P21.00

Positioning mode

Setting range: 0x00–0x21

Ones: Control mode   setting, setting the position control mode in closed-loop vector control. 

0: Speed control

1: Position control

Tens: Position   command source

0: Pulse string,   adopting terminal pulse signals A2 and B2 to implement positioning control

1: Digital position.   Positioning through P21.17   and the positioning modes can be set through P21.16

2: Photoelectric   switch positioning. After the terminal receives the signal (set S8 to 43),   the stopping positioning begins and the stopping distance is set through P21.17.

Hundreds: Reserved

Thousands: Servo mode

Bit0：Position deviation mode

0: Unbiased

1: Biased

Bit1：Servo enabled

0: Disabled (Terminal   enabled)

1: Enabled

 Under the pulse string positioning mode or   the spindle   positioning mode, Servo enable signal is   valid, the VFD will run into the servo mode, if there is no servo enable   signal, the VFD needs to receive the forward or reverse run command to   perform the servo operation mode.

Bit2：Speed exchange position mode

0: First   stop and the switch

1: Direct   switching

0x00

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P21.01

Pulse command

Setting range: 0x0000–0x3133

Pulse command in pulse position mode

Ones: pulse mode

0: A/B quadrature   pulse, A is forward to B

1: A: PULSE; B: SIGN

2: A: Positive PULSE

3: A: Negative PULSE

Tens: Pulse   direction

Bit0: Direction   setting

0: Forward

1: Reverse

Bit1: Pulse   direction determined by the operation direction

0: Disabled

1: Enabled

Hundreds: Pulse and   direction selection

0: No frequency   multiplication

1: Frequency   multiplication

Thousands: Pulse   control

Bit0: Pulse   filtering selection

0: Inertial filter

1: Moving average   filtering

Bit1: Overspeed   suppression

0: No suppression

1: Suppression

0x0000

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P21.02

APR gain 1

Two   automatic position regulator (APR) gains are provided. You can switch between   these two gains through the switching mode set in P21.04. When the spindle   orientation function is used, the gains are switched automatically,   regardless of the setting of P21.04. P21.03 is used for dynamic running, and P21.02   is used for maintaining the locked state.

Setting   range: 0.0–400.0

20.0

○

P21.03

APR gain 2

30.0

○

P21.04

APR gain switching mode

This   parameter is used to set the APR gain switching mode. To use torque   command-based switching, you need to set P21.05; and to use speed   command-based switching, you need to set P21.06.

1: Torque command

2: Speed command

3–5: Reserved

0

○

P21.05

Position   gain

torque shifting

Setting   range: 0.0–100.0% (rated torque of the motor)

10.0%

○

P21.06

Position   gain

speed shifting

Setting   range: 0.0–100.0% (rated torque of the motor)

10.0%

○

P21.07

Smooth filter coefficient of gain shifting

Smooth   filter coefficient of position gain shifting.

Range: 0–15

5

○

P21.08

Output of the position controller

Output limit of the position controller. If the   limit value is 0, the controller is invalid for position control, but valid   for speed control.

Range: 0.0–100.0%   (P00.03)

20.0%

○

P21.09

Positioning finished range

The   positing finished signal of output position when the position deviation is   below P21.09 and the lasting time is above P21.10.

Range: 0–1000

10

○

P21.10

Detection time of the positioning

Range: 0.0–1000.0   ms

10.0 ms

○

P21.11

Numerator of the position command ratio

Used to   change the corresponding relationship of adjusting position commands and   actual operation displacement.

Range: 1–65535

1000

○

P21.12

Denominator of the position command ratio

Range: 1–65535

1000

○

P21.13

Position feedforward gain

Position   gain for pulse string-based position reference. Generally, you do not need to   modify this parameter.

Range: 0.00–120.00%

100.00%

○

P21.14

Position forward feedback filter time   coefficient

Position   forward feedback filter time coefficient when the position of pulse string is   given.

Range: 0.0–3200.0   ms

3.0 ms

○

P21.15

Position command filter time coefficient

Filter   time coefficient of position reference for pulse string.

Range: 0.0–3200.0   ms

0.0 ms

◎

P21.16

Digital positioning mode

0x0000–0xFFFF

Bit 0:   Positioning mode

0:   Relative position

1:   Absolute position (origin point)

Bit1:   Cyclic positioning setting. You can enable positioning through a terminal   (function no. 55) or choose automatic cyclic positioning. Terminals support   only the enabling of continuous positioning, and automatic cyclic positioning   can be set to cyclic positioning or reciprocating positioning through Bit2 of   P21.16.

0:   Terminal-based cyclic positioning

1:   Automatic cyclic positioning

Bit 2:   Cyclic mode, valid in the automatic cyclic positioning mode

0:   Continuous

1:   Reciprocating

Bit 3: P21.17   digital setting mode. Users can select incremental or position type. The   incremental type indicates that P21.17 needs to be conducted again after each   positioning is enabled. When the position reference bit command is enabled,   the displacement is set through P21.17. When P21.17 is changed, new position   is be positioned automatically.

0:   Incremental mode

1:   Position mode

Bit 4:   Origin searching mode. This function is reserved.

0:   Searching for the origin only for once

1:   Searching for the origin in every time of running

Bit 5:   Origin calibration mode. This function is reserved.

0:   Calibration in real time

1:   One-time calibration

Bit 6:   Positioning completion signal setting. You can set the positioning completion   signal in the pulse or electrical level form. The positioning completion   signal is valid in the positioning completion signal holding time set in P21.25.

0: Valid   in the positioning completion signal holding time (P21.25)

1: Always   valid

Bit 7:   First positioning setting. You can set whether the first positioning is   performed when a running command is received. If no, the first positioning is   performed only after the positioning enabling terminal or automatic cyclic   positioning is enabled.

0:   Disabled

1:   Enabled

Bit 8:   Positioning enabling signal setting (for terminal-based cyclic positioning).   In the pulse form, after positioning is completed or in the first   positioning, the jump edge of the positioning enabling terminal needs to be   detected for performing positioning. In the electrical level mode, after   positioning is completed or in the first positioning, positioning is   performed after it is detected that the positioning enabling terminal is   switched on.

0: Pulse   signal

1:   Electrical level signal

Bit 9:   Position source

0: Set in   P21.17

1:   PROFIBUS/CANopen setting

0x0000

○

P21.17

Location figures reference

Set the   position place of digital setting

Actual   position =P21.17*P21.11/P21.12

0–65535

0

○

P21.18

Positioning speed setting

Positioning   speed setting

0: P21.19 digital setting

1: AI1 setting

2: AI2 setting

3: AI3 setting

4: HDI   setting

0

○

P21.19

Digital setting of positioning speed

Select the positioning speed

Range: 0.1–100.0%   of the max frequency

20.0%

○

P21.20

Positioning ACC time

Set the   ACC/DEC time during the positioning

Position   ACC time is the interval time accelerating from 0 Hz to P00.03

Position   DEC time is the interval time decelerating from P00.03 to 0 Hz

The   setting range of P21.20: 0.01–300.00s

The   setting range of P21.21: 0.01–300.00s

3.00s

○

P21.21

Positioning DEC time

3.00s

○

P21.22

Hold time of positioning arrival

Set the   hold waiting time after arriving to the target position

Range: 0.000–60.000   s

0.100s

○

P21.23

Origin search speed

Reserved.

0.00–50.00   Hz

2.00 Hz

○

P21.24

Origin position offset

Reserved.

Range: 0–64000

0

○

P21.25

Hold time of positioning complete signal

The hold   time of positioning complete signal and also valid to the positioning   complete signal of spindle stopping

Range: 0.000–60.000   s

0.200 s

○

P21.26

Pulse superposition value

P21.26: -9999–32767

P21.27: 0–3000.0/   ms

The   functions are valid when P00.06=12 or P21.00=1.

1.   Input   terminal function 50 (pulse superposition enabling)

If the terminal   rising edge is detected, the pulse setting is increased by the value   specified by P21.26. Pulses are compensated to the pulse setting channel at   the rate specified by P21.27.

2.   Input   terminal function 31 (pulse ascending)

If the terminal is   valid, pulses are superposed to the pulse setting channel at the rate   specified by P21.27.

Note:   P05.11   may impose a slight impact on the actual superposition value.

Example:

P21.27 = 1.0/ms

P5.05 = 31

If terminal S5 input   signal lasts 0.5s, the actual superposed pulse count is 500.

3.   Input   terminal function 32 (pulse descending)

The timing sequence   of this function is similar to that of the previous one, but the superposed   pulse count in this function is a negative number.

Note:   The   pulses are superposed to A2 and B2 of the pulse setting channel. The   functions such as pulse filtering and electronic gear are still valid for   superposed pulses.

4.   Output   terminal function 28 (pulse superposing)

The output terminal   is valid during pulse superposing, but it is invalid after pulse superposing.

0

○

P21.27

Pulse superposition rate

8.0/ ms

○

P21.28

ACC/DEC time after pulse prohibition

Range: 0.00–300.00   s

0.50 s

○

P21.29

Filter time constant of speed feedforward

When P00.06=12   or P00.07=12, it is the filter time constant detected by pulse string

Range: 0–3200.0   ms

10.0 ms

○

P21.30

Rigid tapping

0–0x31

Ones: Enabling   selection

0: Terminal   enabling (terminal function 58)

1: Internal   enabling

Tens: Analog   port selection

0: AI3

1: AI1

2: AI2

0x00

◎

P21.31

Electronic gear 2

Range: 1–65535

It can be   selected through terminal function 28.

1000

○

P21.32

Maximum frequency of rigid tapping

Range: 0.0–400.00   Hz

50.00 Hz

○

P21.34

Pulse setting signal filter width

Range: 0.0–20.0   us

0.5 us

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