Goodrive600 series high-performance multifunction VFD
Basic operation guidelines
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5.6.19 Commissioning procedures for closed-loop control, position control and
spindle positioning
1. Commissioning procedure for closed-loop vector control on AMs
Step 1 Restore to default value via keypad.
Step 2 Set P00.03, P00.04 and P02 group motor nameplate parameters
Step 3 Perform motor parameter autotuning.
Carry out rotary parameter autotuning or static parameter autotuning through the keypad, if the motor can be
disconnected from load, then you can carry out rotary parameter autotuning; otherwise, carry out static parameter
autotuning, the parameter obtained from autotuning will be saved in P02 motor parameter group automatically.
Step 4 Verify whether the encoder is installed and set properly.
a) Confirm the encoder direction and parameter setup
Set P20.01 (encoder pulse-per-revolution), set P00.00=2 and P00.10=20Hz, and run the VFD, at this point, the motor
rotates at 20Hz, observe whether the speed measurement value of P18.00 is correct, if the value is negative, it indicates
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 pulse count value) fluctuates, if yes, it
indicates the encoder suffers interference or P20.01 is set improperly, check the wiring and the shielding layer.
b) Determine Z pulse direction
Set P00.10=20Hz, and set P00.13 (running direction) to forward and reverse direction respectively to observe whether
the difference value of P18.02 is less than 5, if the difference value remains to be larger than 5 after setting Z pulse
reversal function of P20.02, power off and exchange phase A and phase B of the encoder, and then observe the
difference between the value of P18.02 during forward and reverse rotation. Z pulse direction only affects the
forward/reverse positioning precision of the spindle positioning carried out with Z pulse.
Step 5 Perform closed-loop vector pilot-run.
Set P00.00=3, and carry out closed-loop vector control, adjust P00.10 and speed loop and current loop PI parameter in
P03 group to make it run stably in the whole range.
Step 6 Perform flux-weakening control.
Set flux-weakening regulator gain P03.26=0
–8000, and observe the flux-weakening control effect. P03.22–P03.24 can
be adjusted as needed.
2. Commissioning procedure for closed-loop vector control on SMs
Step 1 Set P00.18=1, restore to default value
Step 2 Set P00.00=3 (VC), set P00.03, P00.04, and motor nameplate parameters in P02 group.
Step 3 Set P20.01 encoder parameter.
When the encoder is resolver-type encoder, set the encoder pulse count value to (resolver pole pair number × 1024). For
example, if pole pair number is 4, set P20.01 to 4096.
Step 4 Ensure the encoder is installed and set correctly.
When motor stops, observe whether P18.21 (resolver angle) fluctuates, if it fluctuates sharply, check the wiring and
grounding. Rotates the motor slowly, observe whether P18.21 changes accordingly. If yes, it indicates motor is
connected correctly; if the value of P18.02 keeps constant at a non-zero value after rotating for multiple circles, it
indicates encoder Z signal is correct.
Step 5 Autotune the initial position of magnetic pole.
