Senlan Hope800 Series Manual page 110

6 Parameter Description
Setting
0: Invalid
range
F9-21
Setting
0~120r/min
range
F9-22
Setting
1~10000 pulse(s)
range
F9-23
Setting
0.00~50.00
range
Zero-servo is only valid for PG vector control.
Zero-servo is enabled when F9-20=1 or 2 and the digital input 49 is valid.
With zero-servo being enabled, when the reference frequency equals zero and the motor decelerates to
F9-21, zero-servo position control begins.
When the zero-servo position error is less than F9-22, the digital output 23 is valid, otherwise it's invalid.
Refer to the following diagram for zero-servo control sequence.
Reference frequency
Operating frequency
Zero-speed level
Zero-speed level
Position error
Zero-servo end signal
 Zero-servo can only adopt the quadrature encoder. The pulse number set by F9-22 refers to the total
number of edges (both rising and falling) of the quadrature encoder's A and B signals.
 The response characteristic of zero-servo control can be adjusted by F9-23. Note: adjust the performance
of the ASR speed loop first and then the zero-servo control gain.
F9-24
Setting
-32768~32767
range
 Position control is achieved mainly based on a 32-digit bipolar counter 2 and process PID as shown is the
figure below:
106
1: Always valid
Zero-speed level
Zero-servo ending level
Zero-servo control gain
Zero-servo ending level
Zero-servo ending level
Speed control
Position control number giving
2: Conditionally valid(selected by digital input 49)
Default
Default
Default
Zero-servo position control
Default
30r/min Change
10 Change
1.00 Change
Speed control
Change
0
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