V6-H-M1 additional frequency inverter manual for precision control
Contents
1. H0 01 Angel of orientation 1 0 0 4 Pd 21 1 0 4 Pd 21 1 H0 02 Orientation direction selection 0 0 2 0 2 H0 03 Orientation angle speed 15 00 0 00 300 00 Hz 0 00 300 00 H0 04 Orientation complete scope 5 0 65535 0 65535 H0 05 Orientation complete time 0 100 0 000 8 000 s 0 000 8 000 H0 06 Position loop gain 2 000 0 000 65 535 0 000 65 535 H0 07 Angel of orientation 2 0 0 4 Pd 21 1 0 4 Pd 21 1 H0 08 Angel of orientation 3 0 0 4 Pd 21 1 0 4 Pd 21 1 H0 09 Angel of orientation 4 0 0 4 Pd 21 1 0 4 Pd 21 1 Determine dl Selection for 0 001 0 000 4 000 s 0 000 4 000 1 H0 11 Display pulses of orientation angle 0 0 4 Pd 21 1 0 4 Pd 21 1 H0 14 Homing function selection 0 0 1 0 1 H0 15 Homing direction selection 0 0 1 0 1 H0 16 Simple positioning function selection 0 0 1 0 1 H0 17 Digital reference positioning value O high bits O 0 9999 0 9999 H0 18 Digital reference positioning value O low bits 0 0 9999 0 9999 H0 19 Digital reference positioning value 1 high bits O 0 9999 0 9999 H0 20 Digital reference positioning value 1 low bits 0 0 9999 0 9999 H0 21 Digital reference positioning value 2 high bits O 0 9999 0 9999 H0 22 Digital reference positioning value 2 low bits 0 0 9999 0 9999 H0 23 Digital reference positioning value high bits O 0 9999 0 9999 H0 242. PA 000 o pg Jumper toggled bd bod to OFF side PZ EVANS iv O 12V Vcc C 2 PB External power eer PE Connection diagram of EX PG03 card Does not support external power supply Encode Shielded wire Inverter EAS A phase frequency division OC output O 12V OUT Ao phase frequency division OC output Ao PA OUT BO Z phase frequency division OC output Bo PB OUTZO ro o PZ COM ov op COM LI PE VST Technol ogi es Co Ltd http www EcoLri veCN con For the differential motor speed feedback encoder whose power supply is 5V please adopt the V amp T PG feedback card EX PGO2 If the inverter needs to transmit the motor rotation speed to other equipment for calculation or speed measurement in addition to vector control 2 with encoder speed feedback please adopt the V amp T feedback card EX PG04 with frequency division output Connection diagram for EX PG02 card Inverter Encod PRSES Shielded wire EX PG02 Vcc CD O 5V i 5 ov Ato i PA B o B PB Z I o PZ z ng o PZ PE Connection diagram for EX PG04 card Inverter Encoder Shielded w
3. Ltd http www EcoLri veCN con to provide preset torque increase for the system Pd 29 Sliding friction compensation coefficient 0 0 100 0 When the system is under torque control mode the friction force existing during the system operation will reduce the inverter output torque Sliding friction compensation coefficient may be set to reduce the influence of the friction on the inverter output torque Pd 30 Rotation inertia compensation coefficient 0 0 100 0 Pd 31 Rotation inertia compensation frequency upper limit 1 0 0 300 00Hz Pd 32 Rotation inertia compensation frequency upper limit 2 50 00 0 300 00Hz When the system is under torque control mode if the system load inertia is large additional rotation inertia compensation shall be provided during the acceleration deceleration of the system The compensation determined by the rotation inertia compensation coefficient Pd 30 is valid only when it is less than Pd 31 which corresponds to the rotation inertia compensation frequency upper limit 1 Note It shall be ensured that the normal and stable running frequency of the inverter is above the rotation inertia compensation frequency upper limit 1 Pd 32 the rotation inertia compensation frequency upper limit 2 is generally set as the maximum frequency of the inverter Torque limiting compensation coefficient of constant power zone Pd 33 40 0 0 40 0 This parameter
4. positioning terminal H0 33 Display reference positioning value high bits 0 0 9999 34 Display reference positioning value low bits 0 0 9999 35 Display current positioning value high bits 0 0 9999 H0 36 Display current positioning value low bits 0 0 9999 The function code of H0 33 to 35 is display value of reference positioning value and current positioning value the value is four times of encoder pulse per turn Note This non stand software cancel the following functions COND BONE Cancel display running time of user Pb 12 Pb 14 Cancel display terminal state LED P2 02 P2 03 Cancel analog terminal use for digital terminal Cancel delay time setting of digital output terminal Y1 and Y2 Cancel analog curve 2 3 and 4 Cancel delay time setting of X1 terminal and X2 terminal P5 08 P5 09 Cancel PID control Cancel high speed pulses DI input function Cancel high speed pulses DO output function P7 11 P7 15 10 Cancel KEY UP DN and terminal UP DN function 11 Cancel composite control function 12 Cancel auxiliary reference function 13 Cancel input phase detect function 14 Cancel jumper frequency 15 Cancel zero frequency hysteresis function VST Technol ogi es Co Ltd http www EcoLri veCN con Dear Users To further expand our products range of applications V6 H inverter made to improve the local design in order not to affect your use please refer to this manual of
5. Increase digital input terminal function 41 42 Orientation angle selection terminal Setting in P5 00 P5 06 Increase digital input terminal function 43 44 45 Positioning value selection terminal Setting in P5 00 P5 06 Increase digital input terminal function 66 Enable zero servo Setting in P5 00 P5 06 Increase digital output terminal function 40 Output positioning complete signal Setting in P7 00 P7 02 Increase digital output terminal function 41 Output positioning complete signal 2 Setting in P7 00 P7 02 3 Function Description P0 03 Control operation mode 0 0 8 0 Vector control 1 without encoder speed feedback 4 Vector control 2 without encoder speed feedback 8 Vector control 2 with encoder speed feedback Other options refer to user manual of V6 H high performance vector control torque control inverter Pd 17 Vector control 2 slip compensation gain electric 100 0 10 0 300 0 When loads increase motor slip will increase but the rotating speed will decrease The speed of motor can be controlled constantly by slip compensation Please make adjustments according to below conditions When the motor speed is below the setting target value increase vector control slip compensation gain When the motor speed is above the setting target value decrease vector control slip compensation gain Note When the temperature of motor increases interior parameters
6. compensates the torque limiting of the constant power zone The acceleration deceleration time and output torque of the inverter when running in constant power zone can be optimized by changing this parameter VST Technol ogi es Co Ltd http www EcoLri veCN con The following function is used for spindle orientation First through X terminal to enable orientation function X terminal setting in P5 00 to P5 06 40 Enable orientation function through X terminal H0 01 Angle of orientation 1 0 0 4 Pd 21 1 The angle of orientation is relative to encoder phase Z signal It define the orientation angle of phase Z as 0 Four times pulse number of encoder Pd 21 corresponds to the angle of 360 If pulse number of encoder is 1024 the H0 01 setting range is O to 4095 corresponds to the angle 0 to 360 If want to orientation at the angle of 120 setting 01 120 360x 1024x4 1365 While searching for the orientation angle it can first orientation at an angle and then adjust the function code to find the correct angle Note Motor stops if any jitter while orientation please reduced the speed loop proportional gain Pd 03 or increase the speed loop integral time 2 Pd 04 properly H0 02 Orientation direction selection 0 0 2 0 From current running rotation direction 1 From forward running rotation direction 2 From reverse running rotation direction 0 From current runni
7. of motor will change and the slip will increase Adjusting the function code can help to compensate the effects from temperature rise of motor Vector control 2 slip compensation gain electric Pd 18 100 0 10 0 300 0 power generation When loads increase motor s slip will increase and the rotating speed will also increase The speed of motor can be controlled constantly by slip compensation Please make adjustments according to below conditions When the motor speed is below the setting target value decrease vector control slip compensation gain When the motor speed is above the setting target value increase vector control slip compensation gain Note When the temperature of motor increases interior parameters of motor will change and the slip will increase Adjusting the function code can help to compensate the effects from temperature rise of motor Pd 19 ASR input filtering time 0 5 0 0 500 0ms This function defines the input filtering time of speed adjuster ASR In general it needs no modification Pd 20 ASR output filtering time 0 5 0 0 500 0ms VST Technol ogi es Co Ltd http www EcoLri veCN con This function defines the input filtering time of speed adjuster ASR In general it needs no modification Number of pulses per turn for encoder Pd 21 1024 09 9999 vector control 2 with encoder pulses turn It is
8. paiz Yectorcomrol2 51 compensation gain Nono 40058000 86 us 100 3000 electric pa 18 Vector control 2 slip compensation gain 100 0 100 3000 o 0 0 3000 power generation Pd 19 ASR input filtering time 0 5 0 0 500 0 0 500 0mS Pd 20 ASR output filtering time 0 5 0 0 500 0 0 0 500 0 Pd 21 Numbers of encoder pulses per turn 1024 0 9999 x 1 9999 pulses turn Pd 22 Encoder direction selection 0 0 1 x O Forward 1 Reverse Pd 23 Encoder disconnection detection time 2 0 0 8 0 x 0 8 0 sec pa 24 Deceleration ratio between motorand 4000 01000 65895 o 0 000 65 535 encoder Pd 25 Enable zero servo 0 0 1 0 Disable 1 Enable Pd 26 Zero servo initial frequency 0 30 0 10 00 Hz o 0 10 00Hz Pd 27 Zero servo gain 1 000 1 000 9 999 o 1 000 9 999 Pd 28 Static friction compensation coefficient 0 0 100 0 0 100 0 Pd 29 Sliding friction compensation coefficient 0 0 100 0 0 100 0 Pd 30 Rotation inertia compensation coefficient 0 0 100 0 0 100 0 Pd 31 Rotation inertia compensation frequency 0 0 30000 Hz o 0 300 00Hz upper limit 1 Pd 32 Rotation inertia compensation frequency 50 00 0 30000 Hz o 0 300 00 2 upper limit 2 Pd 33 Torque limiting compensation coefficient in 40 0 0 40 0 o 0 400 constant power zone Pd 34 Pd 35 Reserved VST Technol ogi es Ltd http www EcoLri veCN con
9. positioning value is too low to accelerate to positioning frequency after accelerate a period of time positioning directly as shown in b part of Figure c In the simple positioning control state the motor running direction does not according running command direction FWD or REV The motor running forward when forward positioning terminal is valid and running reverse when reverse positioning terminal is valid The position loop gain H0 06 is gain coefficient of position loop in simple positing control Increase the value can improve the response of positioning but maybe shock or bring noise if setting to high Increase speed loop proportional gain Pd 03 and reduce speed loop integral time 2 Pd 04 can improve response time of positioning control Please increase as much as Pd 03 and decreasing Pd 04 but ensure the motor running well no shock Please setting deceleration ratio between motor and encoder if the encoder does not install in motor shaft For setting details refer to the parameters description of Pd 24 Simple positioning control acceleration and deceleration in whole as straight line acceleration and deceleration S curse time P0 10 is invalid the shortest acceleration and deceleration 0 15 a maximum of 8 0s VST Technol ogi es Co Ltd http www EcoLri veCN con The positioning value according to four times of encoder pulse number Each positing value of the composition is from by the high and low 8 bit decimal numb
10. 4 27 aenea namain igital reference positioning value 0 H0 17x10000 18 Digit H0 04 Positioning complete scope gt Digital rdference positioning value 1 Time H0 19x10000 H0 20 Running command Positioning frequency P4 22 ON reference positioning value 6 H0 29x10000 HO Positioning selection terminal 1 Positioning selection terminal 2 Positioning selection terminal 3 Forward positioning Reverse positioning _ ON ON ON Positioning complete signal i H0 05 positioning complete time Positioning complete signal 2 ON ON Figure c VST Technol ogi es Co Ltd http www EcoLri veCN con When positioning control is valid X terminal function at P5 00 to P5 06 in the need to set the following settings 38 Forward positioning terminal 39 Reverse positioning terminal 43 Positioning value selection terminal 1 44 Positioning value selection terminal 2 45 Positioning value selection terminal 3 Y terminal function at P7 00 to P7 02 in the need to set the following settings 40 Positioning complete signal 1 41 Positioning complete signal 2 Simple control working process as the following As shown in Figure when 16 set to 1 enable simple positioning control 1 Once receive running command turn into the positioning servo lo
11. Digital reference positioning value low bits 0 0 9999 0 9999 H0 25 Digital reference positioning value 4 high bits O 0 9999 0 9999 H0 26 Digital reference positioning value 4 low bits 0 0 9999 0 9999 H0 27 Digital reference positioning value 5 high bits O 0 9999 0 9999 H0 28 Digital reference positioning value 5 low bits 0 0 9999 0 9999 H0 29 Digital reference positioning value 6 high bits O 0 9999 0 9999 H0 30 Digital reference positioning value 6 low bits 0 0 9999 0 9999 H0 31 Digital reference positioning value 7 high bits O 0 9999 0 9999 H0 32 Digital reference positioning value 7 low bits 0 0 9999 0 9999 H0 33 Display reference positioning value high bits 0 0 9999 0 9999 H0 34 Display reference positioning value low bits 0 0 9999 0 9999 H0 35 Display current positioning value high bits 0 0 9999 0 9999 36 Display current positioning value low bits 0 0 9999 0 9999 Increase digital input terminal function 34 Enable positioning control Setting in P5 00 P5 06 Increase digital input terminal function 35 Homing signal input terminal Setting in P5 00 P5 06 Increase digital input terminal function 38 Forward positioning Setting in P5 00 P5 06 Increase digital input terminal function 39 Reverse positioning Setting in P5 00 P5 06 Increase digital input terminal function 40 Enable orientation function Setting in P5 00 P5 06 VST Technol ogi es Co Ltd http www EcoLri veCN con
12. VST Technol ogi es Co Ltd http www EcoLri veCN con Vectorque V6 H M1 SERIES INVERTER ADDITIVE MANUAL M1 V6 H Series ADDITIVE MANUAL VST Technol ogi es Co Ltd http www EcoLri veCN con Change Scope Increase control function of vector control 2 with encoder speed feedback to support machine tool spindle orientation and multi segment simple positioning 1 Vector control 2 with encoder speed feedback operational processes 1 Hardware prepare For the open collector voltage push pull complementary type speed feedback encoder whose power supply is 12V to 24V please adopt the V amp T PG feedback card EX PG01 If the inverter needs to transmit the motor rotation speed to other equipment for calculation or speed measurement in addition to vector control 2 with encoder speed feedback please adopt the V amp T feedback card EX PG03 with frequency division output Connection diagram for EX PG01 card adopting internal power supply Shielded wire Inverter Encoder a TTYN EX PG01 Vec i 12V ON PA Opo Fiel E o pg Jumper toggled po to ON side Zo 1 2 ov ig ia PA 2 Connection diagram for 1 card adopting external power supply External power ground Cara MA shielded WS Inverter O N EX PG01 ov co E 0V ON Ao
13. change information and debug instructions before operation This manual should be used with V6 H user manual Thank you for your cooperation V amp T Technologies Co Ltd V amp T Technologies Co Ltd Address XinFeng Buliding B YangGuang Community XiLi Town NanShan District Shenzhen China Post Code 518055 Tel 86 133 42969370 Tel 86 755 23342186 Tel 86 137 60417239 Fax 86 755 23342186 Website www EcoDriveCN com E mail sales EcoDriveCN com
14. cked state locked in current position and output positioning complete signal 2 In positioning complete positioning complete signal is ON when detect the rising edge of forward positioning terminal or reverse positioning terminal perform the positioning process according positioning value selection terminal X terminal function is set to 43 or 44 or 45 1 According acceleration time accelerate to positioning frequency 2 Running at positioning frequency As shown in a part of Figure c 3 Decelerate to zero frequency according deceleration time and reach destination Turn into positioning servo locked status 4 Turn into positioning complete state and output positioning complete signal through Y terminal if the error between positioning value feedback and setting positioning value less than 04 position complete scope 5 In the positing complete state if detect forward positioning terminal or reverse positioning terminal at the rising edge the again from 1 to start next positioning and positioning complete signal disappear Please determine the positioning selection terminal status before the rising edge of forward positing terminal or reverse positing terminal After the rising edge change the positioning selection terminal is invalid The rising edge of forward or reverse can be received only in positioning complete state Change forward or reverse terminal is invalid if positioning complete signal inexistence If
15. ction When receive running command turn into positioning servo locked state locked in current position and output positioning complete signal 1 Enable homing function selection When receive running command homing first If in home position perform positioning servo function and output positioning complete signal If out of home position running according to H0 15 determine running direction Positioning will perform once home signal input is valid H0 15 Homing direction selection When 14 is set to 1 the function is use to determine rotation direction of homing 0 Forward homing 1 Reverse homing Frequency Hz Homing frequency 1 P4 29 gt Position Running command ON Input homing signal Figure Frequency Hz A gt 1 Ng Position Homing frequency 2 P4 30 Running command Homing signal input ON Figure b VST Technol ogi es Co Ltd http www EcoLri veCN con Take forward homing as an example to describe the working process 1 If home signal is OFF after running the motor running direction determines by H0 15 the MAX homing frequency is multi segment frequency 8 P4 29 Once detect home signal input at the rising edge OFF ON note this position then start deceleration and positing locked in the position The value of P4 29 setting too high it can quickly find the home but maybe overshoot the value of P4 29 se
16. er Positioning value setting scope is 0 to 99999999 For example if encoder pulse per turn is 1024 positioning after 100 turns Positioning value is 1024 pulse r x100 turn x4 times 409600 Setting positioning value high bits such as 17 40 positioning value low bits such as H0 18 9600 Up to 8 positioning value can be determined through switch positioning value selection terminal When need two positioning value one X terminal setting the function number to 43 is enough when need one position value does not need positioning value selection terminal digital reference positioning value 0 HO 17 and 18 as the current positioning value Different positioning control is different positioning frequency is Specifically as shown in below Function code number Function code name Factory setting Setting range Positing value selection terminal 3 Positing value selection terminal 2 Positing value selection terminal 1 Positing frequency H0 17 Digital reference positioning value 0 high bits 0 0 9999 H0 18 Digital reference positioning value 0 low bits 059999 OFF OFF OFF Open loop digital frequency reference P0 05 H0 19 Digital reference positioning value 1 high bits 0 9999 H0 20 Digital reference positioning value 1 low bits 0 9999 OFF OFF ON Multi segment frequency 1 P4 22 H0 21 Digital reference posi
17. ire EX PG04 A phase frequency division output Vee A 5V OUTA o3 P A phase frequency division output oV m GND OUTA Pod pod phase frequency division output OUTB O B phase frequency division output A c PA OUTB O n Z phase frequency division output o OUTZ 6L i Z phase frequency division output B o PB OUTZ Z gt 7 Z O t j 3 PZ L b PE In accordance with V6 H user manual to connect the inverter power input lines the electrical output lines and other related hardware For details refer to user manual of V6 H high performance vector torque control inverter 2 Start to set function code about vector control 2 with encoder speed feedback START Setting motor parameters P9 00 to P9 04 Setting P0 01 5 Setting P9 15 2 Press RUN key to perform auto tuning must disconnect from the load Y After auto tuning setting 03 8 Setting max frequency of motor PO 11 Setting numbers of encoder pulses per turn Pd 21 END Setting rated voltage of motor P0 12 Setting basic frequency of motor P0 15 Setting upper frequency limit of motor P0 13 VST Technol ogi es Co Ltd http www EcoLri veCN con After setting and test by the above steps should JOG running first If working order the user can set other function according to V6 H user manual for details refer to user
18. manual of V6 H high performance vector control torque control inverter Note If the inverter report over current E oC1 or over load E oL1 when JOG running please change encoder direction Pd 22 1 or check if A phase and B phase of encoder correspond to PA and PB of PG feedback card If the inverter report over current E oC1 or over load E oL1 or encoder disconnection E dL1 when JOG running please check the connect lines between PG feedback card and encoder whether exist virtual access or disconnect If the encoder is not directly installed on the motor shaft there exists deceleration ratio between motor shaft and encoder deceleration ratio Pd 24 should be set For example if motor turning 6 turns correspond to the encoder turning 5 turns set this parameter to 1 2 If the encoder is directly installed on the motor shaft set this parameter to 1 2 Function codes table Function Factor code Function code name Setting range Unit PropertyFunction code selection setting number O Vector control 1 without encoder speed feedback 4 control 2 without P0 03 Control operation mode 0 0 8 speed feedback 8 Vector control 2 with lencoder speed feedback P3 09 Anti reverse selection 0 0 1 x 0 Disable reverse enable 1 Enable reverse disable gt 0 Disable PA 09 Energy consumption braking selection 1 0 1 x 1 Enable
19. ng rotation direction If the motor in running state receive orientation command X terminal is set to 40 and terminal is valid the speed decelerate to orientation speed H0 03 according to deceleration time after reach orientation speed perform orientating action If the motor in stopping state receive orientation command after receive forward running command the motor accelerate to orientation speed of forward direction to perform orientating action On the contrary if the motor in stopping state then receive orientation command after receive reverse running command the motor accelerate to orientation speed of reverse direction to perform orientating action If the motor in orientation state if change angle of orientation 01 H0 07 H0 08 09 or through switch orientation angle selection terminal to find a new angle the motor move to new direction for shortest distance 1 From forward running rotation orientation If the motor in running state receive orientation command X terminal is set to 40 and terminal is valid the motor will run to orientation speed H0 03 of forward direction to perform orientating action If the motor in stopping state receive orientation command in spite of forward running or reverse running command the motor will accelerate to orientation speed of forward direction after reach orientation speed perform orientating action If the motor in orientation status if change angle of orientati
20. on H0 01 07 08 09 or through switch orientation angle selection terminal to determine a new angle the motor move to new angle from forward running direction 2 From reverse running rotation orientation If the motor in running state receive orientation command X terminal is set to 40 and terminal is valid the motor will run to orientation speed H0 03 of reverse direction to perform orientating action if the motor in stopping state receive orientation command in spite of forward running or reverse running command the motor will accelerate to orientation speed of reverse direction after reach orientation speed perform orientating action If the motor in orientation status if change angle of orientation H0 01 07 08 09 or through switch orientation angle selection terminal to determine a new angle the motor move to new angle from reverse running direction VST Technol ogi es Co Ltd http www EcoLri veCN con H0 03 Orientation speed 15 00 0 00 300 00Hz The motor will run to orientation speed if motor in running command and orientation command is valid X terminal is set to 40 and terminal is enable after reach orientation speed then perform orientation The higher orientation speed setting is the quicker orientation process is but overshoot maybe occur if setting orientation speed too high H0 04 Orientation complete scope 5 0 65535 H0 05 Orientati
21. on complete time 0 100 0 000 8 000s In orientating process if detect the error between encoder direction and angle of orientation 1 H0 01 less than orientation complete scope and duration excess orientation complete time H0 05 output orientation complete signal through Y terminal Y terminal is setting to 40 The output will disappear if stop the inverter H0 06 Position loop gain 2 000 0 000 65 535 Position loop gain is for speed loop position gain coefficient upon orientation control The larger value is the quicker orientation speed is Shock or overshoot maybe occur if the value setting too high but orientation process will become slowly if the value setting too small H0 07 Angle of orientation 2 0 0 4 Pd 21 1 H0 08 Angle of orientation 3 0 0 4 Pd 21 1 H0 09 Angle of orientation 4 0 0 4 Pd 21 1 Different angle of orientation can be selected by switch X terminal status X terminal is set to 41 and 42 ON means the terminal is valid and OFF means the terminal is invalid If no terminal is set as orientation angle selection terminal the orientation angle is angle of orientation 1 H0 01 Orientation angle selection Orientation angle selection Orientation angle terminal 2 terminal 1 OFF OFF Angle of orientation 1 HO 01 OFF ON Angle of orientation 2 HO 07 ON OFF Angle of orientation 3 HO 08 ON ON Angle of orientation 4 09 F
22. or orientation angle selection terminal X terminal function setting in P5 00 P5 06 41 Orientation angle selection terminal 1 42 Orientation angle selection terminal 2 H0 10 Determine time of terminal selection for orientation angle 0 010 0 000 4 000s When through terminal switch orientation angle the determinate time is set by 10 The terminal is considered valid if terminal status without change last determinate time to prevent from the two orientation angle selection terminal change asynchronous H0 11 Display pulses of orientation angle 0 4 Pd 21 1 The function code can display current direction real time the setting method and range as the same as orientation angle H0 01 07 08 09 When spindle is in orientating stopping state it cans micro adjust the orientation angle to ensure the precision VST Technol ogi es Co Ltd http www EcoLri veCN con The following function is used for simple positioning control H0 14 Homing function selection 0 0 1 H0 15 Homing direction selection 0 0 1 H0 14 and 15 define homing function of simple positioning control The function use with home signal input by X terminal which function setting in P5 00 to P5 06 35 Home signal input The terminal input signal is valid if in home position and invalid if out of home position H0 14 Homing function selection 0 Disable homing function sele
23. tioning value 2 high bits 029999 H0 22 Digital reference positioning value 2 low bits 0 9999 OFF ON OFF Multi segment frequency 2 P4 23 H0 23 Digital reference positioning value 3 high bits 0 9999 24 Digital reference positioning value 3 low bits 0 9999 OFF ON ON Multi segment frequency 3 P4 24 H0 25 Digital reference positioning value 4 high bits 0 9999 H0 26 Digital reference positioning value 4 low bits 059999 ON OFF OFF Multi segment frequency 4 P4 25 H0 27 Digital reference positioning value 5 high bits 0 9999 H0 28 Digital reference positioning value 5 low bits 0 9999 ON OFF ON Multi segment frequency 5 P4 26 VST Technol ogi es Co Ltd http www EcoLri veCN con H0 29 Digital reference 0 0 9999 positioning value 6 high bits H0 30 Digital reference 0 0 9999 ON positioning value 6 low bits ON OFF Multi segment frequency 6 P4 27 H0 31 Digital reference 0 0 9999 positioning value 7 high bits H0 32 Digital reference 0 0 9999 ON positioning value 7 low bits ON ON Multi segment frequency 7 P4 28 The value of the above table is pulse from receive the rising edge of forward or reverse positioning terminal The motor running direction is determine by forward positioning or reverse
24. trol 2 with encoder speed feedback when the motor speed is less than the rotation speed corresponding to the zero servo initial frequency Pd 26 if the zero servo enable is valid it enters zero servo locking status At this time the position of the motor in stop status will be maintained The zero servo initial frequency is the condition for the inverter to enter zero servo status If Pd 26 is too large it may cause over current failure If adjustment is needed you may increase decrease the leave factory value Zero servo gain Pd 27 is the parameter to adjust the zero servo retentively When this value is increased the zero servo rapidity can be increased However if it is too large it may cause vibration of the inverter Note For the zero servo function enabled by function code Pd 25 you may exit from the zero servo mode by setting the frequency higher than the zero servo initial frequency For the zero servo function enabled by function 66 of X terminal zero servo enable terminal when the terminal is invalid it exits from the zero servo mode It doesn t matter whether the setting frequency is higher than the zero servo initial frequency Pd 26 or not Pd 28 Static friction compensation coefficient 0 0 100 0 When the system is under torque control mode to overcome the static friction force upon zero speed operation or startup of the system static friction compensation coefficient may be set VST Technol ogi es Co
25. tting too low the positing less overshoot but positing become slowly Working process as shown in Figure a 2 If home signal is ON after running the motor running at reverse direction the MAX frequency is multi segment frequency 9 P4 30 Once detect home signal input from ON OFF note this position then start deceleration and positing locked in the position and output positing complete signal The value of P4 30 should be set low generally below 1HZ Working process as shown in Figure b Forward homing position is the position when home signal input from the OFF ON at the rising edge Reverse homing working process ibid but the running direction opposite and the homing position is the position when home signal input from the ON OFF at the falling edge H0 16 Simple positioning function 0 0 1 0 Disable simple positioning function 1 Enable simple positioning function Note Through switch multi function terminal X terminal function set to 34 simple positioning function selection to achieve positioning control valid or invalid When 16 0 if close the terminal X terminal set to 34 positioning function is valid If disconnect the terminal positing function is invalid When 16 1 if close the terminal X terminal set to 34 positing function is invalid If disconnect the terminal positing function is valid Frequency Hz A Positioning frequency P0 05 Positioning P
26. used for vector control 2 with encoder speed feedback to set number of pulses per turn for encoder This parameter shall be set properly according to the number of pulses per turn of the encoder Pd 22 Encoder direction selection 0 0 1 0 Forward 1 Reverse The factory setting value is 0 If the wiring sequence for connecting the encoder to inverter connection board does not match the wiring sequence for connecting inverter to motor this parameter may be set to 1 to adjust the wiring sequence to avoid re wiring Pd 23 Encoder disconnection detection time 2 0 0 8 0 s Pd 23 is used to define the disconnection detection time for encoder signal upon vector control 2 with encoder speed feedback If the encoder disconnection detection time exceeds the time set in Pd 23 the inverter will report E dL 1 error Pd 24 Deceleration ratio between motor and encoder 1 000 0 000 65 535 If the encoder is not directly mounted on the motor shaft there exists deceleration ratio between motor shaft and encoder deceleration ratio Pd 24 should be set For example if motor rotation 6 turn but the encoder rotation is 5 turn set this parameter to 1 2 If the encoder is directly mounted on the motor shaft set this parameter to 1 Pd 25 Zero servo enable 0 0 1 Pd 26 Zero servo initial frequency 0 30 0 10 00Hz Pd 27 Zero servo gain 1 000 1 000 9 999 Upon vector con
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