IMO HD2 IP Series Instruction Manual Download Page 75

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HD2 IP55 High-ingress Protection Series

Basic Operation Instructions

-63-

communication

The HD2IP series inverter can drive asynchronous motors and synchronous motors, and it

supports two sets of motor parameters, which can be switched over by multi-function digital

input terminals or communication modes.

Valid

The control performance of the inverter is based on accurate motor model, therefore, users

need to carry out motor parameter autotuning before running the motor for the first time (take

motor 1 as an example)

(P00.01=1)

Communication

Summary of Contents for HD2 IP Series

Page 1: ......

Page 2: ...HD2 IP55 High ingress Protection Series Inverters Change history No Change description Version Release date 1 First release V1 0 July 2021...

Page 3: ...lso supports pulse reference and frequency division output PG card adopts digital filter technology to improve EMC performance and to realize stable transmission of the encoder signal over a long dist...

Page 4: ...10 3 5 Product model 10 3 6 Rated values 11 3 7 Structure diagram 12 4 Installation Guide 13 4 1 What this chapter contains 13 4 2 Mechanical installation 13 4 2 1 Installation environment 13 4 2 2 I...

Page 5: ...11 Power on guiding settings 44 5 5 Basic operation instruction 46 5 5 1 What this section contains 46 5 5 2 Common commissioning procedures 47 5 5 3 Vector control 50 5 5 4 SVPWM control mode 54 5 5...

Page 6: ...card input functions 203 P26 group Output functions of extension I O card 206 P28 group Master slave control functions 208 P90 group Customized function group 1 209 P91 group Customized function grou...

Page 7: ...ponse 248 9 4 8 Read Write operation example 249 9 5 Common communication faults 254 Appendix A Extension cards 255 A 1 Model definition 255 A 2 Dimensions and installation 260 A 3 Wiring 262 A 4 I O...

Page 8: ...D 4 Cables 289 D 4 1 Power cables 289 D 4 2 Control cables 290 D 4 3 Cable arrangement 294 D 4 4 Insulation inspection 295 D 5 Breaker and electromagnetic contactor 295 D 6 Reactors 296 D 7 Filters 29...

Page 9: ...g receive the certification and be familiar with all steps and requirements of installing commissioning operating and maintaining the device to prevent any emergencies 1 3 Warning symbols Warnings cau...

Page 10: ...ith wet items or body parts otherwise electric shockmay occur Note Select appropriate tools for delivery and installation to ensure a safe and proper running of the inverter and avoid physical injury...

Page 11: ...ll the input power sources including main power and control power 2 Ensure the permanent magnet synchronous motor has been stopped and the voltage on output end of the inverter is lower than 36V 3 Aft...

Page 12: ...ce test on the inverter or measure the control circuits of the inverter with megameter Take proper anti static measures on the inverter and its internal parts during maintenance and component replacem...

Page 13: ...ng box are complete If not contact local dealers or IMO offices 2 3 Application confirmation Check the following items before operating on the inverter 1 Verify the load mechanical type to be driven b...

Page 14: ...for Quick Application 6 3 Check whether the altitude of the application site exceeds 1000m When the installation altitude exceeds 1000m derate 1 for every increase of 100m when the installation site a...

Page 15: ...ately with power cables based on EMC requirement 5 Check whether all the grounding systems are grounded properly according to inverter requirements 6 Check whether installation spacing of the inverter...

Page 16: ......

Page 17: ...pacitor bank of intermediate circuit stabilizes the DC voltage The inverter converts DC voltage into the AC voltage used by AC motor When the circuit voltage exceeds the maximum limit value external b...

Page 18: ...0 25Hz 150 SVC Synchronous motor 2 5 Hz 150 SVC 0Hz 200 VC Overload capacity Constant Torque Mode 150 of rated current 1min 180 of rated current 10s 200 of rated current 1s Variable Torque Mode 120 of...

Page 19: ...ce Three extension interfaces SLOT1 SLOT2 SLOT3 Expandable PG card programmable extension card communication card I O card etc Others Installation mode Support wall mounting and flange mounting Operat...

Page 20: ...es HD2IP HD2 high performancemulti function inverter with IP55 protection Rated power Output Current 9 5A Output Current in Amps Voltage level Voltage level 4 AC 3PH 380V 15 440V 10 No of Phases Three...

Page 21: ...19 5 12 5 4 1 HD2IP 14A 43 5 5 19 5 14 8 7 5 23 17 4 HD2IP 18 5A 43 7 5 25 18 5 8 11 30 23 4 2 HD2IP 25A 43 11 32 25 8 15 40 32 4 HD2IP 32A 43 15 40 32 4 18 5 45 38 2 HD2IP 38A 43 18 5 45 38 4 22 51...

Page 22: ...ponents and parts 2 Keypad For details see section 5 4 Keypad operation 3 Lower cover Protect internal components and parts 4 Extension card Optional part For details see Appendix A Extension cards 5...

Page 23: ...is required to install external heating device before use to eliminate the freeze inside the inverter failing to do so may cause damage to the inverter Humidity The relative humidity RH of the air is...

Page 24: ...itude exceeds 1000m derate 1 for every increase of 100m when the installation site altitude exceeds 3000m consult the local IMO dealer or office Vibration Up to 5 8m s2 0 6g Installation direction Ins...

Page 25: ...1 Mark the position of the installation hole See Appendix C Dimension drawings for the position of installation hole 2 Mount the screws or bolts onto the designated position 3 Put the inverter on the...

Page 26: ...arallel installation A B D B A Note 1 When users install inverters in different sizes align the top of each inverter before installation forthe convenience of future maintenance 2 The min dimension of...

Page 27: ...tallation Guide 17 4 2 6 Vertical installation Figure 4 5 Vertical installation Note During vertical installation users must install windshield otherwise the inverter will experience mutual interferen...

Page 28: ...ies Installation Guide 18 4 2 7 Tilted installation Figure 4 6 Tilted installation Note During tilted installation it is a must to ensure the air inlet duct and air outlet duct are separated from each...

Page 29: ...am Note 1 The fuse DC reactor brake unit brake resistor input reactor input filter output reactor and output filter are optional parts See Appendix D Optional peripheral accessories for details 2 When...

Page 30: ...HD2 IP55 High ingress Protection Series Installation Guide 20 4 3 2 Main circuit terminal diagram Figure 4 8 HD2IP 9 5A 14A Figure 4 9 HD2IP 18 5A 32A...

Page 31: ...HD2 IP55 High ingress Protection Series inverter Installation Guide 21 Figure 4 10 HD2IP 38A 45A Figure 4 11 HD2IP 60A 75A...

Page 32: ...HD2 IP55 High ingress Protection Series Installation Guide 22 Figure 4 12 HD2IP 92A 115A Figure 4 13 HD2IP 150A and above...

Page 33: ...ts 3 Route the motor cable input power cable and control cables separately 4 None means this terminal is not for external connection 5 HD2IP series inverters cannot share the DC bus with any other inv...

Page 34: ...t Figure 4 15 Wiring diagram of control circuit Note If wire passing board outlet space is insufficient when all terminals on the control board are wired cut the knock out hole on the lower cover for...

Page 35: ...erter provides 10 5V power AI1 1 Input range AI1 voltage current can choose 0 10 0 20mA AI2 10V 10V voltage 2 Input impedance 20k during voltage input 250 during current input 3 AI1 voltage or current...

Page 36: ...by toggle switch SW3 485 PE Grounding terminal PW Provide input digital working power from external to internal Voltage range 12 30V 24V The inverter provides user power the max output current is 200...

Page 37: ...opted by default Figure 4 16 Position of U type short contact tag If input signal comes from NPN transistors set the U type short contact tag between 24V and PW based on the power used according to th...

Page 38: ...ort circuit to avoid thermal overload Carry out protective measures according to the following requirements Figure 4 19 Fuse configuration inverter Input cable M3 Fuse Note Select the fuse according t...

Page 39: ...must cut off the current The inverter is equipped with motor thermal overload protection function which will block output and cut off the current if necessary to protect the motor 4 5 4 Bypass connect...

Page 40: ......

Page 41: ...ure 5 1 Keypad diagram Note 1 LCD keypad is armed with real time clock which can run properly after power off when installed with batteries The clock battery type CR2032 should be purchased by the use...

Page 42: ...erved Note After restoring to default values the default function of short cut key 7 is 1 8 Confirmation key The function of confirmation key varieswith menus eg confirming parameter setup confirming...

Page 43: ...erminal is used to connect to the USB flash drive through an adapter The LCD has different display areas which displays different contents under different interfaces The figure below is the main inter...

Page 44: ...responding menu of function key 4 5 and 6 Corresponding menu of function key 4 5 and 6 The corresponding menu of function key 4 5 and 6 varies with interfaces and the contents displayed in this area i...

Page 45: ...s or to switch between different display styles including list display style and progress bar display style Figure 5 6 Running parameter display state Under running state multiple kinds of state param...

Page 46: ...ault 01 HD2IP Type of present fault Fault code 19 19 Current detection fault ItE Return Homepage Confirm 5 4 Keypad operation Various operations can be performed on the inverter including entering exi...

Page 47: ...motor nameplate parameters are set correctly Return Add Select 16 02 35 Forward Local Ready 01 HD2IP Common parameter setup Parameter setup State monitoring fault record Motor parameter autotuning Par...

Page 48: ...xx Motor parameter group setup P02 Motor 1 parameter group P02 xx P12 Motor 2 parameter group P12 xx P20 Motor 1 encoder group P20 xx P24 Motor 2 encoder group P24 xx Control parameter group setup P01...

Page 49: ...P93 Customized function group 4 P93 xx State monitoring fault record State monitoring P07 HMI group P07 xx P17 State check function group P17 xx P18 Closed loop vector state check function group P18...

Page 50: ...d keypad function parameters which are in motor group Operate the storage area 2 BACKUP012 Operate the storage area 3 BACKUP03 Restore function parameter to default value Ensure to restore function pa...

Page 51: ...shown in the figure below Figure 5 12 List edit diagram 3 5 4 3 Add parameters to the parameter list displayed in stop running state In the fourth level menu of State monitoring the parameters in the...

Page 52: ...arameter displayed in running state list Up to 16 monitoring parameters can be added to the parameter displayed in stop state list and up to 32 monitoring parameters can be added to the parameter disp...

Page 53: ...terface the authority on the top right indicates whether this parameter is editable or not indicates the set value of this parameter can be modified under current state indicates the set value of this...

Page 54: ...ter state monitoring interface After entering state monitoring interface the current parameter value will be displayed in real time this value is the actually detected value which cannot be modified I...

Page 55: ...ress key key or key to enter system setup interface to set keypad language time date backlight brightness backlight time and restore parameters Note Clock battery is not included and the keypad time d...

Page 56: ...on each time Whether to enter the power on guide settings 0 Yes Whether to test the motor rotation direction Yes 1 English 1 Power on only once 1 No No P00 06 A frequency command selection A frequenc...

Page 57: ...via PROFIBUS CANopen De viceNet communi cation P02 15 Rated power of synchronous motor 1 10 Set via Ethernet communi cation P02 16 Rated frequency of synchronous motor 1 11 Set via high speed pulse H...

Page 58: ...uetooth card P08 37 Enable disable energy consumption brake 0 Disable energy consu mption 1 Enable energy consu mption P00 00 Speed control mode 0 SVC 0 1 SVC 1 2 VF control 3 VC P01 08 Stop mode 0 De...

Page 59: ...02 Start Power up after confirming the wiring is correct Restore to default value P00 18 1 Press QUICK JOG to jog Set the motor parameters of P02 15 P02 19 as per the motor nameplate Set the motor par...

Page 60: ...autotuning first 2 P00 01 Running command channel 0 Keypad 1 Terminal 2 Communication 0 P00 02 Communication running command channel 0 Modbus 1 PROFIBUS CANopen DeviceNet 2 Ethernet 3 EtherCAT PROFINE...

Page 61: ...motor 1 0 1200V Depend on model P02 05 Rated current of asynchronous motor 1 0 8 6000 0A Depend on model P02 15 Rated power of synchronous motor 1 0 1 3000 0kW Depend on model P02 16 Rated frequency...

Page 62: ...vector of motor to realize decoupling control ofexciting current and torque current thus achieving high performance speed regulation of asynchronous motor The HD2IP series inverter carries built in s...

Page 63: ...ly applicable to asynchronous motors 5 Rotary autotuning 3 partial autotuning which is only applicable to asynchronous motors 0 P02 00 Type of motor 1 0 Asynchronous motor 1 Synchronous motor 0 P03 00...

Page 64: ...r time 0 000 10 000s 0 010s P03 14 Source of upper limit frequency setup of forward rotation in torque control 0 Keypad P03 16 1 AI1 2 AI2 3 AI3 4 Pulse frequency HDIA 5 Multi step 6 Modbus communicat...

Page 65: ...as P03 18 0 P03 20 Set upper limit of the torque when motoring via keypad 0 0 300 0 rated motor current 180 0 P03 21 Set upper limit of brake torque via keypad 180 0 P03 22 Flux weakening coefficient...

Page 66: ...s it is also recommended to adopt SVPWM control mode The HD2IP series inverter provides multiple kinds of V F curve modes to meet different field needs Users can select corresponding V F curve or set...

Page 67: ...boost is too large low frequency vibration or overcurrent may occur to the motor if such situation occurs lower the torque boost value Output voltage V boost cut off Output frequency 2 Energy saving...

Page 68: ...nels and acceleration deceleration time of voltage and frequency respectively which will form a real time V F curve through combination Note This kind of V F curve separation can be applied in various...

Page 69: ...r 0 P02 02 Rated power of asynchronous motor 1 0 01Hz P00 03 max output frequency 50 00Hz P02 04 Rated voltage of asynchronous motor 1 0 1200V Depend on model P04 00 V F curve setting of motor 1 0 Str...

Page 70: ...e V F V F separation 0 P04 14 Torque boost of motor 2 0 0 automatic 0 1 10 0 0 0 P04 15 Motor 2 torque boost cut off 0 0 50 0 rated frequency of motor 1 20 0 P04 16 V F frequency point 1 of motor 2 0...

Page 71: ...100 0 P04 29 Voltage acceleration time 0 0 3600 0s 5 0s P04 30 Voltage deceleration time 0 0 3600 0s 5 0s P04 31 Max output voltage P04 32 100 0 rated motor voltage 100 0 P04 32 Min output voltage 0 0...

Page 72: ...ward rotation in torque control AI1 AI2 AI3 HDIA MODBUS PROFIBUS CANopen Ethernet Multi step speed 0 1 2 3 4 5 6 7 Keypad 8 9 P03 17 Keypad limit value of upper limit frequency of reverse rotation in...

Page 73: ...INET communication 12 PLC Note For setting sources 2 6 and 10 100 corresponds to three times the rated motor current 0 P03 12 Torque set by keypad 300 0 300 0 rated motor current 50 0 P03 13 Torque re...

Page 74: ...e 0 Keypad P03 21 1 10 the same as P03 18 0 P03 20 Set upper limit of the torque when motoring via keypad 0 0 300 0 rated motor current 180 0 P03 21 Set upper limit of brake torque via keypad 0 0 300...

Page 75: ...ors and it supports two sets of motor parameters which can be switched over by multi function digital input terminals or communication modes Valid The control performance of the inverter is based on a...

Page 76: ...2 20 P02 23 3 If static autotuning is selected during motor autotuning there is no need to disconnect the motor from load as only part of the motor parameters has been autotuned the control performanc...

Page 77: ...y autotuning 2 which is similar to rotary autotuning 1 but is only applicable to asynchronous motors 5 Rotary autotuning 3 partial autotuning which is only applicable to asynchronous motors 0 P02 00 T...

Page 78: ...us motor 1 0 01 655 35mH Depend on model P02 23 Counter emf constant of synchronous motor 1 0 10000 300 P05 01 P05 06 Function of multi function digital input terminal S1 S4 HDIA HDIB 35 Motor 1 switc...

Page 79: ...el P12 20 Stator resistance of synchronous motor 2 0 001 65 535 Depend on model P12 21 Direct axis inductance of synchronous motor 2 0 01 655 35mH Depend on model P12 22 Quadrature axis inductance of...

Page 80: ...l c er e a s t s ion P08 06 1t 1f 1t Jump frequency 2 1 2 jump amplitude 2 1 2 jump amplitude 2 Jump frequency 1 1 2 jump amplitude 1 1 2 jump amplitude 1 Jump frequency 3 1 2 jump amplitude 3 1 2 ju...

Page 81: ...restart at power cut Waiting time of restart at power cut P01 22 0 1 2 Stop Run 0 1 P01 18 Power on terminal running protection selection Delay time of restart P01 23 N Y Y N Restart after power cut...

Page 82: ...0 P01 01 Starting frequency of direct start 0 00 50 00Hz 0 50Hz P01 02 Hold time of starting frequency 0 0 50 0s 0 0s P01 03 DC brake current before start 0 0 100 0 0 0 P01 04 DC brake time before st...

Page 83: ...d at power up 0 P01 19 Action selection when the running frequency is below lower limit lower limit should be larger than 0 0 Run at the lower limit frequency 1 Stop 2 Sleep 0 P01 20 Wake up from slee...

Page 84: ...3600 0s Depend on model P08 08 Deceleration time at jogging 0 0 3600 0s Depend on model P08 00 Acceleration time 2 0 0 3600 0s Depend on model P08 01 Declaration time 2 0 0 3600 0s Depend on model P08...

Page 85: ...10 11 Keypad AI1 PROFIBUS CANopen MODBUS PID Multi step speed Simple PLC HDI AI3 AI2 Ethernet UP DOWN terminal P08 44 tens setup frequency control selection P17 14 Digital adjustment value of keypad...

Page 86: ...ncy inside the inverter via multi function terminal UP 10 and DOWN 11 users can increase decrease the frequency quickly by setting P08 45 UP terminal frequency incremental change rate and P08 46 DOWN...

Page 87: ...0 Frequency increase UP 11 Frequency decrease DOWN 12 Clear frequency increase decrease setting 13 Switch over between setup A and setup B 14 Switch over between combination setup and setup A 15 Switc...

Page 88: ...P05 26 P05 27 P05 39 P05 40 P05 41 P05 42 P05 45 P05 46 P05 47 P05 48 P05 43 P05 28 P05 49 P17 19 P17 22 AI2 P05 29 P05 30 P05 31 P05 32 P05 33 P05 34 P05 35 P05 36 P05 37 P17 20 P05 00 HDIB input ty...

Page 89: ...B is digital input P05 24 Lower limit value of AI1 0 00V P05 26 0 00V P05 25 Corresponding setting of lower limit of AI1 300 0 300 0 0 0 P05 26 Upper limit value of AI1 P05 24 10 00V 10 00V P05 27 Cor...

Page 90: ...setting of lower limit frequency of HDIA 300 0 300 0 0 0 P05 41 Upper limit frequency of HDIA P05 39 50 000kHz 50 000kHz P05 42 Corresponding setting of upper limit frequency of HDIA 300 0 300 0 100 0...

Page 91: ...ne analog output terminal 0 10V 0 20mA and one high speed pulse output terminal Analog output signals can be filtered separately and the proportional relation can be adjusted by setting the max value...

Page 92: ...ative value corresponds to 0 0 by default 12 AI3 input value 0 10V 0 20mA 13 Input value of high speed pulse HDIA 0 00 50 00kHz 14 Set value 1 of Modbus communication 0 1000 15 Set value 2 of Modbus c...

Page 93: ...meter list Function code Name Description Default value P06 00 HDO output type 0 Open collector high speed pulse output 1 Open collector output 0 P06 14 AO1 output selection 0 Running frequency 0 Max...

Page 94: ...cy bipolar 0 Max output frequency 25 Ramp reference frequency bipolar 0 Max output frequency 26 Rotational speed bipolar 0 Speed corresponding to max output frequency 27 Value 2 set through EtherCAT P...

Page 95: ...put terminal polarity P05 12 P05 09 digital filter time P05 13 P05 15 P05 17 P05 19 P05 21 P05 23 Digital function selection Run This parameter is used to set the corresponding function of digital mul...

Page 96: ...2 DOWN terminal K3 UP DOWM Zeroing terminal COM The terminal used to clear frequency increase decrease setting can clear the frequency value of auxiliary channel set by UP DOWN thus restoring the refe...

Page 97: ...cceleration deceleration time selection 2 ON ON Acceleration deceleration time 4 P08 04 P08 05 23 Simple PLC stop reset Restart simple PLC process and clear previous PLC state information 24 Simple PL...

Page 98: ...mand channel will switch to terminal compulsorily If this function becomes invalid the running command channel will revert to the original state 38 Command switches to communication When this terminal...

Page 99: ...mposition is enabled pulse increase and pulse decrease are effective 69 Pulse decrease When the terminal function is valid the pulse input is decreased according to the P21 27 pulse speed 70 Electroni...

Page 100: ...ng 13 Switch over between setup A and setup B 14 Switch over between combination setting and A setting 15 Switch over between combination setting and setup B 16 Multi step speed terminal 1 17 Multi st...

Page 101: ...ncy stop 57 Motor over temperature fault input 59 Switch to V F control 60 Switch to FVC control 61 PID polarity switch over 66 Zero out encoder counting 67 Pulse increase 68 Enable pulse superimposit...

Page 102: ...0 000s 0 000s P05 23 HDIB terminal switch off delay 0 000 50 000s 0 000s P07 39 Input terminal state of present fault 0 P17 12 Digital input terminal state 0 5 5 12 Digital output The HD2 IP55 series...

Page 103: ...when the inverter is ready to run output ON signal 13 In pre exciting Output ON signal during pre exciting of the inverter 14 Overload pre alarm Output ON signal after the pre alarm time elapsed based...

Page 104: ...al is output and when it is set to 0 the OFF signal is output 35 Reserved 36 Speed position control switch over completed Output is valid when the mode switch over is completed 37 40 Reserved 41 C_Y1...

Page 105: ...ut 28 During pulse superposition 29 STO action 30 Positioning completed 31 Spindle zeroing completed 32 Spindle scale division completed 33 In speed limit 34 Virtual terminal output of EtherCAT PROFIN...

Page 106: ...PID control pause Function code Name Description Default value P06 09 HDO switch off delay 0 000 50 000s valid only when P06 00 1 0 000s P06 10 Relay RO1 switch on delay 0 000 50 000s 0 000s P06 11 Re...

Page 107: ......

Page 108: ...i step speed 6 100 0 100 0 0 0 P10 15 Running time of 6th step 0 0 6553 5s min 0 0s P10 16 Multi step speed 7 100 0 100 0 0 0 P10 17 Running time of 7th step 0 0 6553 5s min 0 0s P10 18 Multi step spe...

Page 109: ...s the present stage of the simple PLC function 0 5 5 14 Multi step speed running Set the parameters used in multi step speed running the HD2 IP55 series inverter can set 16 step speeds which are selec...

Page 110: ...6553 5s min 0 0s P10 18 Multi step speed 8 100 0 100 0 0 0 P10 19 Running time of 8th step 0 0 6553 5s min 0 0s P10 20 Multi step speed 9 100 0 100 0 0 0 P10 21 Running time of 9th step 0 0 6553 5s mi...

Page 111: ...se where the feedback is always less than the reference after systemstabilizes continue increasing the proportional gain otherwise decrease the proportional gain Repeat this process until the static d...

Page 112: ...termined set the initial value of a larger integral time Ti and decrease Ti gradually until system oscillation occurred and then in turn increase Ti until system oscillation disappears record the Ti a...

Page 113: ...odic vibration is longer than the set value of integral time Ti it indicates the integral action is too strong prolong the integral time Ti to control vibration Response Before adjustment Control shor...

Page 114: ...unication 11 Programmable extension card 12 Reserved 0 P09 01 Pre set PID reference of keypad 100 0 100 0 0 0 P09 02 PID feedback source 0 AI1 1 AI2 2 AI3 3 High speed pulse HDIA 4 Modbus communicatio...

Page 115: ...ter the frequency reaches upper lower limit 1 Stop integral control after the frequency reaches upper lower limit Tens 0 The same with the main reference direction 1 Contrary to the main reference dir...

Page 116: ...requency is mainly applied in cases where transverse movement and winding functions are needed like textile and chemical fiber industries The typical working process is shown as below Function code Na...

Page 117: ...e 0 1 3600 0s 5 0s P08 18 Wobbling frequency fall time 0 1 3600 0s 5 0s 5 5 17 Local encoder input The HD2 IP55 series inverter supports pulse count function by inputting the count pulse from HDI high...

Page 118: ...cates the encoder direction is reversed under such situation set P20 02 to 1 if the speed measurement value deviates greatly it indicates P20 01 is set improperly Observe whether P18 02 encoder Z puls...

Page 119: ...uning is done the angle obtained from autotuning will be saved in P20 09 and P20 10 automatically b Static autotuning In cases where the load can be disconnected it is recommended to adopt rotary auto...

Page 120: ...urce reference P00 06 or P00 07 to 12 set by pulse string AB at this point the acceleration deceleration time is determined by the acceleration deceleration time of the inverter meanwhile the paramete...

Page 121: ...urately 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 positi...

Page 122: ...Positioning completion signal P21 25 Hold time of 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...

Page 123: ...ver 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...

Page 124: ...uring deceleration OC2 6 Overcurrent during constant speed OC3 7 Overvoltage during acceleration OV1 8 Overvoltage during deceleration OV2 9 Overvoltage during constant speed OV3 10 Bus undervoltage f...

Page 125: ...nication fault E NET 31 CANopen communication fault E CAN 32 To ground short circuit fault 1 ETH1 33 To ground short circuit fault 2 ETH2 34 Speed deviation fault dEu 35 Mal adjustment fault STo 36 Un...

Page 126: ...e of present fault 0 1200V 0V P07 36 Output current of present fault 0 0 6300 0A 0 0A P07 37 Bus voltage of present fault 0 0 2000 0V 0 0V P07 38 Max temperature of present fault 20 0 120 0 C 0 0 C P0...

Page 127: ...st but one fault 0 00Hz P00 03 0 00Hz P07 51 Output voltage of the last but one fault 0 1200V 0V P07 52 Output current of the last but one fault 0 0 6300 0A 0 0A P07 53 Bus voltage of the last but one...

Page 128: ...running state the parameter value is the measured value which cannot be modified The inverter has assigned the modification attribute of each parameter automatically to avoid inadvertent modification...

Page 129: ...g range Max P00 04 10 00 630 00Hz 50 00Hz P00 04 Upper limit of running frequency The upper limit of running frequency is upper limit value of inverter output frequency This value should be no more th...

Page 130: ...d B frequency commands are set by keypad the value is the initial digital set value of the inverter frequency Setting range 0 00 Hz P00 03 max output frequency 50 00Hz P00 11 Acceleration time 1 Accel...

Page 131: ...nsumption higher temperature increase reduced output capacity under high carrier frequency the inverter needs to be derated for use meanwhile the leakage current will increase which increases electrom...

Page 132: ...used to eliminate the impact on the output voltage of inverter when bus voltage fluctuates 1 P00 17 Inverter Mode 0 CT Mode 1 VT Mode P00 18 Function parameter Reset 0 No operation 1 Restore to defau...

Page 133: ...g starting the VFD will first perform DC brake based on the set DC brake current before startup and then it will accelerate after the set DC brake time before startup elapses If the set DC brake time...

Page 134: ...the stop speed P01 15 the VFD stops 1 Coast to stop after stop command is valid the VFD stops output immediately and the load coasts to stop as per mechanical inertia 0 P01 09 Starting frequency of DC...

Page 135: ...uency 1 Switch over after starting frequency 2 Switch over after passing stop speed and delay 1 P01 15 Stop speed 0 00 100 00Hz 0 50Hz P01 16 Stop speed detection mode 0 Set value of speed the only de...

Page 136: ...o set the sleep delay When the running frequency of VFD is below the lower limit frequency the VFD enters sleep state when the set frequency is above the lower limit again and continues to be so after...

Page 137: ...stop 0 P01 26 Deceleration time of emergency st op 0 0 60 0s 2 0s P01 27 Time of starting section of deceleration S curve 0 0 50 0s 0 1s P01 28 Time of ending section of deceleration S curve 0 0 50 0s...

Page 138: ...124 Function code Name Description Default value Modify P01 32 Pre exciting time of jogging 0 10 000s 0 000s P01 33 Starting frequency of braking for jogging to stop 0 P00 03 0 00Hz P01 34 Delay to en...

Page 139: ...ted speed of asynchronous motor 1 1 60000rpm Depend on model P02 04 Rated voltage of asynchronous motor 1 0 1200V Depend on model P02 05 Rated current of asynchronous motor 1 0 8 6000 0A Depend on mod...

Page 140: ...0 0 68 0 P02 13 Magnetic saturation coefficient 3 of iron core of asynchronous motor 1 0 0 100 0 57 0 P02 14 Magnetic saturation coefficient 4 of iron core of asynchronous motor 1 0 0 100 0 40 0 P02 1...

Page 141: ...cation current of synchronous motor 1 reserved 0 50 rated motor current 10 P02 26 Overload protection of motor 1 0 No protection 1 Common motor with low speed compensation As the cooling effect of com...

Page 142: ...immediately Setting range 20 0 120 0 P02 28 Power display calibration coefficient of motor 1 This function adjusts the power display value of motor 1 only and it does not affect the control performan...

Page 143: ...offset may occur Speed loop PI parameter is closely related to the system inertial users should make adjustment based on default PI parameter according to different load characteristics to fulfill dif...

Page 144: ...A 6 Multi step torque 7 Modbus communication 8 PROFIBUS CANopen DeviceNet communication 9 Ethernet communication 10 Pulse frequency HDIB 11 EtherCAT PROFINET communication 12 PLC Note For setting sour...

Page 145: ...setup of the torque during motoring 0 Keypad P03 20 1 AI1 2 AI2 3 AI3 4 Pulse frequency HDIA 5 Modbus communication 6 PROFIBUS CANopen DeviceNet communication 7 Ethernet communication 8 Pulse frequenc...

Page 146: ...Max voltage limit P03 24 sets the max output voltage of the inverter which is the percentage of rated motor voltage This value should be set according to field conditions Setting range 0 0 120 0 100 0...

Page 147: ...1 Reserved 0x0000 P03 36 Speed loop differential gain 0 00 10 00s 0 00s P03 37 High frequency current loop proportional coefficient Under closed loop vector control mode P00 00 3 and P03 39 the curren...

Page 148: ...tuning is not performed 0 P03 46 Current integral proportional coefficient after autotuning Automatic update will be performed after motor parameter autotuning In the closed loop vector control mode f...

Page 149: ...oost compensation to the output voltage P04 01 is relative to the max output voltage Vb P04 02 defines the percentage of cut off frequency of manual torque boost to the rated motor frequency fb Torque...

Page 150: ...of motor 1 Setting range of P04 08 0 0 110 0 rated voltage of motor 1 0 00Hz P04 04 V F voltage point 1 of motor 1 00 0 P04 05 V F frequency point 2 of motor 1 0 00Hz P04 06 V F voltage point 2 of mo...

Page 151: ...0nd order 5 Customize V F V F separation 0 P04 14 Torque boost of motor 2 0 0 automatic 0 1 10 0 0 0 P04 15 Motor 2 torque boost cut off 0 0 50 0 relative to rated frequency of motor 2 20 0 P04 16 V...

Page 152: ...eNet communication 9 Ethernet communication 10 HDIB 11 EtherCAT PROFINET communication 12 PLC programmable card 13 Reserved P04 28 Set voltage value via keypad When the channel for voltage setup is se...

Page 153: ...4 35 VF pull in current 2 of synchronous motor 100 0 100 0 rated motor current 10 0 P04 36 VF pull in current frequency switch over threshold of synchronous motor 0 00Hz P00 03 max output frequency 50...

Page 154: ...IF mode of asynchronous motor 2 0 1 0 P04 46 IF current setting of asynchronous motor 2 0 0 200 0 120 0 P04 47 IF proportional coefficient of asynchronous motor 2 0 5000 650 P04 48 IF integral coeffic...

Page 155: ...setup A and setup B 14 Switch over between combination setup and setup A 15 Switch over between combination setup and setup B 16 Multi step speed terminal 1 17 Multi step speed terminal 2 18 Multi ste...

Page 156: ...scale division selection 2 50 Spindle scale division selection 3 51 Position control and speed controlswitch over terminal 52 Pulse input disabled 53 Clear position deviation cleared 54 Switch over p...

Page 157: ...P05 11 2 3 wire control mode This function code is used to set the 2 3 wire control mode 0 2 wire control 1 integrate enabling function with direction This mode is the most popular dual line mode Dire...

Page 158: ...w Sln REV Previous running direction Current running direction ON OFF ON Forward Reverse Reverse Forward ON ON OF F Reverse Forward Forward Reverse ON OFF ON Decelerate to stop OFF Sln 3 wire control...

Page 159: ...make the inverter run again users need to trigger FWD REV again eg PLC single cycle stop fixed length stop andvalid STOP RST stop during terminal control see P07 04 S1 terminal These function codes d...

Page 160: ...d during calculation When analog input is current input 0 20mA current corresponds to 0 10V voltage In different applications 100 of analog setting corresponds to different nominal values The figure b...

Page 161: ...of P05 35 P05 33 10 00V Setting range of P05 36 300 0 300 0 Setting range of P05 37 0 000s 10 000s 0 00V P05 34 Correspondin g setting of intermediate value 2 of AI2 0 0 P05 35 Upper limit value of A...

Page 162: ...AI1 input signal type through the corresponding function code 0 P05 51 P05 52 Reserved P06 group Output terminals Function code Name Description Default value Modify P06 00 HDO output type 0 Open col...

Page 163: ...communication 24 Virtual terminal output of POROFIBUS CANopen communication 25 Virtual terminal output of Ethernet communication 26 DC bus voltage established 27 z pulse output 28 During pulse superpo...

Page 164: ...switch off delay 0 000s P06 10 Relay RO1 switch on delay 0 000s P06 11 Relay RO1 switch off delay 0 000s P06 12 Relay RO2 switch on delay 0 000s P06 13 Relay RO2 switch off delay 0 000s P06 14 AO1 ou...

Page 165: ...tational speed bipolar 0 Speed corresponding to max output frequency 27 Value 2 set through EtherCAT Profinet EtherNetIP 0 1000 28 C_AO1 Set P27 00 to 1 0 1000 29 C_AO2 Set P27 00 to 1 0 1000 30 Rotat...

Page 166: ...t filter time 0 000s 10 000s 0 000s P06 32 Reserved P06 33 Frequency reach detection value 0 P00 03 1 00Hz P06 34 Frequency reach detection time 0 3600 0s 0 5s P07 group HMI Function code Name Descrip...

Page 167: ...and channel 0 keypad control terminal control communication control 1 keypad control terminal control 2 keypad control communication control 3 terminal control communication control 0 P07 04 Stop func...

Page 168: ...the inverter inverter power consumption P07 15 1000 P07 16 Setting range of P07 15 0 65535 kWh 1000 Setting range of P07 16 0 0 999 9 kWh P07 16 Low bit of inverter power consumption P07 17 Reserved P...

Page 169: ...totuning fault tE 21 EEPROM operation fault EEP 22 PID feedback offline fault PIDE 23 Brake unit fault bCE 24 Running time reached END 25 Electronic overload OL3 26 Keypad communication error PCE 27 P...

Page 170: ...extension card type fault E Err 56 Encoder UVW loss fault ENCUV 57 Profibus communication fault E PN 58 CANopen communication fault ESCAN 59 Motor over temperature fault OT 60 Card slot 1 card identif...

Page 171: ...lt 0 00Hz P00 03 0 00Hz P07 35 Output voltage of present fault 0 1200V 0V P07 36 Output current of present fault 0 0 6300 0A 0 0A P07 37 Bus voltage of present fault 0 0 2000 0V 0 0V P07 38 Max temper...

Page 172: ...he last fault 0x0000 0xFFFF 0 P07 48 Output terminal state of the last fault 0x0000 0xFFFF 0 P07 49 Running frequency of the 2nd last fault 0 00Hz P00 03 0 00Hz P07 50 Ramp reference frequency of the...

Page 173: ...define the reference frequency of the inverter during jogging Setting range 0 00Hz P00 03 max output frequency 5 00Hz P08 07 Acceleration time of jogging Jogging acceleration time is the time needed...

Page 174: ...requency of acceleration de celeration time 0 Max output frequency 1 Set frequency 2 100Hz Note Valid for straight acceleration deceleration only 0 P08 22 Reserved P08 23 Number of decimal points of f...

Page 175: ...er by Ethernet communication 4 Switch over by EtherCAT PROFINET communication Tens Motor switch over during running 0 Disable switch over during running 1 Enable switch over during running 0x00 P08 32...

Page 176: ...HD2 IP55 High ingress Protection Series Inverter 162 Function parameter list...

Page 177: ...8 38 Energy consumption brake threshold voltage Set the starting bus voltage of energy consumption brake adjust this value properly can brake the load effectively The default value will change with th...

Page 178: ...is valid 1 UP DOWN terminal setup is invalid Tens Frequency control selection 0 Valid only when P00 06 0 or P00 07 0 1 All frequency modes are valid 2 Invalid for multi step speed when multi step spe...

Page 179: ...r the coefficient the stronger the brake intensity The inverter enables motor to decelerate quickly by increasing the motor flux which converts energy generated during braking into thermal energy The...

Page 180: ...command P00 06 P00 07 is set to 7 or channel of voltage setup P04 27 is set to 6 the inverter running mode is process PID control This parameter determines the target reference channel of process PID...

Page 181: ...amely the feedback signal is less than PID reference which requires inverter output frequency to increase for PID to reach balance eg tension PID control of unwinding 0 P09 04 Proportional gain Kp Thi...

Page 182: ...ng range 0 00 10 00s 0 00s P09 07 Sampling cycle T It means the sampling cycle of feedback The regulator operates once during each sampling cycle The larger the sampling cycle the slower the response...

Page 183: ...cy reaches upper lower limit 1 Stop integral control after the frequency reaches upper lower limit Tens 0 The same with the main reference direction 1 Contrary to the main reference direction Hundreds...

Page 184: ...ter running once The inverter keeps the running frequency and direction of the last section after a single cycle 2 Cyclic running the inverter enters the next cycle after completing one cycle until re...

Page 185: ...nal 3 and terminal 4 are OFF the frequency input mode is set by P00 06 or P00 07 When terminal 1 terminal 2 terminal 3 and terminal 4 are not all OFF the frequency set by multi step speed will prevail...

Page 186: ...into hexadecimal number finally set corresponding function code Acceleration deceleration time 1 is set by P00 11 and P00 12 Acceleration deceleration time 2 is set by P08 00 and P08 01 Acceleration...

Page 187: ...in the remaining time 0 P10 37 Multi step time unit 0 s the running time of each step is counted in seconds 1 min the running time of each step is counted in minutes 0 P11 group Protection parameters...

Page 188: ...by P11 06 if it exceeds the current limit level the inverter will run at stable frequency during accelerated running or run in decreased frequency during constant speed running if it exceeds the curre...

Page 189: ...e alarm detection level If the inverter or motor output current is larger than the overload pre alarm detection level P11 09 and the duration exceeds the overload pre alarm detection time P11 10 overl...

Page 190: ...deviation detection value 0 0 50 0 This parameter is used to set the speed deviation detection value 10 0 P11 15 Speed deviation detection time 0 0 10 0s This parameter is used to set the speed deviat...

Page 191: ...HD2 IP55 High ingress Protection Series Function parameter list 177 P11 18 Integral coefficient of voltage regulator during undervoltage stall 0 1000 40...

Page 192: ...ndervoltage stall 0 2000 150 P11 21 Proportional coefficient of voltage regulator during overvoltage stall 0 1000 60 P11 22 Integral coefficient of voltage regulator during overvoltage stall 0 1000 10...

Page 193: ...ous motor 2 0 01Hz P00 03 max output frequency 50 00Hz P12 03 Rated speed of asynchronous motor 2 1 60000rpm Depend on model P12 04 Rated voltage of asynchronous motor 2 0 1200V Depend on model P12 05...

Page 194: ...synchronous motor 2 0 0 100 0 40 P12 15 Rated power of synchronous motor 2 0 1 3000 0kW Depend on model P12 16 Rated frequency of synchronous motor 2 0 01Hz P00 03 max output frequency 50 00Hz P12 17...

Page 195: ...mpensation 2 motor 2 2 Frequency variable motor without low speed compensation Motor overload multiples M Iout In K In is rated motor current lout is inverter output current K is motor overload protec...

Page 196: ...Initial pole detection mode 0 No detection 1 High frequency current injection 2 Pulse superimposition 0 P13 02 Pull in current 1 Pull in current is the pole position orientation current pull in curren...

Page 197: ...the rated speed If motor oscillation occurred adjust this parameter properly Setting range 0 0 100 0 0 0 P13 13 High frequency injection current 0 300 0 of the rated inverter output current 20 0 P13...

Page 198: ...to the moment when the data is sent to the upper computer If the response delay is less than the system processing time the response delay will be subject to system processing time if the response de...

Page 199: ...or details P15 28 Master slave CAN communication address 0 127 1 P15 29 Master slave CAN communication baud rate selection 0 50Kbps 1 100 Kbps 2 125Kbps 3 250Kbps 4 500Kbps 5 1M bps 4 P15 30 Master sl...

Page 200: ...riod of extension card in card slot 1 0 0 600 0s If it is set to 0 0 offline fault will not be detected 0 0s P16 28 Communication timeout period of extension card in card slot 2 0 0 600 0s If it is se...

Page 201: ...RPM P17 06 Torque current Display current torque current of the inverter Range 3000 0 3000 0A 0 0A P17 07 Exciting current Display current exciting current of the inverter Range 3000 0 3000 0A 0 0A P1...

Page 202: ...0 AI2 input voltage Display input signal of AI2 Range 10 00V 10 00V 0 00V P17 21 HDIA input frequency Display input frequency of HDIA Range 0 000 50 000kHz 0 000 kHz P17 22 HDIB input frequency Displa...

Page 203: ...ming current on AC side Range 0 0 5000 0A 0 0A P17 36 Output torque Display output torque value during forward running positive value is motoring state negative value is generating state during revers...

Page 204: ...cy set by B source 0 00 P00 03 0 00Hz P17 51 PID proportional output 100 0 100 0 0 00 P17 52 PID integral output 100 0 100 0 0 00 Function code Name Description Default value Modify P17 53 PID differe...

Page 205: ...ce value zero out after stop Range 0 65535 0 P18 05 High bit of position feedback value High bit of position feedback value zero out after stop Range 0 30000 0 P18 06 Low bit of position feedback valu...

Page 206: ...it of encoder pulse count value 0 65535 0 P18 15 Low bit of encoder pulse count value 0 65535 0 P18 16 Main control board measured speed value 3276 8 3276 7Hz 0 0Hz P18 17 Pulse command frequency Puls...

Page 207: ...ulse per revolution display 0 65535 0 P18 29 Angle compensation value of synchronous motor 180 0 180 0 0 00 P18 30 Reserved P18 31 Pulse reference Z pulse value 0 65535 0 P18 32 Pulse given main contr...

Page 208: ...slave communication card 16 Modbus communication card 17 EtherCAT communication card 18 BACnet communication card 19 DeviceNet communication card 0 P19 03 Software version of the extension card in ca...

Page 209: ...l fault 0 0 100 0s 0 8s P20 05 Filter times of encoder detection Setting range 0x00 0x99 Ones Low speed filter time corresponds to 2 0 9 125 s Tens High speed filter times corresponds to 2 0 9 125 s 0...

Page 210: ...f pole 0 3 1 Rotary autotuning DC brake 2 Static autotuning suitable for resolver type encoder sin cos with CD signal feedback 3 Rotary autotuning initial angle identification 0 P20 12 Speed measureme...

Page 211: ...filter width 0 63 0 means 0 25 s 2 P20 19 Pulse reference filter width 0 63 0 means 0 25 s 2 P20 20 Pulse number of pulse reference 0 65535 1024 P20 21 Enable angle compensation of synchronous motor...

Page 212: ...igh electric level the edge counts down 2 A Positive pulse Channel A is positive pulse channel B needs no wiring 3 A B dual channel pulse channel A pulse edge counts up channel B pulse edge counts dow...

Page 213: ......

Page 214: ...id and no position control can be performed however speed control is available Setting range 0 0 100 0 max output frequency P00 03 20 0 P21 09 Completion range of positioning When the position deviati...

Page 215: ...rt continuous mode Bit4 Home searching mode 0 Search for the home just once 1 Search for the home during each run Bit5 Home calibration mode 0 Calibrate in real time 1 Single calibration Bit6 Position...

Page 216: ...celeration time of positioning means the time needed for the inverter to decelerate from the max output frequency P00 03 to 0hz Setting range of P21 20 0 01 300 00s Setting range of P21 21 0 01 300 00...

Page 217: ...nable Bit1 Select spindle positioning reference point 0 Z pulse input 1 S2 S3 S4 terminal input Bit2 Search for reference point 0 Search the reference point only once 1 Search the reference point ever...

Page 218: ...n 0 Users can select the zeroing positions of four spindles by terminals function code 46 47 Setting range 0 39999 0 P22 04 Spindle zeroing position 1 Setting range 0 39999 0 P22 05 Spindle zeroing po...

Page 219: ...lection Ones Enable disable 0 Disable 1 Enable Tens Analog port selection 0 Invalid 1 AI1 2 AI2 3 AI3 0x00 P22 19 Analog filter time of rigid tapping 0 0ms 1000 0ms 1 0ms P22 20 Max frequency of rigid...

Page 220: ...cillation or speed offset may occur Speed loop PI parameter is closely related to the system inertia users should make adjustment according to different load characteristics based on the default PI pa...

Page 221: ...loop high frequency switch over threshold P23 14 current loop PI parameters are P23 09 and P23 10 above current loophigh frequency switch over threshold currentloop PI parameters are P23 12 and P23 13...

Page 222: ...1 Setting range 0 001 65 535 1 000 P24 07 Control parameters of synchronous motor Bit0 Enable Z pulse calibration Bit1 Enable encoder angle calibration Bit2 Enable SVC speed measurement Bit3 Select re...

Page 223: ...0 P24 14 Encoder type selection Ones Incremental encoder 0 without UVW 1 with UVW Tens Sin Cos encoder 0 without CD signal 1 with CD signal 0x00 P24 15 Speed measurement mode 0 PG card 1 local realiz...

Page 224: ...ynchronous motor 0 1 0 P24 22 Switch over frequency threshold of speed measurement mode 0 630 00Hz 1 00Hz P24 23 P24 24 Reserved P25 group Extension I O card input functions Function code Name Descrip...

Page 225: ...h on delay 0 000s P25 15 S6 switch off delay 0 000s P25 16 S7 terminal switch on delay 0 000s P25 17 S7 switch off delay P25 18 S8 terminal switch on delay 0 000s P25 19 S8 switch off delay 0 000s P25...

Page 226: ...P25 25 300 0 300 0 Setting range of P25 26 P25 24 10 00V Setting range of P25 27 300 0 300 0 Setting range of P25 28 0 000s 10 000s Setting range of P25 29 0 00V P25 31 Setting range of P25 30 300 0 3...

Page 227: ...nsion I O card Function code Name Description Default value Modify P26 00 HDO2 output type 0 Open collector high speed pulse output 1 Open collector output 0 P26 01 HDO2 output selection The same with...

Page 228: ...P26 22 Relay RO4 switch off delay 0 000s P26 23 Relay RO5 switch on delay 0 000s Y electric evel P26 24 Relay RO5 switch off delay 0 000s Y valid Invalid Valid Switch on delay Switch off delay P26 25...

Page 229: ...Setting range of P26 44 0 00V 10 00V Setting range of P26 45 P26 43 300 0 Setting range of P26 46 0 00V 10 00V Setting range of P26 47 0 000s 10 000s 0 0 P26 39 Corresponding AO2 output of lower limi...

Page 230: ...de 0 and then switch to torque mode at a certain frequency point master slave mode 1 Tens Slave start command source selection 0 Follow the master to start 1 Determined by P00 01 Hundreds Slave transm...

Page 231: ...reference value correspond to real value is 0 decimal point position is determined by function code P30 01 and display unit is determined by P30 00 0 100 P30 02 0 PID reference percentage PID referenc...

Page 232: ...03 Decimal point position is determined by function code P30 01 and display unit is determined by P30 00 100 P30 08 PID1 keypad setting 2 P30 04 P30 03 Decimal point position is determined by functio...

Page 233: ...feedback source 2 2 P30 16 PID1 polarity selection 0 Positive polarity 1 Negative polarity 0 P30 17 PID1 Proportional gain Kp 0 00 100 00 1 00 P30 18 PID1 Integral time Ti 0 00 30 00s 0 10s P30 19 PID...

Page 234: ...0 2 P30 29 PID1 output gain 0 30 3 00 1 00 P30 30 PID1 output filter time 0 000 60 000s 0 000s P30 31 Feedback upper limit detection value 100 0 100 0 100 0 does not detect the feedback upper limit ex...

Page 235: ...6 Kg h 17 21 Reversed 0 P31 01 PID2 display form 0 4 Define PID1 real value position of the decimal point as shown in the following table P30 01 Real value Display 0 3 3 1 31 3 1 2 314 3 14 3 3141 3 1...

Page 236: ...limit 1 P31 03 Decimal point position is determined by function code P31 01 and display unit is determined by P31 00 0 100 P31 02 0 PID reference percentage PID reference real value P31 03 P31 04 1000...

Page 237: ...2 Proportional gain Kp 0 00 100 00 1 00 P31 12 PID2 Integral time Ti 0 00 30 00s 1 00s P31 13 PID2 Derivative time Td 0 00 10 00s 0 00s P31 14 PID2 Sampling cycle T 0 001 10 000s 0 100s P31 15 PID2 co...

Page 238: ...ed by function code P31 01 and display unit is determined by P31 00 After P31 29 is 1 to enable PID2 if the PID output is positive when PID2 feedback value is less than P31 25 and continues P31 26 tim...

Page 239: ...mage Fire mode 2 inverter runs consistently until display fault OUT1 OUT2 OUT3 OC1 OC2 OC3 OV1 OV2 OV3 0 P32 01 Fire mode running frequency 0 00Hz P00 03 50 00H z P32 02 Fire mode flag 0 Not enter fir...

Page 240: ...ation 5 0 P33 04 Enter hibernation delay time 0 0 3600 0s 60 0s P33 05 PID1 reference boost value 100 0 100 0 Corresponds to PID reference Before hibernation is enabled and before entering to hibernat...

Page 241: ...signal is valid Wake up N N Y Y P33 08 Hibernation wake up deviation 0 0 30 0 relative to Max PID1 If PID is positive allow waking up only when feedback is smaller than reference the absolute value of...

Page 242: ...or 1 type selection 0 Invalid 1 Variable frequency motor 0 Invalid this motor is not installed or does not work 1 Variable frequency motor this motor is driven by inverter if not reach switch conditio...

Page 243: ...ch P33 21 meet condition of add motor 3 Add motor process firstly the current variable frequency motor coast stop switch off the current running output relay after contactor switch on delay time P33 3...

Page 244: ...IfstatuscontinueP33 21 delaytime Ifoutputfrequency P33 20 IfPID1feedbackvalue P33 44 Istherevariablefreq motortostart StartvariableFreq motor N Y Y N Y Y N Y N N Y N P33 20 Running frequency when add...

Page 245: ...ssure fluctuation before reduce motor inverter increase output frequency to P33 25 3 When there is a motor runs with power frequency if inverter output frequency P33 25 and PID feedback PID reference...

Page 246: ...uencymotor Y N Y Y N Y N N Y N P33 25 Running frequency when reduce motor 50 00H z P33 26 Delay time when reduce motor 10 0s P33 27 Action of variable frequency motor when reduce motor 0 Frequency No...

Page 247: ...uency motor when reduce motor 0 Frequency no change 1 Accelerate to the P33 20 running frequency 0 P33 28 ACC time of variable frequency motor when reduce motor 0 0 300 0s Be valid when P33 27 1 inver...

Page 248: ...r reducing motors or hibernation Set 0 will not circulate all the time Process logic is as following drawing Running If runs normally not in add or reduce motor process If output freq P33 35 If the up...

Page 249: ...on time 0 2 100 0s Time from sending RO operation command until external contactor switch on The time is that before the start of the next motor consider contactor mechanical operation time from cont...

Page 250: ...2 When inlet sump level changes from low to high before the level is lower than lower limit level system don t run when the level is higher than lower limit level and lower than upper limit system ru...

Page 251: ...ack is larger than P33 46 and the hold time is larger than P33 47 500 0s P33 48 Reversed P33 49 Pump clean function 0 Invalid 1 Digital signal trigger 2 Start command trigger The pump cleaning functio...

Page 252: ...everse frequency P00 05 P00 03 30Hz P33 52 Pump clean forward running time 1 0s 1000 0s 10 0s P33 53 Pump clean reverse running time 1 0s 1000 0s 10 0s P33 54 Pumps clean forward and reverse Interval...

Page 253: ...0 P90 00 P90 01 P90 01 Reserved P90 01 P90 01 P90 02 P90 02 Reserved P90 02 P90 02 P90 03 P90 03 Reserved P90 03 P90 03 P90 04 P90 04 Reserved P90 04 P90 04 P90 05 P90 05 Reserved P90 05 P90 05 P90 06...

Page 254: ...ut 100 00 100 00 0 00 P90 14 PID1 Kd output 1000 0 1000 0 0 0 P90 15 PID1 output status 100 00 100 00 0 00 P90 16 PID2 status 0 Stop 1 Run normally 2 Dead zone P90 17 PID2 current reference Percentage...

Page 255: ...l point position is determined by function code P30 01 and display unit is determined by P30 00 0 P90 26 PID2 reference real value P31 04 P31 03 Decimal point position is determined by function code P...

Page 256: ...0 39 Reserved P91 group Customized function group 2 Function code Name Description Default value Modify P91 00 P91 39 Reserved P92 group Customized function group 3 Function code Name Description Defa...

Page 257: ...inverter when the latest three faults occurred 7 5 inverter faults and solutions When fault occurred process the fault as shown below 1 When inverter fault occurred confirm whether keypad display is...

Page 258: ...with larger power Check if the load is short circuited to ground short circuit or line to line short circuit or the rotation is not smooth Check the output wiring Check if there is strong interference...

Page 259: ...autotuning fault Motor capacity does not match with the inverter capacity this fault may occur easily if the difference between them is exceeds five power classes Motor parameter is set improperly Th...

Page 260: ...he hardware and ask for maintenance service DNE Parameter download error The keypad wire is poorly contacted or disconnected The keypad wire is too long and suffers strong interference Data storage er...

Page 261: ...curred to t temperature detection Exception occurred to resistor Long time overload running or exception occurred Check the wiring of motor over temperature input terminal terminal function 57 Check w...

Page 262: ...t next power on Check whether the insertion port is damaged if yes replace the insertion port after power down F2 Er Failed to identify the extension card in card slot 2 There is data transmission in...

Page 263: ...the extension card in card slot 3 There is no data transmission in interfaces of card slot 3 Confirm whether the extension card inserted can be supported Stabilize the extension card interfaces after...

Page 264: ...iring is loose or dropped E BAC BACNet card communication timeout fault There is no data transmission between the communication card and the host computer or PLC Check whether the communication card w...

Page 265: ...tor fails to work Whether the POWER indicator is on No Whether the keypad displays information Yes Yes Whether fault information is displayed Normal No Communication Whether it runs properly after the...

Page 266: ...is vector control Yes Yes Whether the ASR and ACR parameters are set properly Yes No Whether unusual fluctuations occurs when it runs at the set frequency No Yes Whether unusual fluctuations occurs on...

Page 267: ...brake accessories and resistance Add brake accessories Check the load and adjust Prolong the DEC time Rectify the short circuit fault and perform the wiring properly Ensure the power supply meets the...

Page 268: ...able frequency motor Yes No Whether the load is too heavy No Whether the three phases of the motor are balanced Yes Yes No Whether the carrier frequency is too low No Yes Whether the motor cable is to...

Page 269: ...r the fan of the inverter is abnormal No Yes Whether the heat sink is blocked Yes No Whether the carrier frequency is too high No Yes inverter overheating If it is an inverter fault contact our compan...

Page 270: ...er the torque boost is too high Yes Whether it is V F control Yes No Whether parameter autotuning is performed Yes No Motor stalls during ACC If it is an inverter fault or interference contact our com...

Page 271: ...HD2 IP55 High ingress Protection Series Troubleshooting 251 7 6 8 Overcurrent...

Page 272: ...ps Solution 1 Check and ensure that the feedback cable of the sensor is 20 cm or farther away from the motor cable 2 Check and ensure that the ground wire of the motor is connected to the PE terminal...

Page 273: ...riving capacity of the masteris sufficient 5 In the connection of multiple inverters you need to configure one 120 terminal resistor on each end Solution 1 Check and ensure that the ground wire of the...

Page 274: ...tors In this process the distributed capacitance between the internal IGBT of a inverter and the heat sink and that between the statorand rotor of a motor may inevitably cause the inverter to generate...

Page 275: ...air switch or contactor all screws are tightened 5 Check 1PH powered devices and ensure that no earth lines are used as neutral wires by these devices 6 Do not use shielded cables as inverter power ca...

Page 276: ...ed nearby Visual inspection There are no tools or dangerous substances placed nearby Voltage Check the voltage of the main circuit and control circuit Use multimeters or other instruments for measurem...

Page 277: ...tor Check whether there is displacement caused due to overheat Olfactory and visual inspection No exception occurs Check whether the resistors are disconnected Visual inspection or remove one end of t...

Page 278: ...of the inverter is more than 25 000 hours The actual service lifeof the cooling fan is related to the use of the inverter and the temperature in the ambient environment You can view the running durat...

Page 279: ...or 30 minutes at 75 for another 30 minutes and finally charge it at 100 of the rated voltage for 30 minutes More than 3 years Use a voltage controlled power supply to charge the inverter Charge the in...

Page 280: ...nt lamp of 100W If an incandescent lamp is used it may go off or the light may become very weak Figure 8 2 Charging circuit example of driving devices of 380 V 8 4 2 Electrolytic capacitor replacement...

Page 281: ...ork all the device transmission modes baud rates data bits check bits end bits and other basic parameters must be set consistently A Modbus network is a control network with one master and multiple sl...

Page 282: ...port of a PC to an RS485 interface Connect end A of the RS485 interface to the 485 port on the terminal block of the inverter and connect end B to the 485 port It is recommended that you use shielded...

Page 283: ...ir GND RS232 RS485 Max length of the cable 15 m 485 485 485 485 120 Terminal resistor 485 Figure 9 5 shows the start connection diagram When this connection mode is adopted the two devices that are fa...

Page 284: ...4 BIT5 BIT6 BIT7 Check bit End bit In a character frame only the data bits carry information The start bit check bit and end bit are used to facilitate the transmission of the data bits to the destina...

Page 285: ...e severe problems Therefore the data must be checked The check is implemented as follows The transmitter calculates the to be transmitted data based on a specific algorithm to obtain a result adds the...

Page 286: ...d in the bits from the least significant bit LSB to the most significant bit MSB and 0 is placed in the MSB Then LSB is detected If LSB is 1 the XOR operation is performed on the current value in the...

Page 287: ...MD command code 03H Most significant byte MSB of the start address 00H Least significant byte LSB of the start address 04H MSB of data quantity 00H LSB of data quantity 02H LSB of CRC 85H MSB of CRC C...

Page 288: ...Number of bytes and LSB of CRC that is MSB of data in 0004H LSB of data in 0004H MSB of data in 0005H and LSB of data in 0005H A piece of data is two bytes with the MSB on the left and LSB on the rig...

Page 289: ...cription Sub function code Description 0000 Return data based on query requests For example to query about the circuit detection information about the inverter whose address is 01H the query and retur...

Page 290: ...5 bytes RTU slave response transmitted by the inverter to the master START T1 T2 T3 T4 transmission time of 3 5 bytes ADDR 02H CMD 10H MSB of data writing address 00H LSB of data writing address 04H...

Page 291: ...odifying the value of the on chip RAM that is modifying the MSB of the corresponding function code address from 0 to 1 For example if P00 07 is not to be stored in the EEPROM you need only to modify t...

Page 292: ...otor 3 11 Motor 4 Bit2 1 Torque control disabled 0 Torque control cannot be disabled Bit3 1 Power consumption reset to 0 0 Power consumption not reset Bit4 1 Pre excitation 0 Pre excitation disabled B...

Page 293: ...Faulty 0005H POFF 0006H Pre excited 2101H Bit0 0 Not ready to run 1 Ready to run Bit2 1 00 Motor 1 01 Motor 2 10 Motor 3 11 Motor 4 Bit3 0 Asynchronous machine 1 Synchronous machine Bit4 0 No overload...

Page 294: ...HD2 IP55 High ingress Protection Series Inverter 274...

Page 295: ...0 unit 0 1 R Input state 300AH 000 3F Corresponding to the local HDIB HDIA S4 S3 S2 S1 R Output state 300BH 000 0F Corresponding to the local RO2 RO1 HDO Y1 R Analog input 1 300CH 0 00 10 00V unit 0...

Page 296: ...394H 5012 in the decimal form in the hexadecimal form In the process of multiplying a non integer by a multiple to obtain an integer the multiple is referred to as a fieldbus scale The fieldbus scale...

Page 297: ...0 based on the fieldbus scale and then sets Wake up from sleep delay to 5 0s For another example after the upper computer transmits the Wake up from sleep delay parameter read command the master recei...

Page 298: ...mitted for storage in the register includes a value unexpected by the program 04H Operation failure The parameter is set to an invalid value in the write operation For example a function input termina...

Page 299: ...CRC But the setting range of the Running command channel is 0 to 2 The value 3 exceeds the setting range In this case the inverter returns an error message response as shown in the following 01 86 04...

Page 300: ...at the following response is returned 03 03 0C 00 23 00 23 00 23 00 23 00 23 00 23 5F D2 From the returned data we can see that all the fault types are 0023H that is 35 in the decimal form which means...

Page 301: ...he master is as follows 03 06 00 03 27 10 62 14 inver ter address Write command Parameter address Parameter data CRC If the operation is successful the following response is returned same as the comma...

Page 302: ...HD2 IP55 High ingress Protection Series Inverter 282 Communication based control command 2000H 0005H Stop R W 0006H Coast to stop 0007H Fault reset 0008H Jogging to stop...

Page 303: ...ss Continuous write command Parameter address Parameter quantity CRC Example 2 Set Acceleration time of the inverter whose address is 01H to 10s and Deceleration time to 20s Function code Name Descrip...

Page 304: ...High ingress Protection Series Inverter 284 Note In the preceding command description spaces are added to a command just for explanatory purposes In practical applications no space is required in the...

Page 305: ...xadecimal form Input HEX To set the software to automatically execute the CRC function you need to select Modbus RTU select CRC16 MODBU SRTU and set the start byte to 1 After the auto CRC check functi...

Page 306: ...de the following 1 The serial port is set incorrectly For example the converter uses the serial port COM1 but COM2 is selected for the communication 2 The settings of the baud rates data bits end bits...

Page 307: ...nication extension card Technical version Indicates the generation of a technical version by using odd numbers for example 1 3 and 5 indicate the 1st 2nd and 3rd generations of the technical version D...

Page 308: ...extension card PG PG card PC PLC programmable card IO IO extension card Technical version Indicates the generation of a technical version by using odd numbers for example 1 3 and 5 indicate the 1st 2...

Page 309: ...card HD2 E IO 4 digital inputs 1 digital output 1 analog input 1 analog output 2 relay outputs 1 double contact output and 1 single contact output Programmable extension card HD2 E PLC Adopting the gl...

Page 310: ...th IMO s Inverter monitoring software DriveStudio CANopen communication card HD2 E COP Based on the CAN2 0A physical layer Supporting the CANopen protocol CAN master slave control communication card H...

Page 311: ...rd HD2 E IO Programmable extension card HD2 E PLC Bluetooth communication card HD2 E BTM PROFIBUS DP communication card HD2 E PDP Ethernet communication card CANopen CAN communication card HD2 E COP 5...

Page 312: ...card slots 3 inverters of HD2IP 9 5A 43 or below can be configured with two extension cards inverters of HD2IP 18 5A 43 or higher can be configured with three extension cards 4 If interference occurs...

Page 313: ...lation process diagram STEP1 Unscrew the screw and remove the lower Unscrew the screw take out the keypad and remove the upper cover STEP3 Insert the EC STEP4 Tighten the screws STEP5 Align the EC pos...

Page 314: ...Series Inverter 294 A 3 Wiring 1 Ground a shielded cable as follows Figure A 3 Extension card grounding diagram 2 Wire an extension card as follows Figure A 4 Extension card wiring A 4 I O extension c...

Page 315: ...card can be used in scenarios where the I O interfaces ofa HD2 IP55 high ingress protection series inverter cannot meet the application requirements It can provide 4 digital inputs 1 digital output 1...

Page 316: ...Protection Series Inverter 296 AO2 GND Analog output 1 1 Output range 0 10 V 0 20 mA 2 Whether it is voltage or current output is determined by J5 3 Deviation 0 5 input of 5 V or 10 mA or higher at th...

Page 317: ...ntact of relay 4 RO4C Common contact of relay 4 A 5 Programmable extension card HD2 E PLC function description The terminals are arranged as follows SW1 is the start stop switch of the programmable ex...

Page 318: ...of 16K steps and data storage space of 8K words and supports saving data of 1K words at power failure which facilitate customers secondary development and meets the customization requirements The HD2...

Page 319: ...measuring range Relay output PRO1A NO contact of relay 1 1 Contact capacity 3A AC 250 V 1 A DC 30 V 2 Do not use them as high frequency digital outputs PRO1B NC contact of relay 1 PRO1C Common contact...

Page 320: ...d to reboot the extension card The wireless communication card is especially useful for scenarios where you cannot directly use the keypad to operate the inverter due to the restriction of the install...

Page 321: ...O inverter APP Scan the QR code of the inverter nameplate to download it For details refer to the wireless communication card manual provided with the extension card The main interface is shown as fol...

Page 322: ...line indicator This indicator is on when the communication card is online and data exchange can be performed It is off when the communication card is not in the online state LED3 Offline Fault indicat...

Page 323: ...nected to the control board the period is 1s on for 0 5s and off for the other 0 5s and it is off when the extension card is disconnected from the control board LED4 Power indicator This indicator is...

Page 324: ...is indicator is on after the control board feeds power to the communication card LED5 Running indicator This indicator is on when the communication card is in the working state It is off when a fault...

Page 325: ...s state indicator Red On No network connection Blinking The connection to the network cable between the PROFINET controller is OK but the communication is not established Off Communication with the PR...

Page 326: ...iagram Note For the star network topology users need to prepare PROFINET switches The star network topology electrical connection diagram is shown below A 7 PG extension card function description A 7...

Page 327: ...ut of absolute position signals and integrates the advantages of absolute and incremental encoders It is user friendly adopting spring terminals HD2 E PGI terminal function description Label Name Func...

Page 328: ...on description V W W The following figure shows the external wiring of the HD2 E PGI extension card A 7 2 Resolver PG card HD2 E PGR PE AO BO ZO EX SI CO A2 B2 Z2 PW R GN D AO BO ZO EX SI CO A2 B2 Z2...

Page 329: ...can be used in combination with a resolver of excitation voltage 7 Vrms It is user friendly adopting spring terminals HD2 E PGR terminal function description Label Name Function description PE Ground...

Page 330: ...nged as follows The dual in line package DIP switch SW1 is used to set the voltage class 5 V or 12 V of the power supply of the encoder The DIP switch can be operated with an auxiliary tool PE AO BO Z...

Page 331: ...g It is user friendly adopting spring terminals HD2 E PGIM terminal function description Label Name Function description PE Grounding terminal It is connected to the ground for enhancing theanti inter...

Page 332: ...verter 312 an open collector encoder A pull up resistor is configured inside the PG card R S U U V W S1 S2 PWR PGND S3 A1 A S4 A1 HDIA B1 HDIB B1 COM PW Z1 Z Z1 24V PE pulse A AO AO BO BO ZO ZO A2 pul...

Page 333: ...card used in combination with a push pull encoder The following figure shows the external wiring of the extension card used in combination with a differential encoder U V W U V W S1 S2 PWR PGND S3 A1...

Page 334: ...he rated capacity is the capacity at the ambient temperature of 40 C 3 You need to check and ensure that the power flowing through the common DC connection in the common DC system does not exceed the...

Page 335: ...an 100kA when the inverter runs at the maximum rated voltage Frequency 50 60 Hz 5 with a maximum change rate of 20 s B 4 Motor connection data Motor type Asynchronous induction motor or permanent magn...

Page 336: ...egulations B 5 1 CE marking The CE marking on the name plate of a inverter indicates that the inverter is CE compliant meeting the regulations of the European low voltage directive 2014 35 EU and EMC...

Page 337: ...ing to the description in the manual 3 Install the inverter according to the description in the manual 4 For the maximum length of the motor cable see section B 4 1 EMC compatibility and motor cable l...

Page 338: ...x C Dimension drawings C 1 What this chapter contains This chapter describes the dimension drawings of HD2 IP55 high ingress protection series inverters The dimension unit used in the drawings is mm C...

Page 339: ...unting dimensions of inverters unit mm inverter model W1 W2 H1 H2 D1 Installation hole diameter Fixing screw Net weight kg Gross weight kg HD2IP 9 5A 43 196 164 403 389 212 6 M5 7 8 5 HD2IP 14A 43 HD2...

Page 340: ...able C 2 Wall mounting dimensions of inverters unit mm inverter model W1 W2 H1 H2 D1 D2 Installation hole diameter Fixing screw Net weight kg Gross weight kg HD2IP 92A 43 338 283 800 792 336 7 289 7 9...

Page 341: ...IP55 high ingress protection series inverters D 2 Wiring of peripheral accessories The following figure shows the external wiring of a HD2 IP55 high ingress protection series inverter Note 1 Inverters...

Page 342: ...he input terminal side of the inverter or Brake unit or brake resistor Accessories used to consume the regenerative energy of the motor to reduce the deceleration time inverters of HD2IP 75A 43 or low...

Page 343: ...yer Conductor Conductor Jacket PE Jacket Insulator Insulator Note If the conductivity of the shield layer of the motor cables cannot meet the requirements separate PE conductors must be used To protec...

Page 344: ...c environments shielded network cables are recommended Note Analog signals and digital signals cannot use the same cables and their cables must be arranged separately Do not perform any voltage endura...

Page 345: ...HD2IP 60A 43 3 16 3 25 16 16 M6 2 5 HD2IP 75A 43 3 25 3 35 16 16 HD2IP 92A 43 3 35 3 50 16 25 M8 10 HD2IP 115A 43 3 50 3 70 25 35 HD2IP 150A 43 3 70 3 95 35 50 M12 35 HD2IP 180A 43 3 95 3 120 50 70 HD...

Page 346: ...HD2IP 9 5A 43 0 8 M4 1 2 M4 1 2 HD2IP 14A 43 HD2IP 18 5A 43 2 0 M6 2 0 M4 1 2 HD2IP 25A 43 HD2IP 32A 43 HD2IP 38A 43 2 0 M6 2 0 M5 2 5 HD2IP 45A 43 HD2IP 60A 43 6 0 M6 2 0 M5 2 5 HD2IP 75A 43 Inverter...

Page 347: ...agnetic interference on other cables Do not arrange other cables and the motor cables in parallel If a control cable and power cable must cross each other ensure that the angle between them is 90 degr...

Page 348: ...and electromagnetic contactor You need to add a fuse to prevent overload You need to configure a manually manipulated molded case circuit breaker MCCB between the AC power supply and Inverter The bre...

Page 349: ...flows into the input power circuit may damage rectifier components You need to configure an AC reactor on the input side which can also improve the current adjustment coefficient on the input side Whe...

Page 350: ...IP 75A 43 ACLC 037 4 OCLC 037 4 HD2IP 92A 43 ACLC 045 4 OCLC 045 4 HD2IP 115A 43 ACLC 055 4 OCLC 055 4 HD2IP 150A 43 ACLC 075 4 OCLC 075 4 HD2IP 180A 43 ACLC 110 4 OCLC 110 4 HD2IP 215A 43 ACLC 110 4...

Page 351: ...not connect C3 filters in IT power systems Interference filters on the input side can reduce the interference of inverters when used on thesurrounding devices Noise filters on the output side can decr...

Page 352: ...vice mustbe performed by trained and qualified professionals Follow all the Warning instructions during the operation Otherwise major physical injuries or property loss may be caused Only qualified el...

Page 353: ...it model Resistance applicable for 100 brake torque Dissipated power of brake resistor kW Dissipated power of brake resistor kW Dissipated power of brake resistor kW Min allowable brake resistance 10...

Page 354: ...brake unit If the voltage class is set incorrectly the inverter may not run properly Do not use brake resistors whose resistance is lower than the specified minimum resistance inverters do not provid...

Page 355: ...e connection of one inverter to a dynamic brake unit and are the terminals for connecting brake units The connection cables between the and terminals of a inverter and those of a brake unit must be sh...

Page 356: ...e output by turning off the drive signals to prevent unexpected startups of the motor see the following figure After the STO function is enabled you can perform some time operations such as non electr...

Page 357: ...43 Channel H1 and H2 exceptions STL3 E 2 STO channel delay description The following table describes the trigger and indication delay of the STO channels STO mode STO trigger and indication delay1 2...

Page 358: ...e 24 V reference ground COM Connect the power supply Test the STO function as follows after the motor stops running If the drive is running send a stop command to it and wait until the shaft of the mo...

Page 359: ...ram Component Cmpt Password Pwd Consumption Consume Position Pos Control Ctrl Power Pwr Current Cur Proportional Prop Detection detect Det Protect protection Prot Differential Diff Quantity Qty Digita...

Page 360: ...HD2 IP55 High ingress Protection Series Inverter 340...

Page 361: ......

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