Kruger Ecowatt K320 Series Operation Manual page 133

Ecowatt Drive K320 series
®
b) There are four zero positions in P22 group, users 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: Spindle division operation
There are seven scale-division positions in P22 group, users 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, users can check P18.09.
Step 8: Priority level 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, e.g., 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
The position loop gain during positioning is P21.03; while the position loop gain in
positioning-completion-hold state is P21.02. In order to keep sufficient position-hold force and
ensure no system oscillation occurred, adjust P03.00, P03.01, P20.05, and P21.02.
Step 10: Positioning command selection (bit6 of P22.00)
Electric level signal: Positioning command (zeroing and scale division) can be executed only
when there is running command or the servo is enabled.
Step 11: Spindle reference point selection (bit0 of P22.00)
Encoder Z pulse positioning supports the following spindle positioning modes:
a) The encoder is installed on the motor shaft, the motor shaft and spindle is 1:1 rigid
connection;
b) The encoder is installed on the motor shaft, the motor shaft and spindle is 1:1 belt
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Basic operation guidelines