Frecon FR500-4T-0.7G/1.5PB, Руководство пользователя

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FR500A&FR510A Series Vector Control Inverter
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Group F21 Position Control
Position control is only effective in the presence of PG vector control. Position control includes
zero servo and spindle orientation control.
F21.00 Selection of Position Control
Mode
Range
：
0
～
5 Default
：
0
0: Non-position control
No position control is performed. Inverter is controlled by speed or torque.
1: Zero Servo (Effective when frequency arrives)
If the set frequency of inverter is less than the zero servo starting frequency F21.02 and the speed
of the motor is lower than the corresponding speed of F21.02, it will enter the zero servo locking state.
At this time, the motor will remain in this position regardless of whether the load of the motor changes
or not. When the set frequency is greater than the zero servo starting frequency, the converter exits
the zero servo locking state and runs at the set speed.
2: Zero Servo (Terminal Effective)
When the set frequency of the converter is less than the zero servo starting frequency F21.02 and
the motor speed is lower than the corresponding speed of F21.02, if the converter receives the
effective signal of the zero servo enabling terminal from the switching input, it immediately records the
current position and locks it. Whether the load of the motor changes or not, the motor always remains
in this position. When the "zero servo enabler" terminal is invalid, it exits the position locking state and
runs at the set speed.
3: Spindle orientation
When the inverter runs, when the receiving "spindle orientation" terminal is valid, the motor slows
down and stops at the set position. The orientation position is the angle relative to the Z signal of the
encoder. When the "spindle orientation" terminal is invalid, the frequency converter runs at the set
frequency.
4: Simple carry
Simple carry control, stop at the set position. The carry is the variable relative to the current
position.
5: Pulse train position control
Impulse tracking control
F21.01 Position loop gain
Range
：
0.000
～
40.000 Default
：
1.000
This parameter is proportional gain of position regulator in position control. Increasing this value
can increase the rapidity of position control and the holding force when servo stops, but this value is
too large to oscillate and overshoot.
F21.02 Zero Servo Initiation
Frequency
Range
：
0.00Hz
～
Fmax Default
：
1.00Hz
When the starting frequency of zero servo is chosen as position control mode 1 or 2, the
frequency judgment condition of entering zero servo should not be too large. Otherwise, it will easily
cause the impact of torque and current, and even lead to over-current fault.
F21.03 Location completion
width
Range
：
0
～
3000 Default
：
10
F21.04 Location completion
time
Range
：
0.000
～
40.000s Default
：
0.200s
In the spindle orientation control, when the error between the encoder detection position and the
location setting is less than the F21.03 setting value and the duration exceeds the F21.04 setting value,
the positioning is considered to be completed, and the switch output "positioning completed" terminal
output ON signal.
F21.05 Spindle orientation
position 1
Range
：
0
～
40000 Default
：
0
F21.06 Spindle orientation
position 2
Range
：
0
～
40000 Default
：
0
F21.07 Spindle orientation
position 3
Range
：
0
～
40000 Default
：
0
F21.08 Spindle orientation
position 4
Range
：
0
～
40000 Default
：
0