Goodrive600 series high-performance multifunction VFD
Basic operation guidelines
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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 procedure for spindle positioning
Spindle positioning 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
Time
P21.09 Completion
range of positioning
Running command
Zeroing command
Zeroing selection terminal 1
Positioning completion signal
Hold time of positioning completion signal
P21.10 Detection time
for positioning completion
P21.25 Hold time of positioning completion signal
Steps 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.
Step 5 Set P22.00.bit0=1 to enable spindle positioning, set P22.00.bit1 to select spindle zero input. If the system adopts
encoder for speed measurement, set P22.00.bit1 to 0 to select Z pulse input; if the system adopts photoelectric switch for
speed measurement, set P22.00.bit1 to 1 to select photoelectric switch as zero input; set P22.00.bit2 to select zero
search mode, set P22.00.bit3 to enable or disable zero calibration, and select zero calibration mode by setting
P22.00.bit7.
Step 6 Perform spindle zeroing operation.
a) Select the positioning direction by setting P22.00.bit4.
b) There are four zero positions in P22 group, you can choose one out of four zeroing positions by setting zeroing input
terminal selection (46, 47) in P05 group. When executing zeroing function, the motor will stop accurately at
corresponding zeroing position according to the set positioning direction, which can be viewed via P18.10.
c) The positioning length of spindle zeroing is determined by the deceleration time of accurate-stop and the speed of
accurate-stop.
Step 7 Perform spindle division.
There are seven scale-division positions in P22 group, you can choose one out of seven scale-division positions by
setting scale-division input terminal selection (48, 49, 50) in P05 group. Enable corresponding scale-division terminal
after the motor stops accurately, and the motor will check the scale-division position state and switch to corresponding
position incrementally, at this point, you can check P18.09.
Step 8 Determine the priority of speed control, position control and zeroing.
The priority level of speed running is higher than that of the scale division, when the system runs in scale-division mode,
if spindle orientation is prohibited, the motor will turn to speed mode or position mode.
The priority level of zeroing is higher than that of the scale division.
Scale-division command is valid when the scale-division terminal is from 000 state to non-000 state, such as, in 000
–011,
the spindle executes scale division 3. The transition time during terminal switchover needs to be less than 10ms;
otherwise, wrong scale division command may be executed.
Step 9 Hold positioning.
