Rotary Parameter Summary

Parameters are used to change the way the servo control and rotary unit operate. A battery in the servo control keeps the parameters and the stored program saved for up to eight years.

The following table lists the Servo Control parameters.

# Name Description
1 CNC Interface Relay Control CNC Interface Relay Control has a range from 0 to 2.
0 - relay active during indexer motion
1 - relay pulsed for 1/4 second at end of motion
2 - no relay action
2 CNC Interface Relay Polarity & Aux. Relay Enable CNC Interface Relay Polarity & Aux. Relay Enable, has a range from 0 to 2
0 - normally open
+1 - normally closed cycle finish relay
+2 - to pulse optional second relay at end of program
3 Servo Loop Proportional Gain Servo Loop Proportional Gain has a range of 0 to 255 and is protected.
Servo loop proportional gain increases current in proportion to the proximity to the target position. The farther from the target, the greater the current up to the maximum value in Parameter 40. A mechanical analogy is a spring that oscillates past the target unless dampened by the derivative gain.
4 Servo Loop Derivative Gain Servo Loop Derivative Gain has a range from 0 to 99999 and is protected.
Servo loop derivative gain resists motion, effectively braking oscillations. This parameter is increased in proportion to the p gain.
5 Double Remote Trigger Option Double Remote Trigger Option has a range from 0 to 1.
0 - Each activation of the remote input triggers a step.
1 - The remote start must be triggered twice to activate the control.
6 Disable Front Panel Start Disable Front Panel Start has a range from 0 to 1.
0 - The front panel CYCLE START and ZERO RETURN work.
1 - The front panel CYCLE START and ZERO RETURN do not work.
7 Memory Protection Memory Protection has a range from 0 to 1.
0 - Changes can be made to the stored program. Does not prevent changing parameters.
1 - No changes can be made to the stored program. Does not prevent changing parameters
8 Disable Remote Start Disable Remote Start has a range from 0 to 1.
0 - The remote start input works
1 - The remote start input will not work
9 Encoder Steps Per Programmed Unit Encoder Steps Per Programmed Unit has a range from 0 to 999999.
Defines the number of encoder steps required to complete one full unit (degree, inch, millimeter, etc.).

Example 1: An HA5C with a 2000 pulse per revolution encoder (four pulses per line, or quadrature) and a 60:1 gear ratio produces: (8000 x 60)/360 degrees = 1333.333 encoder steps.Since 1333.333 is not a whole integer, it must be multiplied by some number to clear the decimal point. Use Parameter 20 to accomplish this in the above case. Set Parameter 20 to 3, therefore: 1333.333 x 3 = 4000 (entered in Parameter 9).

Example 2: An HRT with 8192 line encoder (with quadrature), a 90:1 gear ratio and a final drive of 3:1 would produce: [32768 x (90 x 3)]/360 = 24576 steps for 1 degree of motion.
10 Auto Continue Control Auto Continue Control has a range from 0 to 3.
0 - Stop after each step
1 - Continue all looped steps and stop before next step
2 - Continue all programs until end code 99 or 95
3 - Repeat all steps until stopped manually
11 Reverse Direction Option  Reverse Direction Option has a range from 0 to 3 and is protected.
This parameter consists of two flags used to reverse the direction of the motor drive and encoder. Start with a zero and add the number shown for each of the following selected options:
0 - No change in direction or polarity
+1 - Reverse the direction of positive motor motion.
+2 - Reverse the polarity of motor power.
 
12 Display Units and Precision (decimal location) Display Units and Precision (decimal location) has a range from 0 to 6. Must be set to 1, 2, 3, or 4 if travel limits are to be used (including circular motion with travel limits).
0 - degrees and minutes (circular) Use this setting to program four digits of degrees up to 9999 and two digits of minutes.
1 - inches to 1/10 (linear)
2 - inches to 1/100 (linear)
3 - inches to 1/1000 (linear)
4 - inches to 1/10000 (linear)
5 - degrees to 1/100 (circular) Use this setting to program four digits of degrees up to 9999 and two digits of fractional degrees to 1/100
6 - degrees to 1/1000 (circular) Use this setting to program three digits of degrees up to 999 and three digits of fractional degrees to 1/1000
13 Maximum Positive Travel Maximum Positive Travel has a range from 0 to 99999.
This is the positive travel limit in units * 10 (entered value loses last digit). It applies only to linear motion (i.e., Parameter 12 = 1, 2, 3, or 4). If it is set to 1000, positive travel is limited to 100 inches. The entered value is affected by the gear ratio divider (Parameter 20).
14 Maximum Negative Travel Maximum Negative Travel has a range from 0 to 99999
This is the negative travel limit in units * 10  (entered value loses last digit). It applies only to linear motion (i.e., Parameter 12 = 1, 2, 3, or 4). For examples, see Parameter 13.
15 Backlash Amount Backlash Amount has a range from 0 to 99.
This parameter compensates electronically for mechanical gear backlash. It is in units of encoder steps.
NOTE: This parameter cannot correct mechanical backlash.
Refer to Rotary Interactive Service Manual - Maintenance sectio non how to check and adjust backlash in the worm wheel gear, between the worm gear and shaft, as well as the worm shaft back bearing housing.
16 Auto Continue Dwell Auto Continue Dwell has a range from 0 to 99
This parameter causes a pause at the end of a step when the automatic continuation option is used. The delay is in multiples of 1/10 second. Thus, a value of 13 gives 1.3 seconds of delay. Used primarily for continuous duty, allowing for motor cool down time and longer motor life.
17 Servo Loop Integral Gain Servo Loop Integral Gain has a range from 0 to 255 and is protected.
If integral is to be disabled during deceleration (for less overshoot), set Parameter 24 accordingly. Integral gain provides larger increases of current to achieve target. This parameter often causes a hum when set too high.
18 Acceleration Acceleration has a range from 0 to 9999999 x 100 and is protected.
This parameter defines how fast the motor is accelerated up to the desired speed. The value used is units * 10 in encoder steps/second/second. The highest acceleration is 655350 steps per second per second for TRT units. It must be greater than or equal to twice Parameter 19, usually 2X. The entered value = the desired value/Parameter 20, if a gear ratio divider is used. A lower value results in gentler acceleration.
19 Maximum Speed Maximum Speed has a range from 0 to 9999999 x 100.
This parameter defines the maximum speed (RPM of motor). The value used is units * 10 in encoder steps/second. The highest speed is 250000 steps per second for TRT units. It must be less than or equal to Parameter 18. If this parameter exceeds Parameter 36, only the smaller number is used. See Parameter 36 also. The entered value = the desired value/Parameter 20, if a gear ratio divider is used. Lowering this value results in reduced maximum speed (maximum motor RPM).

Standard Formula: degrees (inches) per sec X ratio (Parameter 9)/100 = entered value in Parameter 19.

Formula with Gear Ratio Divider: (Parameter 20): degrees (inches) per second X ratio (Parameter 9)/[ratio divider (Parameter 20) x 100] = entered value in Parameter 19.
20 Gear Ratio Divider Gear Ratio Divider has a range from 0 to 100 and is protected.
Parameter 20 selects non-integer gear ratios for Parameter 9. If Parameter 20 is set to 2 or more, Parameter 9 is divided by Parameter 20 before it is used. If Parameter 20 is set to 0 or 1, no change is made to Parameter 9.

Example 1: Parameter 9 = 2000 and Parameter 20 = 3, the number of steps per unit will be 2000/3 = 666.667, thus compensating for fractional gear ratios.

Example 2 (with a gear ratio divider Parameter 20 needed): 32768 encoder pulses per revolution X 72:1 gear ratio X 2:1 belt ratio/360 degrees per revolution = 13107.2. Since 13107.2 is non-integer we require a ratio divider (Parameter 20) set to 5 then: 13107.2 ratio = 65536 (Parameter 9) encoder steps/5 (Parameter 20) ratio divider.
21 RS-232 Interface Axis Select RS-232 Interface Axis Select has a range from 0 to 9.
0 - no remote RS-232 functions are available.
1 - axis defined for this controller is U
2 - axis defined for this controller is V
3 - axis defined for this controller is W
4 - axis defined for this controller is X
5 - axis defined for this controller is Y
6 - axis defined for this controller is Z
7 - 9 other ASCII character codes
22 Maximum Allowed Servo Loop Error Maximum Allowed Servo Loop Error has a range from 0 to 9999999 and is protected.
When zero, no maximum error limit test is applied to the servo. When it is non-zero, that number is the maximum allowed error before the servo loop is turned off and an alarm generated. This auto shut-off results in a display of: Ser Err
23 Fuse Level in Percent (%) Fuse Level in % has a range from 0 to 100 and is protected.
Parameter 23 defines a fuse level for the servo control loop. The value is a percentage of maximum power level available to the controller. It has an exponential time constant of about 30 seconds. If exactly the set level is output by the driver continuously, the servo shuts off after 30 seconds. Twice the set level shuts the servo off in about 15 seconds. This parameter is factory set and is usually set from 25 to 35%, depending on the product. This auto shut-off results in a display of: Hi LoAd.

Warning: Changes from Haas recommended values will damage the motor.
24 General Purpose Flags General Purpose Flags has a range from 0 to 65535 (maximum range) and is protected.
Parameter 24 consists of five individual flags for controlling servo functions. Start with zero and add the number shown for each of the following selected options.

0 - No general purpose flags used
+1 - Interpret Parameter 9 as twice entered value.
+2 - Not Used.
+4 - Disable integral when brake is engaged (see Parameter 17)
+8 - Protection of parameters enabled (see Parameter 30)
+16 - Serial interface disabled
+32 - Start-up Haas message disabled
+64 - Not Used.
+128 - Disable Z channel encoder test
+256 - Normally closed over-temp sensor
+512 - Disable cable test
+1024 - Disable rotary scale encoder cable test (HRT210SC only)
+2048 - Disable rotary scale encoder Z test (HRT210SC only)
+4096 - Disable integral while decelerating (see Parameter 17)
+8192 - Continuous brake function
+16384  - Invert brake output
+32768 - Invert platter status input
25 Brake Release Time Brake Release Time has a range from 0 to 19 and is protected.
If Parameter 25 is zero, the brake release is not activated (i.e., always engaged); otherwise, this is the delay time to release the air before the motor is started in motion. It is in units of 1/10 second. A value 5 delays for 5/10 second. (Not used in HA5C, and defaults to 0.)
26 RS-232 Speed RS-232 Speed has a range from 0 to 8.

Parameter 26 selects data rates on the RS-232 interface. The HRT & HA5C parameter values and rates are:
0 - 110
1 - 300
2 - 600
3 - 1200
4 - 2400
5 - 4800
6 - 7200
7 - 9600
8 -19200

The TRT always has this parameter set to 5, at a data rate of 4800.
27 Automatic Home Control

Automatic Home Control has a range from 0 to 512 and is protected.
All Haas Rotaries use a home switch in conjunction with the Z pulse on the motor encoder (one for each revolution of the motor) for repeatability. The home switch consists of a magnet (Haas P/N 69-18101) and a proximity switch (Haas P/N 36-3002), which is a magnetically sensitive transistor.

When the control is shut down and restarted, it requires the user to press ZERO RETURN. The motor then operates slowly in a clockwise direction (as viewed from the platter of a rotary table) until the proximity switch is magnetically tripped, then backs up to the first Z pulse.

Note: To reverse direction when seeking a home switch (if it currently moves away from the home switch during the home sequence), add 256 to the value in Parameter 27.

Parameter 27 is used to customize the home control function of the Servo Control. Start with a zero and add the number shown for each of the following selected options:

0 - no automatic home functions available (no home switch)
1 - only table zero position switch available
2 - only Z channel home available
3 - home on both Z channel and table zero switch
+4 - home if inverted Z (determined by encoder used)
+8 - home to zero position in negative direction
+16 - home to zero position in positive direction
+24 - home to zero position in shortest direction
+32 - auto servo on at power on
+64 - auto search for home at power on (have "auto servo on at power up" selected)
+128 - for inverted Home switch (determined by home switch used)
+256 - search for home in positive direction
28 Encoder Steps Per Motor Revolution  Encoder Steps Per Motor Revolution has a range from 0 to 9999999 and is protected.
Parameter 28 is used with the Z channel option to check the encoder accuracy. If Parameter 27 is 2 or 3, it is used to check that the correct number of encoder steps are received per revolution.
29 Not Used Not used
30 Protection

Protection has a range from 0 to 65535.

Parameter 30 protects some of the other parameters. Every time the controller is turned on, this parameter has a new random value. If protection is selected (Parameter 24), the protected parameters cannot be changed until this parameter is set to a different value that is a function of the initial random value.
31 CNC Relay Hold Time CNC Relay Hold Time has a range from 0 to 9.
Parameter 31 specifies the amount of time the CNC interface relay is held active at the end of a step. If zero, the relay time is 1/4 second. All other values give the time in multiples of 0.1 second.
32 Delay Time for Engaging Brake

Delay Time for Engaging Brake has a range from 0 to 19 and is protected.

Parameter 32 sets the amount of time delay between the end of a motion and engaging the air brake. It has units of 1/10 second. A value of 4 delays for 4/10 second.
33 X-on/X-off Enable X-On/X-Off Enable has a range from 0 to 1.
Parameter 33 enables the sending of the X-On and X-Off codes via the RS-232 interface. If your computer needs these, set this parameter to 1. Otherwise, only the RTS and CTS lines are used to synchronize communication
34 Belt Stretch Adjustment Belt Stretch Adjustment has a range from 0 to 399 and is protected.
Parameter 34 corrects for stretching in a belt if one is used to couple the motor to the load being moved. It is a count of the number of steps of motion that are added to the motor position while it is moving. It is always applied in the same direction as the motion. Thus, when motion stops, the motor snaps backward to take the load off the belt. This parameter is not used in an HA5C and, in this case, is defaulted to 0.
35 Dead Zone Compensation

Dead Zone Compensation has a range from 0 to 19 and is protected.

Parameter 35 compensates for the dead zone in the driver electronics. It is normally set to 0 or 1.
36 Maximum Speed Maximum Speed has a range from 0 to 9999999 x 100 and is protected.
Parameter 36 defines the maximum feed rate. The value used is (Parameter 36)*10 in encoder steps/second. The highest speed is thus 250000 steps per second for TRT units and 1,000,000 steps per second for HRT & HA5C units. It must be less than or equal to Parameter 18. If this parameter exceeds Parameter 19, only the smaller number is used. See Parameter 19 also.
37 Encoder Test Window Size Encoder Test Window Size has a range from 0 to 999.
Parameter 37 defines the tolerance window for the Z channel encoder test. This much error is allowed in the difference between the actual encoder position and the ideal value when the Z channel is encountered.
38 Loop Second Dif Gain Loop Second Dif Gain has a range from 0 to 9999.
Parameter 38 is the servo loop second differential gain.
39 Phase Offset

Phase Offset has a range from 0 to 4095.

Parameter 39 is the offset of encoder Z-pulse to zero degree of phasing.
40 Max Current Max Current has a range from 0 to 2047.
Parameter 40 is the maximum peak current output to the motor. Units DAC bits.
WARNING: Changes from Haas recommended values for this parameter will damage the motor.
41 Unit Selection Unit Selection has a range from 0 to 4.
0 - no unit shown
1 - Degrees (shown as deg)
2 - Inches (in)
3 - Centimeters (cm)
4 - Millimeters (mm)
42 Mtr Current Coefficntr Mtr Current Coefficnt (Motor Current Coefficient) has a range from 0 to 3.
Parameter 42 contains the filter coefficient for the output current.
0 - 0% of 65536
1 - 50% of 65536 or 0x8000
2 - 75% of 65536 or 0xC000
3 - 7/8 of 65536 or 0xE000
43 Elct Rev Per Mec Rev Elct Rev Per Mec Rev (Electrical Revolutions per Mechanical Revolutions) has a range from 1 to 9.
Parameter 43 contains the number of electrical revolutions of the motor per one mechanical revolution.
44 Exp Accel Time Const Exp Accel Time Const (Exponential Acceleration Time Constant) has a range from 0 to 999
Parameter 44 contains the exponential acceleration time constant. Units are 1/10000 second.
45 Grid Offset Grid Offset has a range from 0 to 99999.
The distance between the home switch and the final stopped motor position after homing, is added by this grid offset amount. It is modulus of Parameter 28, which means that if Parameter 45 = 32769 and Parameter 28 = 32768, then it is interpreted as 1.
46 Beeper Duration Beeper Duration has a range from 0 to 999.
Parameter 46 contains the length of beeper tone in milliseconds. Value 0-35 provides no tone. Default is 150 milliseconds.
47 HRT320FB Zero Offset HRT320FB Zero Offset has a range from 0 to 9999 for HRT320FB.
Parameter 47 contains the angular value to offset zero position. Units are 1/1000 of a degree.
48 HRT320FB Increment HRT320FB Increment has a range from 0 to 1000 for the HRT320FB only.
Parameter 48 contains the angular value to control indexer increments. Units are 1/1000 of a degree.
49 Scale Steps Per Deg Scale Steps Per Deg has a range from 0 to 99999 x 100 for HRT210SC only.
Parameter 49 converts the rotary scale steps into degrees to access values in the rotary compensation table.
50 Not Used Not Used 
51 Rotary Scale General Purpose Flags Parameter 51 - Rotary Scale General Purpose Flags has a range from 0 to 63 for HRT210SC only.

Parameter 51consists of six individual flags for controlling the rotary encoder functions. Start with a zero and add the number shown for each of the following selected options:
+1 - enable the use of the rotary scale
+2 - invert the direction of the rotary scale
+4 - negate the direction of the rotary scale compensation
+8 - use motor Z pulse when zeroing
+16 - display the rotary scale in steps and in HEX format
+32 - disable rotary scale compensation during brake.
52 Dead Zone (Not used) HRT210SC only Dead Zone (Not used) for HRT210SC only.
53 Rotary Multiplier Rotary Multiplier has a range from 0 to 9999 for HRT210SC only.
Parameter 53 increases current in proportion to the proximity to the absolute rotary scale position. The farther from the absolute rotary scale target, the greater the current up to the maximum compensation value in Parameter 56. Alarm is generated if exceeded, see Parameter 56.
54 Scale Range Scale Range has a range from 0 to 99 for HRT210SC only.
Parameter 54 selects non-integer ratios for Parameter 49. If Parameter 5 is set to 2 or more, Parameter 49 is divided by Parameter 54 before it is used. If Parameter 54 is set to 0 or 1, no change is made to Parameter 49.
55 Scale Steps Per Rev Scale Steps Per Rev has a range from 0 to 9999999 x 100 for HRT210SC only.
Parameter 55 converts the rotary scale steps into encoder steps. It is also used with the Z option to check the rotary scale encoder accuracy.
56 Scale Max Compensation Scale Max Compensation has a range from 0 to 999999 for HRT210SC only.
Parameter 56 contains the maximum number of encoder steps that the scale could compensate before alarm rLS Err occurs.
57 Torque Only Command Torque Only Command has a range from 0 to 999999999 and is protected.
Parameter 57 provides a command to the servo amplifier. Non-zero value disconnects control loop and makes servo motor move. Used only for troubleshooting.
58 Low Pass (LP) Filter Cutoff

Low Pass (LP) Filter Cutoff has a frequency (Hz) range from 0 to 9999 and is protected.

Parameter 58 is applied on torque command. Torque command low pass filter (for quieter, more efficient servo control) removes high frequency noise.
59 Derivative (D) Cutoff Derivative (D) Cutoff has a frequency (Hz) range from 0 to 9999 and is protected.
Parameter 59 filter applied on derivative component of feedback controller algorithm (relative to torque control).
60 Motor Encoder Type Motor Encoder Type has a range from 0 to 7 and is protected.
0 - Sigma-1 Motor
1 - Not used
2 - Not used
3 - Not used
4 - Not used
5 - Not used
6 - Sigma-7 Motor
7 - Sigma-5 Motor
61 Phase Advance Phase Advance has electrical units that range from 0 to 360 and is protected.
Parameter 61 contributes to the feedback controller algorithm that improves high speed torque performance of Sigma-5 motor.

Changing Parameters

To change a parameter:

 
  1. Press MODE/RUN PROG until display flashes on and off.
    This is Program mode.
  2. Press STEP SCAN up arrow and hold it at step 01 for three seconds.
    After three seconds, the display changes to parameter entry mode.
  3. Press STEP SCAN up and down arrow keys to scroll through the parameters.
  4. Pressing the up/down arrow, right arrow, or Mode button will cause an entered parameter to be stored.

    Some of the parameters are protected from being changed by the user to avoid unstable or unsafe operation. If one of these parameters needs to be changed, call your dealer.
  5. Before a parameter value can be changed, press EMERGENCY STOP.
  6. To exit from parameter entry mode and go to Run mode, press MODE/RUN PROG.
  7. To exit from parameter entry mode and return to step 01, push the STEP SCAN down arrow.

Gear Compensation

The servo control has the ability to store a compensation table to correct for small errors in the worm gear. The gear compensation tables are part of the parameters.

WARNING: Press EMERGENCY STOP before parameter changes are made, otherwise the rotary moves by the adjustment amount.

To view and adjust the gear compensation tables:

  1. Press MODE/RUN PROG until the display flashes on and off.
    This is Program mode.
  2. Press STEP SCAN up arrow and hold it at step 01 for three seconds.
    The display changes to parameter entry mode.
  3. Press DISPLAY SCAN to select the gear compensation tables.

    There is a plus (+) direction table and a minus (-) direction table. The gear compensation data is displayed as:

    gP Pnnn cc for plus table
    G- Pnnn cc for minus table

    The nnn value is the machine position in degrees, and the cc is the compensation value in encoder steps. There is a table entry every two degrees starting at 001 and going to 359. If your control has non-zero values in the gear compensation tables, it is recommended that you do not change them.

  4. When the gear compensation tables are displayed, STEP SCAN up and down arrows select the next three consecutive 2° entries. Use the minus (-) and numeric buttons to enter a new value. DISPLAY SCAN right arrow selects the six compensation values to edit.

  5. Clearing parameters sets all of the gear compensation tables to zero. To exit the gear compensation display, press MODE/RUN PROG.

    This returns the control to RUN mode.

  6. When a table/indexer is using gear compensation, the values in Parameter 11 and/or Parameter 57 must be set to 0.

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