Kruger Ecowatt K320 Series Operation Manual page 135

Ecowatt Drive K320 series Basic operation guidelines
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Step 7: Cyclic positioning operation
Set P21.16.bit1=1 to enable cyclic positioning. The cyclic positioning is divided into continuous
mode and repetitive mode; users can also carry out cyclic positioning through terminal
function (no. 55, enable digital positioning cycle)
6. Commissioning procedures for positioning of photoelectric switch
Photoelectric switch positioning is to realize positioning function based on closed-loop vector
control.
Frequency
Directdeceleration positioning
Directdeceleration positioning
Constant speed+
Constant speed+
deceleration positioning
deceleration positioning
Time
Running command
Photoelectric switch
arrival signal
Cyclic positioning
enable signal
Positioning completion
signal
Step 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.
Step 5: Set P21.00=0021 to enable photoelectric switch positioning, the photoelectric switch
signal can be connected to S8 terminal only, and set P05.08=43, meanwhile, set P21.17, P21.11
and P21.12 (set positioning displacement) based on actual needs; set P21.21 (deceleration time
of positioning), however, when present running speed is too fast or the set positioning
displacement is too small, the deceleration time of positioning will be invalid, and it will enter
direct deceleration positioning mode.
Step 6: Cyclic positioning
After positioning is done, the motor will stay in current position. Users can set cyclic
positioning through input terminal function selection (55: enable cyclic digital positioning) in
P05 group; when the terminal receives cyclic positioning enable signal (pulse signal), the
motor will continue running in the set speed as per the speed mode and re-enter positioning
state after encountering photoelectric switch.
(7) 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.
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