

proceeding for all the values that has to be changed.

Position control for Servo unit P3S_I

Data: 13/01/16 Codice: P3S_I Rev 1.0 page 7/14

Pressing on key P, if there is only 1 axis, you go out of the writing of programs otherwise you step on the next

program and is possible to repeat the proceeding.

To esc it is necessary to press key Pa second time.

Fast access to a program

During the choice of a program, instead of increase and decrease the number with + and -, is possible to

access directly to any program following this proceeding:

- press

Cand start to blink 2 digits on the auxiliary display,

- digit the number of wished program,

- confirm with

Fast access to a value inside the program

By running the values of a program is possible to access to a value number without using key + and – but

using the following proceeding:

- press

• (decimal point) and start to blink the two digits on the auxiliary display,

- digit the number of wished value,

- confirm with

CHOICE OF POSITIONG PROGRAM TO CARRY OUT

On the main display, on the auxiliary display is always showed the number of program to carry out by next

START control. To modify press key Cand appears the password 273 request to be confirmed with E. Now

start to blink the digits and is possible to digit the number of wished program to be confirmed with E.

In case of frequent positioning program changes, to quick this operation, is possible to delete the password

request setting parameter at 



0 (see chapter “System Register”).

SYSTEM REGISTER

The P3SI has Register through which is possible to adjust the system parameters. To access to this Register,

from main display press key Pfollowed by 4. Put in password 273 an confirm with E.

Now, using keys + and – is possible to run all the System Register. At any step, on the main display is

showed the Register name while on the auxiliary display appears /

//

/ (as constants).

To select a parameter press key E to visualize its value. To confirm this value press E. To modify press Cto

make appear on the main display a blinking “0”: digit the wished value and confirm with E.

After confirming or modifying is it possible to step to next parameter.

The System Register of P3SI are the following:

+

++

+: number of axes of the system

Set the number of servomotors linked to P3SI. It can have a value between 1 and 99; the first parameter

to set because the length of programs depends on it.

Allowed values: between 1 and 99.





: axis of which are to read or to change the parameters

Stepping into this register with key Eyou entering in configuration parameters of the servomotors (see

chapter “Reading and Writing of servomotors parameters”). When the access to configuration parameters

ends, you get back on the selection of this register. Allowed values: from 1 and +

++

+



)+

)+)+

)+: sign of value visualized on the display

With this parameter is possible to reverse the direction of motor so to make it as real as the direction of

shifting of axis on the machine. The setting of this parameter must be only during the calibration (see

chapter “Value Calibration”).

Is it possible that the sign of increasing of value is not the same as that on the display of P3SI, because

the increasing direction of the value on the SERVO is fix and corresponds to a clockwise rotation of the

output shaft of servomotor (viewed from shaft side). Setting 0, the number showed on the P3SI is the

same of that showed on the servomotor display. Setting 1, the number showed is of opposite sign of

servomotor. Allowed values: 0 and 1.

+.,

+.,+.,

+., : number of programs to carry out by next start control

In this parameter is stored the selected program number after switching on of instrument and last

program carried out. Allowed values: between 1 and 99.

Position control for Servo unit P3S_I

Data: 13/01/16 Codice: P3S_I Rev 1.0 page 8/14

#0%

#0%#0%

#0%: Baud Rate for serial communication with servomotors

The programmed value in this constant has to be the same as that set on servomotors (see chapter

“Connection scheme of servomotor”). Allowed values: between 1 and 4.

1=2400

2=4800

3=9600

4=19200

/,%

/,%/,%

/,%: program carrying out mode

Defines the carrying out of programs automatic working mode. The allowed values are:

0-> only the selected program is carried out end the axes are positioned in series one at a time.

1-> only the selected program is carried out and the axes are moved all together at the same time.

2->all the programs are carried out until that in register /

//

/and the axes move all together at the

same time.

3->all the programs are carried out until that in register /

//

/and the axes are positioned in series one

at a time.

Allowed values: between 0 and 3.

/

//

/: last program to be carried out

This register is the last program to be carried out in case /,%

/,%/,%

/,%worth 2 or 3. 





Allowed values: between 1 and 99





: password of selection of working program

Defines if the change of program, to carry out at next start control is protect by a password. If worth 1, the

access is protected by a password. If worth 0, the access is not protected.

Allowed values: 0 and 1.

//

////

//: tolerance of positioning

Set the tolerance allowed between the value of set quota and the real value of end positioning. At the end

of positioning, if the difference between this two values is higher then the value in this register, is reported

a positioning error switching on relay ERROR (and does not switch on relay END POSITIONING see chapter

“Error Signal”). NB: this tolerance value is expressed with the impulses number of encoder and not with

the real value: it is to consider that at one turn of output hollow shaft of servomotor correspond 1000

impulses). Allowed values: from 1 to 250.

./

././

./: preset menu

Press E to enter ad access to /

//

/ , /

//

/ , etc.

This parameter are used during “Calibration installation” of system and should not be changed unless it

is necessary to proceed with a new calibration (see chapter “Proceeding of value calibration”), it means

that during standard use should not be changed the stored, otherwise you’ll loose the calibration

value.

%.

%.%.

%. : physical address of servomotor axis 1

It is the address that has to be set on the servomotor at axis 1 (program on servomotor opening the cover

and setting the dip-switch see chapter “ Servomotor connection scheme”). Allowed values: between 1

and 247.

%.

%.%.

%. %.

%.%.

%., %.

%.%.

%., etc. addresses of other servomotors (if there are more axes)

READING AND WRITING OF SERVOMOTORS PARAMETER

Each servomotor has configuration parameters that defines its behaviour during the positioning phase

(accuracy of positioning, speed, acceleration/deceleration ramps, etc.). With the P3SI is possible to adjust all

parameters of servomotor but this adjustment has to be carried out with the servomotor mounted on the axis

of machine. To access to parameter it is necessary to enter into menu of reading and writing of system

with keys START+ and STOP- the register )

))

)and press key Eto visualize the number of axis with which is

established the connection. To confirm this number press Eotherwise, to change axis, press key Cto let

appear on the main display a blinking “0”. Digit the number of axis to be configured and press key E.

Now it is possible to access to selected parameters and on the main display is visualized 



 (adjusting

play that is the first parameter) and on the auxiliary display 00 that is the register address.

Using keys + and -, is it possible to run all parameters of servomotor (see next chapter for meaning of

parameters) and on the main display appears a message that means the name of parameter while on the

auxiliary display appears the address of that parameter. To change a parameter, press Eto visualize the

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Data: 13/01/16 Codice: P3S_I Rev 1.0 page 9/14

value. To confirm this value press E; otherwise to change it press Cto appear a blinking “0”, digit the wished

value and confirm with key E. After confirmation or changing of a parameter, step on the next parameter and

on the main display appears the name.

Fast access to a servomotor register

While running of parameters is possible to access quickly to a given register without using keys + and -. To

use this mode it is necessary press key Cto let appear two blinking zeroes on the auxiliary display (while on

the main display appears “%.

%.%.

%.”), digit the wished register address and confirm with E.

System parameters values for SERVO

Parameters

ddress Description





 0Gap recovery da 0 a 255

Explanation: increasing the gap recovery by one unit, 256 impulses are added to

the target position to carry out the gap recovery.

Default values 0.

()%

()%()%

()% 1Proportional Constant PID (kp) da 0 a 10

Explanation: Is the proportional constant of PID control for positioning in the

automatic mode. Suggested Values: <6. Excessive values can cause an oscillation

around the position to be reached during positioning.

Default values 1..

())%

())%())%

())% 2Integral Constant PID (ki) da 0 a 10

Explanation: is the integral constant of PID control.

Suggested values: <3.

Default values 0.

(%)%

(%)%(%)%

(%)% 3Differential Constant PID (kd) da 0 a 50

Explanation: is the differential constant of PID control.

Suggested values: <30

Default values 0.

/)+/

/)+//)+/

/)+/ 4Integral inteference time PID da 0 a 255

Explanation: indicates after how many control cycles the the integral contribution is

updated. Suggested values <20. Increasing this value makes the contribution of the

integral constant less important while calculating the PID.

Default values 10.

-0,/

-0,/-0,/

-0,/ 5Present Position

Explanation: is the present position of the system in terms of the counted impulses

of the encoder, represented by complement to 2.

-/.

-/.-/.

-/. 6Target Position

Explanation: is the target position of the system.n

%).

%).%).

%). 7Present direction

Restricted parameter not modifiable by user

%

%%

% 8Present speed

Restricted parameter not modifiable by user

()%

()%()%

()% 9High speed da 0 a 100

Explanation: is the speed that is maintained by the system when it is “far” from the

target position in the automatic mode, expressed in percentage of the maximum

speed. Default values 100.

,%

,%,%

,% 10 Low speed da 0 a 100

Explanation: is the maximum speed maintained by the system when it is “near” the

target position in the automatic mode expressed in percentage of the maximum

speed. Default values 20

,%

,%,%

,% 11 Functioning mode (Man/Auto)

Restricted parameter not modifiable by user

//

////

// 12 State of reached position

Restricted parameter not modifiable by user

/#,

/#,/#,

/#, 13 Block time da 0 a 255

Explanation: is the value that determines after how many control cycles of the

system in Automatic mode it is considered blocked and hence stopped and

switched to the Manaul mode: the causes of this stopped state could be due to the

fact that the target position has been effectively reached or there is some problem

Position control for Servo unit P3S_I

Data: 13/01/16 Codice: P3S_I Rev 1.0 page 10/14

of proceeding. Suggested Values: <10 . Default values 10

/.

/./.

/. 14 Slope time da 0 a 10

Explanation: is the value that determines the duration of the speed change of the

slopes of the system. Suggested Values: 0<Slope time<8.

Default values 1.

.

..

. 15 Research zero slot

Restricted parameter that should not be changed

/)%

/)%/)%

/)% 16 Intervention time PID from 0 to 50

Indicates how many each control cycles is updated control PID. Advised values

<40. Increasing this value obtains a less frequently recalculation of PID, reducing

the dynamic of the system control.

-,

-,-,

-, 17 Slow value from 0 to 255

Is the distance of the arrival value to which change the speed from “fast” to “slow”

expressed in units of 256 impulses of encoder.

Default value 1.

/.#

/.#/.#

/.# 18 Thermal block State

Explanation: indicates the thermal state of the system: if at 0, the thermal state is

correct, if at 1 the system is stopped, in Manual mode and there is no way to modify

the state other than wait for the cooling process; at this point it is possible to pass to

Automatic mode.

)

) )

) 19 Multiplying correction factor from 1 to 65535

Multiplying factor of encoder impulses, set the value to read on the display at each

turn of hollow shaft. Example: with pitch screw 5mm and reading of decimals of

mm, set 50.

Default value 1





 20 Divisor correction factor from 1 to 65535

Impulses number per turn of encoder of division factor of encoder impulses: set the

number of encoder impulses (1000) multiplied per decimal point position. Example:

display reading with a decimal digit, set 1000x10=10000.

Default value 10

+%

+%+%

+% 21 Decimal Point position from 0 to 4

Position of decimal point on servomotor display.

Default values 1.

-)+

-)+-)+

-)+ 22 Minimum Position from –9999 to 99999

Lower limit of value beyond which the servomotor stops or does not proceed with

positioning, signalizing an error.

Default value 0

-

--

- 23 Maximum Position from –9999 to 99999

Upper limit of value beyond which the servomotor stops or does not proceed to

positioning signalizing an error.

Default value 90000

))/

))/))/

))/ 24 Value state as to the limit values

Restricted parameter that should not be changed

Exit of parameter programming mode of servomotors

To esc of reading and writing mode of these parameters, press key Pto appear on the main display message

)

))

) to indicate that get back into menu for control of system register of P3SI. To adjust the parameters of

another axis, press Eand repeat the just above described proceeding. To get back on the main display,

press again P. By pressing instead keys + and -, return to run the system register of P3SI.

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