I. Overview
In the numerical control machine tool, not only the spindle needs to be controlled accurately, but also the low-frequency torque is large and the response is fast. At the same time, precise positioning control of the spindle is also required. Alpha6430s adds positioning and carry functions on the basis of high-performance closed-loop vector control, and can realize arbitrary point positioning and arbitrary angle carry on the spindle.
figure 1
Second, the hardware connection
Shown in Figure 1 is the 5.5KW inverter hardware connection. The run command is given by the terminal. The frequency setting is given by analog AI1. The motor adopts incremental encoder, AB phase connects X5, X6 terminals, and set the transmission ratio P6.08 between the motor and the spindle. If the encoder is mounted on the spindle, set P2.49, P2.50 and P6.08 to 1.
Third, the instructions
1. Closed loop vector. Because the system is operating under closed-loop vector control, the closed-loop vector is guaranteed to operate normally. First auto-tuning the motor parameters, the motor and the load off, PA.29 = 2 (rotation setting). PA.29 = 1 (Stall setting) if it cannot be disconnected from the load. Or directly copy the parameters of the same type of motor. Set the number of encoder lines P2.44. P0.01=1 (closed loop vector control). P0.02 = 10HZ is given digitally first. If the current is running at a low frequency and the current is very high, then the encoder AB phase change should be performed.
2, positioning function. When the closed-loop vector can operate normally, the positioning function is set so that P6.07=1 and the positioning function module is valid. The spindle position is determined by the number of pulses, which can be referenced to 0° for any position. The rotation of the spindle corresponds to 360°: the encoder pulse number*the transmission ratio*4. For example, the encoder is 1000 lines, the transmission ratio is 1.5, then 360° corresponds to: 1000*1.5*4=6000 pulses, if you want to stop at 60°, the setting value of P6.11 is: 60/360*(1000*1.5*4 )=1000. When the reference 0° is determined, the spindle can be stopped at a certain angle, then the pulse value corresponding to the angle can be calculated according to the above formula, and the current position display (P6.46) can be adjusted to this pulse value. Four positioning angles (P6.11~6.14) can be set. By selecting the terminal selection, if more positioning angles are needed, communication settings can be made. If PC.21=1 is set, the current spindle position can be viewed in monitoring mode.
In addition, after the positioning is completed, carry processing can be performed. Or, before the running command is given, if the carry enable is already valid, the positioning completion is directly output and the carry command can be received. The positioning enable command is invalid when the carry is enabled. The carry angle is also set in pulses and the calculation method is the same as above. The timing is shown in Figure 2.
figure 2
Fourth, summary
During positioning, the inverter first runs to the positioning frequency and then performs the positioning process. If overshoot occurs, the positioning frequency can be appropriately reduced, or the positioning time can be extended or the proportional gain can be adjusted. The goal is to minimize positioning time without overshooting.
After on-site debugging, the Alpha6430s can fully meet the requirements of positioning accuracy. It can completely replace the servo to save the cost of the CNC machine tool in the spindle positioning.
Schedule: Reference values ​​for on-site commissioning parameters
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