INVT Goodrive35 Series Operation Manual page 202

Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction
terminal after motor stopping, the motor will inquiry the scaling state and turn to corresponding
position. Operation on P18.09 can watch the state.
(8) Priority of the speed control, position control, zeroing and scaling
The priority of speed control > The priority of scaling. If the system runs at the scaling mode, when the
spindle positioning is disabled, the motor will runs at the speed mode or position mode.
The priority of zeroing > The priority of scaling. The scaling commands are valid if the scaling terminal
is turning from 000state to non-000state. If 000–011, then the spindle will operate scaling 3, the
transition time of terminal switching is less than 10 ms, otherwise wrong scaling command may be
carried out.
(9) Positioning retention
In positioning, the gain of position loop is P21.03, but when the positioning is finished, it is P21.02.
Adjust P03.00, P03.01, P20.05 and P21.02 to keep the position and stabilize the system.
(10) Positioning command (bit6 of P22.00)
Signal of electrical level: Positioning command can only be executed after operation command or
servo enable.
(11) Spindle reference selection (bit0 of P22.00)
Below positioning modes are available in encoder pulse Z positioning:
a) The encoder is installed on the motor shaft and the shaft is rigid-connected to the spindle with the
ratio of 1: 1.
b) The encoder is installed on the motor shaft and the shaft is connected to the spindle by belt with the
ratio of 1: 1.
It is recommended to begin positioning at the area close to the switch because the belt may slide
when the spindle rotates at a high speed to cause inaccurate positioning.
c) The encoder is installed on the spindle and the motor shaft is connected to the spindle by belt. The
drive ratio cannot be 1: 1.
It is necessary to set P20.06 and set P22.14 to be 1. The control performance of closed-loop vector
may be affected if the encoder is not installed on the motor.
Below spindle positioning mode is available:
d) The encoder is installed on the motor shaft. The drive ratio cannot be 1: 1.
It is necessary to set P22.14 at the same time.
5. Digital positioning
The figure is shown as below:
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