1) we form the Present Perfect tense with "has/have" + the past participle. -- Yes, that is one use 2) we form the Past Perfect Tense with "had" + the past participle. It is used to show a) an action that was completed some time ago- - No; it is used to clarify or emphasize the chronology of two non-simultaneous past events.
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my grammar text states that past perfect tense can be used to show an action that was completed some time ago. The example given is Joan had gone to England.Your grammar book is wrong. That is insufficient cause for past perfect: