IMO HD2 IP Series, Instruction Manual

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HD2 IP55 High-ingress Protection Series Inverter
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Step 5: Set P21.00=0001 to set positioning mode to position control, namely pulse-string
control. There are four kinds of pulse command modes, which can be set by P21.01 (pulse
command mode).
Under position control mode, users can check high bit and low bit of position reference and
feedback, P18.02 (count value of Z pulse), P18.00 (actual frequency of encoder), P18.17 (pulse
command frequency) and P18.19 (position regulator output) via P18, through which users can
figure out the relation between P18.8 (position of position reference point) and P18.02, pulse
command frequency P18.17, pulse command feedforward P18.18 and position regulator output
P18.19.
Step 6: The position regulator has two gains, namely P21.02 and P21.03, and they can be
switched by speed command, torque command and terminals.
Step 7: When P21.08 (output limit of position controller) is set to 0, the position control will be
invalid, and at this point, the pulse string acts as frequency source, P21.13 (position feedforward
gain) should be set to 100%, and the speed acceleration/deceleration time is determined by the
acceleration /deceleration time of pulse string, the pulse string acceleration/deceleration time
of the system can be adjusted. If the pulse string acts as the frequency source in speed control,
users can also set P21.00 to 0000, and set the frequency source reference P00.06 or P00.07
to 12 (set by pulse string AB), at this point, the acceleration/deceleration time is determined by
the acceleration/deceleration time of the inverter, meanwhile, the parameters of pulse string AB
is still set by P21 group. In speed mode, the filter time of pulse string AB is determined by P21.29.
Step 8: The input frequency of pulse string is the same with the feedback frequency of encoder
pulse, the relation between them can be changed by altering P21.11 (numerator of position
command ratio) and P21.12 (denominator of position command ratio)
Step 9: When running command or servo enabling is valid (by setting P21.00 or terminal
function 63), it will enter pulse string servo running mode.
4. Commissioning procedures for spindle positioning
Spindle orientation is to realize orientation functions like zeroing and division based on closed-
loop vector control
Frequency
Deceleration time of spindle orientation
Speed of
accurate-stop
of spindle
Running command
Zeroing command
P21.09 Completion
range of positioning
Time
Zeroing selection terminal 1
Positioning completion signal
P21.10 Detection time
for positioning completion
Hold time of positioning completion signal
P21.25 Hold time of positioning completion signal
Step 1–4: These four steps are the same with the first four steps of the commissioning
procedures for closed-loop vector control, which aim to fulfill the control requirements of closed-
loop vector control, thus realizing spindle positioning function in either position control or speed
control mode.
Basic Operation Instructions