INVT 11020-00136 Operation Manual Download Page 155

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Goodrive600 series high-performance multifunction VFD

Communication networking

-147-

Interruption code

Description

be found



Example

For example, slave node 3 reads data from and writes data to the object whose index is 0x1801 and subindex is 03. (The

object whose index is 0x1801 and subindex is 03 indicates the disabled time of PDO2 Tx.)

Write operation example: To modify the disabled time of PDO2 Tx to 1000 ms, the master node transmits the following

write operation command.

COB-ID

Request

code

Object index

Sub-inde

Request data

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

0x603

0x2B

0x01

0x18

0x03

0xe8

0x03

0x00

After receiving the command transmitted from the master node, the slave node transmits the following command

response if the modification is successful.

COB-ID

Response

code

Object index

Sub-inde

Response data

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

0x583

0x60

0x01

0x18

0x03

0x00

Read operation example: To read the disabled time of PDO2 Tx, the master node transmits the following read operation

command.

COB-ID

Request

code

Object index

Sub-inde

Request data

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

0x603

0x40

0x01

0x18

0x03

0x00

After receiving the command transmitted by the master node, the slave node transmits the following command response

if the current disabled time of PDO2 Tx is 1000ms.

COB-ID

Response

code

Object index

Sub-inde

Response data

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

0x583

0x43

0x01

0x18

0x03

0xe8

0x03

0x00

Read/write error example: The master node transmits the following read operation command to read an object (whose

index is 0x6000 and subindex is 0x00) that cannot be found.

COB-ID

Request

code

Object index

Sub-index

Request data

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

0x603

0x40

0x00

0x60

0x00

The object cannot be found, and therefore the slave node transmits the following read/write error command response.

COB-ID

Response

code

Object index

Sub-index

Response data

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

0x583

0x80

0x00

0x60

0x00

0x02

0x06

The error code in the response is 0x06020000, indicating that "Object cannot be found in the object dictionary".

6.4.13 Process data object (PDO)

The communication card provides four PDO Tx commands (whose indexes are 0x1800 to 0x1803) and four PDO Rx

commands (whose indexes are 0x1400 to 0x1403). PDO Rx is a PDO command transmitted from the master node to a

Summary of Contents for 11020-00136

Page 1: ......

Page 2: ...encoders including incremental encoders and resolver type encoders In addition it also supports pulse reference and frequency division output The PG card adopts digital filter technology to improve EMC performance and to realize stable transmission of the encoder signal over a long distance It is equipped with the encoder disconnection detection function to contain the impact of system faults The ...

Page 3: ... 7 3 1 What this chapter contains 7 3 2 Basic principles 7 3 3 Specifications 9 3 4 Product nameplate 11 3 5 Model designation code 12 3 6 Product ratings 13 3 7 Structure 14 4 Installation 16 4 1 What this chapter contains 16 4 2 System model selection 16 4 2 1 Model selection flowchart 17 4 2 2 Load and motor selection 17 4 2 3 Inverter unit selection 17 4 2 4 Rectifier unit selection 17 4 2 5 C...

Page 4: ...the motor and motor cable in case of short circuit 43 4 6 3 Protecting the motor against thermal overload 43 4 6 4 Bypass connection 43 5 Basic operation guidelines 44 5 1 What this chapter contains 44 5 2 Keypad introduction 44 5 3 Keypad display 45 5 3 1 Displaying stopped state parameters 45 5 3 2 Displaying running state parameters 45 5 3 3 Displaying fault information 46 5 3 4 Editing functio...

Page 5: ... Fieldbus scale 128 6 3 6 Error message response 129 6 3 7 Read Write operation examples 130 6 3 8 Related parameters 134 6 4 CANopen bus networking 136 6 4 1 Network topology 136 6 4 2 Networking description 137 6 4 3 Related parameters 137 6 4 4 CANopen protocol introduction 140 6 4 5 CANopen packet format 140 6 4 6 NMT command 141 6 4 7 NMT node guarding 142 6 4 8 Heartbeat packet Heartbeat Pro...

Page 6: ...t 229 7 2 2 Inverter function parameter list 246 8 Troubleshooting 342 8 1 What this chapter contains 342 8 2 Indications of alarms and faults 342 8 3 Fault reset 342 8 3 1 Rectifier fault reset 342 8 3 2 Inverter fault reset 342 8 4 Fault history 342 8 5 Faults and solutions 342 8 5 1 Rectifier faults and solutions 342 8 5 2 Inverter faults and solutions 346 8 5 3 Other status 352 8 6 Analysis on...

Page 7: ...1 A 7 IO cards 383 A 7 1 IO card EC IO702 383 Appendix B Object dictionary 385 Appendix C Technical data 390 C 1 What this chapter contains 390 C 2 Derated application 390 C 2 1 Capacity 390 C 2 2 Derating 390 C 3 Grid specifications 391 C 4 Motor connection data 391 C 4 1 EMC compatibility and motor cable length 391 C 5 Application standards 391 C 5 1 CE marking 392 C 5 2 EMC compliance declarati...

Page 8: ...ection 408 E 8 4 Braking component installation 408 E 9 Other optional accessories 408 E 9 1 List of other optional accessories 408 E 9 2 LCD keypad 409 E 9 3 USB RS485 communication module 410 E 9 4 Bus terminals 410 E 9 5 Shield bracket 410 E 9 6 Flange installation braket 411 E 9 7 Air deflector 411 Appendix F STO function description 412 F 1 STO function logic table 412 F 2 STO channel delay d...

Page 9: ...d must be familiar with all steps and requirements of equipment installing commissioning running and maintaining and capable to prevent any emergencies 1 3 Warning Warnings caution you about conditions that can result in severe injury or death and or equipment damage and advice on how to prevent dangers The following table lists the warning symbols in this manual Symbol Name Description Abbreviati...

Page 10: ...or adhering to inflammables Connect the optional braking parts such as braking resistors braking units or feedback units according to the wiring diagrams Do not run the VFD if it is damaged or incomplete Do not contact the VFD with damp objects or body parts Otherwise electric shock may result Note Select appropriate tools for VFD delivery and installation to ensure the safe and proper running and...

Page 11: ...load it is recommended to install an effective external braking device or cut off the direct electrical connection between the permanent magnet SM and the VFD Note Do not switch on or switch off the input power supplies of the VFD frequently If the VFD has been stored for a long time without being used check the capacitors and perform capacitor reforming if necessary see chapter 9 Maintenance and ...

Page 12: ...ultifunction VFD Safety precautions 4 1 4 4 Disposal The VFD contains heavy metals Dispose of a scrap VFD as industrial waste Dispose of a scrap VFD separately at an appropriate collection point but not place it in the normal waste stream ...

Page 13: ...anical type of the load to be driven by the VFD to verify whether the VFD will be overloaded during work Whether the power class of the VFD needs to be increased 2 Whether the actual running current of the motor is less than the rated current of the VFD 3 Whether the control accuracy required by the load is the same as that is provided by the VFD 4 Whether the grid voltage is consistent with the r...

Page 14: ... control cables and power cables are run separately and the routing complies with EMC requirement 5 Whether all grounding systems are properly grounded according to the requirements of the VFD 6 Whether all the installation clearances of the VFD meet the requirements in the manual 7 Whether the installation method conforms to the instructions in the manual It is recommended that the VFD be install...

Page 15: ...d inverter units The rectifier unit converts 3PH AC voltage into DC voltage and the inverter unit converts DC voltage into AC voltage that can be used by an AC motor The 45kW rectifier unit is embedded with a braking circuit so that the braking pipe connects the external braking resistor to the DC circuit to consume the feedback energy when the DC voltage exceeds the max value The following figure...

Page 16: ...600 series high performance multifunction VFD Product overview 8 PB R S T PE Figure 3 2 Main circuit diagram of the rectifier unit 45kW R S T PE Figure 3 3 Main circuit diagram of the rectifier unit 160kW 355kW ...

Page 17: ...gainst input voltage exceptions Protection against input voltage exceptions such as input phase loss input voltage too high three phase imbalance of input voltage Braking circuit protection Protection against braking circuit overcurrent braking resistor short circuit and braking pipe direct connection Other protection functions Such as protection against overvoltage undervoltage and overtemperatur...

Page 18: ...section 3 6 Product ratings Output frequency Hz 0 400Hz Technical control performance Control mode Space voltage vector control sensorless vector control SVC and sensor vector control VC Motor type Asynchronous motor AM and permanent magnetic synchronous motor SM Speed ratio For AM1 1 200 SVC for SM1 1 20 SVC 1 1000 VC Speed control accuracy 0 2 SVC 0 02 VC Speed fluctuation 0 3 SVC Torque respons...

Page 19: ...AC250V 1A DC30V Communication interface One RS485 interface supporting the Modbus communication protocol One Communication interface used for synchronization control Extended interfaces Three extended interfaces SLOT1 and SLOT2 Supporting PG cards programmable expansion cards communication cards I O cards and so on Other Mounting method Wall mounting or flange installation Temperature of running e...

Page 20: ... the product manual 3 5 Model designation code A model designation code contains product information You can find the model designation code on the VFD nameplate and simplified nameplate GD600 71 045 4 B Figure 3 7 Model description Field Symbol Description Content Product series abbreviation Product series abbreviation GD600 Goodrive600 high performance multifunction VFD Unit type Unit type code ...

Page 21: ... 2 14 1 15 8 100 GD600 51 7R5 4 7 5 19 18 5 1 15 8 100 GD600 51 011 4 11 26 25 1 15 8 200 GD600 51 015 4 15 33 32 1 15 4 200 GD600 51 018 4 18 5 40 38 1 15 4 200 GD600 51 022 4 22 47 45 1 15 4 200 GD600 51 030 4 30 62 60 1 15 4 200 GD600 51 037 4 37 79 75 1 15 4 200 GD600 51 045 4 45 97 92 1 15 4 200 GD600 51 055 4 55 121 115 1 15 4 200 GD600 51 075 4 75 158 150 1 15 2 200 Note The input current o...

Page 22: ... to fix cables 6 AC terminal cover Used to protect AC input to protect electric shock 7 AC terminals Entire machine AC inputs R S T 8 Middle cover snap fit Used to fix the middle cover 9 Expansion card slot 2 Expansion card slot 2 SLOT2 10 Expansion card slot 1 Expansion card slot 1 SLOT1 11 Expansion card slot cover Plate to seal expansion card slots since expansion cards have not been configured...

Page 23: ... cover Used to protect AC output to protect electric shock 7 AC terminals Entire machine AC outputs U V W 8 Middle cover snap fit Used to fix the middle cover 9 Expansion card slot cover Expansion card slot sealing plate not available for a standard model 10 Expansion card slot 2 Expansion card slot 2 SLOT2 11 Expansion card slot 1 Expansion card slot 1 SLOT1 12 Control circuit terminals Control c...

Page 24: ...power and wait for at least the time specified on the VFD and ensure the POWER indicator is off You are recommended to use a multimeter to check and ensure the VFD DC bus voltage is below 36V The VFD installation must be designed and done according to applicable local laws and regulations INVT does not assume any liability whatsoever for any VFD installation which breaches local laws or regulation...

Page 25: ...hanical equipment for the motor power torque speed starting commissioning braking overload heating and temperature rise 3 Select the motor rated power rated voltage and rated speed according to the motor product catalog 4 Under the premise of fully satisfying the mechanical equipment load select the motor capacity economically and reasonably Pn 3 𝑈𝑛 𝐼𝑛 cosθ η 𝑃𝑛 Rated power 𝑈𝑛 𝑅𝑎𝑡𝑒𝑑 𝑣𝑜𝑙𝑡𝑎𝑔𝑒 𝐼𝑛 𝑅𝑎𝑡...

Page 26: ...s not met when four rectifier units with the same power have been connected in parallel use rectifier units with larger power at the same time configure AC reactors corresponding to the total power on the rectifier input side for current balancing 4 2 5 Combined arrangement The VFD adopts the book type design making flexible arrangement of units The units can be placed in a single or double rows T...

Page 27: ...D600 GD600 GD600 GD600 Inverter units Rectifier units I I1 I2 I3 I4 I5 I6 I 0 8 I1 I2 I3 I4 I5 I6 I1 I2 200A I3 I4 I5 I6 200A I4 I5 I6 100A Placed in double rows single rectifier unit GD600 GD600 GD600 GD600 GD600 GD600 GD600 GD600 GD600 GD600 I I1 I2 I4 Inverter units Rectifier units Inverter units GD600 I3 I5 I6 I7 I 0 8 I1 I2 I3 I4 I5 I6 I7 I1 I2 I3 200A I4 I5 I6 I7 200A I5 I6 I7 100A I3 100A ...

Page 28: ...00A Please select the terminals according to the current requirements and note that the current on each terminal cannot exceed its current carrying capacity 4 3 Mechanical installation 4 3 1 Installation environment The installation environment is essential for the VFD to operate with best performance in the long run Install the VFD in an environment that meets the following requirements Environme...

Page 29: ... Lower than 1000 meters When the installation site altitude exceeds 1000m derate 1 for every increase of 100m when the installation site altitude exceeds 3000m consult the local INVT dealer or office Vibration The max amplitude of vibration cannot exceed 5 8m s 2 0 6g Installation direction Install the VFD vertically to ensure good heat dissipation performance Note The units must be installed in a...

Page 30: ...flange mounting plate must be used for flange mounting 4 3 4 Installation backplane design requirements Enhancing the installation backplane thickness and rigidity To prevent the power unit from being damaged during transportation and to ensure the normal running of the power unit the power unit installation backplane needs to have sufficient rigidity and strength and the thickness is not less tha...

Page 31: ...ns of the rectifier unit mounting holes must be accurate You are recommended to drill the mounting holes on the backplane in advance and but not drill the holes on site 4 3 5 Installation space and heat dissipation To ensure that the units are installed reliably and in good heat dissipation pay attention to the following A unit with the width of 50mm cannot be installed singly For such units insta...

Page 32: ... the minimum unit mm To ensure good heat dissipation of the units design the air inlet and outlet as follows Air inlet area formula S Value ranging from 1 5 to 2 0 x Sunit 1 Sunit 2 Sunit 3 Sunit N In which S indicates the system ventilation area while Sunit indicates the ventilation area of each unit For details about the ventilation area of a unit see Table 4 1 Air outlet area formula S Value ra...

Page 33: ...he actual through hole area in the cut out area Ventilation area Cut out area x Cut out rate Unit conversion 1CFM 0 0283185 m 3 min Note Not only the dissipation space for units but also the dissipation for other devices in the cabinet must be fully considered When units need to be installed in two rows the cooling deflector must be installed For details see Figure 4 3 In the case of passive exhau...

Page 34: ...l the upper cover straight out 2 Connect the bus bars 1 Loosen the DC bus bar screws without removing them 2 Connect the parallel copper bars and fasten the screws 3 Install the upper cover 1 Insert the upper cover into the bus block 2 Fasten the screws fixed on the upper cover with a straight screwdriver and close the translucent keyboard cover 3 Insert the two snap fits of the middle cover into ...

Page 35: ...s block hole for installing the bus terminals for external connection Bus terminal installation 200A M3X12 M5X20 After processing Before processing Use a plier to cut the hole along the edge of the knockout and remove burrs Note Please tighten the screws with the corresponding torque M3 5 6 kgf cm M5 25 28 kgf cm ...

Page 36: ...ng aluminum bars Grounding aluminium bar 4 3 9 AC terminal cover disassembly and assembly 1 Disassemble the AC terminal cover 1 Insert a screwdriver into the slot at the center of the AC terminal cover and push it up to open the snap fit 2 Rotate the AC terminal cover up 3 Pull the AC terminal cover straight out 2 Install the AC terminal cover 1 Insert the snap fit at the bottom of the AC terminal...

Page 37: ...ut reactor Output filter Inverter unit U V W M PE 45kW PE Figure 4 5 Wiring diagram of the main circuit Note The fuse braking resistor input reactor input filter output reactor and output filter are optional parts For details see Appendix E Optional peripheral accessories The built in braking unit is a standard configuration part for the 45kW rectifier unit The inverter unit has a built in fuse an...

Page 38: ...e main circuit R S T Bottom DC bus AC terminals R S T Varistor grounding terminal Braking resistor terminal configured only for the 45kW model Figure 4 6 Terminal diagram of the rectifier unit main circuit AC term inals U V W DC bus W V U Figure 4 7 Terminal diagram of the inverter unit main circuit ...

Page 39: ...able besides the conductive shielded layer ground the grounding conductor on the VFD end and motor end Braking resistors and braking units are optional parts Route the motor cable input power cable and control cable separately 4 4 3 Wiring procedure Step 1 Connect the grounding conductor of the input power cable to the grounding terminal PE of the rectifier unit connect the phase conductors to the...

Page 40: ...l Figure 4 9 360 degree loop connection 4 4 4 Safety capacitor jumper In an application configured with a leakage protection device if there is a jump off protection during start up the screw of the rectifier unit safety capacitor to the ground jumper can be removed that is the screw labeled EMC in the following figure Note Please tighten the screws with the corresponding torque M3 5 6 kgf cm ...

Page 41: ...RS485 communication RO2C RO2B RO2A RO1C RO1B RO1A Relay 1 output Relay 2 output ON OFF SW1 CAN1H CGND CAN communication 1 CAN1L CAN2H CGND CAN communication 2 CAN2L A B 1 2 3 4 5 6 Internal networking RJ45 port 24V_E COM External power input Figure 4 10 Control circuit wiring diagram of the rectifier unit 4 5 2 Control circuit terminal diagram of the rectifier unit Figure 4 11 Control circuit term...

Page 42: ...O2C Communication 485 For RS485 communication ports it is recommended to use shielded twisted pair The terminal matching resistor is connected through switching positions 4 and 5 of DIP switch SW1 to ON 485 CAN1H For CAN communication port 1 it is recommended to use shielded twisted pair The terminal matching resistor is connected through switching positions 2 and 3 of the DIP switch SW1 to ON CAN...

Page 43: ...ected 1 2 3 4 5 6 ON Communication 485 terminal matching resistor selection Switching positions 4 and 5 to ON indicates the terminal matching resistor is connected 1 2 3 4 5 6 ON CAN1 terminal matching resistor selection CANopen Switching positions 2 and 3 to ON indicates the terminal matching resistor is connected 1 2 3 4 5 6 ON CAN2 terminal matching resistor selection Master slave CAN Switching...

Page 44: ... 0 20mA Y1 CME RO2C RO2B RO2A RO1C RO1B RO1A Relay 1 output Relay 2 output Multi function analog function Power used for frequency setting H1 H2 24V S2 S1 safety controller Open circuit Safety input Safety switch Y1 output Safety state feedback 485 485 CGND RS485 communication CAN2H CGND CAN communication CAN2L A B ON OFF SW1 1 2 3 4 5 6 Internal networking RJ45 interface 24V_E COM External power ...

Page 45: ... Locally provided 10 5V power supply AI1 Input range For AI1 0 10V or 0 20mA For AI2 10V 10V Input impedance 20kΩ for voltage input or 250Ω for current input Whether voltage or current is used for input of AI1 is set through P05 50 Resolution 5mV when 10V corresponds to 50Hz Deviation 0 5 at 25 C when input is above 5V 10mA AI2 GND Reference zero potential of 10 5V AO1 Output range 0 10V or 0 20mA...

Page 46: ...o COM by default Relay Output RO1A RO1 output RO1A NO RO1B NC RO1C common Contact capacity 3A AC250V 1A DC30V RO1B RO1C RO2A RO2 output RO2A NO RO2B NC RO2C common Contact capacity 3A AC250V 1A DC30V RO2B RO2C Communication 485 For RS485 communication ports it is recommended to use shielded twisted pair The terminal matching resistor is connected through switching positions 4 and 5 of DIP switch S...

Page 47: ...matching resistor is connected 1 2 3 4 5 6 ON CAN1 terminal matching resistor selection CANopen Switching positions 2 and 3 to ON indicates the terminal matching resistor is connected 1 2 3 4 5 6 ON CAN2 terminal matching resistor selection Master slave CAN Switching position 6 to ON indicates the terminal matching resistor is connected 1 2 3 4 5 6 ON 4 5 9 Control circuit wiring description 1 Dig...

Page 48: ...uit wire position NPN wiring mode S1 S2 COM PW 24V COM 24V Internal power supply NPN mode S1 S2 COM PW 24V COM 24V External power supply NPN mode 24V Figure 4 15 NPN wiring mode diagram Short PW to 24V and connect the COM terminal of the VFD to the common terminal of the external controller when the internal 24V power supply of the VFD is used Remove the short circuit wires between the PW and 24V ...

Page 49: ...er input end of the external controller when the internal 24V power supply of the VFD is used Remove the short circuit wires between the CME and COM terminals and connect the CME terminal of the VFD to 0V of the external power supply when an external 24V power supply is used 3 Relay output When the relay cuts off the inductive load such as relay contactor and so on current a voltage spike occurs a...

Page 50: ...rk without connecting to electricity and you can set parameters and query information Rectifier unit 24V power supply Inverter unit 1 Inverter unit 2 Inverter unit N 24V interface 1 24V interface 2 24V interface 1 24V interface 2 24V interface 1 24V interface 2 24V interface 1 24V interface 2 Figure 4 20 Wiring diagram of external power supply 4 6 Wiring protection 4 6 1 Protecting the VFD and inp...

Page 51: ...ecting the motor against thermal overload The motor must be protected against thermal overload Once overload is detected current must be cut off The VFD is equipped with the motor thermal overload protection function which can block output and cut off the current if necessary to protect the motor 4 6 4 Bypass connection In some critical scenarios the power variable frequency conversion circuit nee...

Page 52: ...by the rectifier and inverter units You can set the VFD parameters read state data and perform fault reset through the keypad Figure 5 1 Keypad No Name Description 1 Status indicator RUN TUNE It is on if the VFD is running It is off if the VFD is stopped FWD REV It is unused in the rectifier state TRIP Fault indicator It is on if the VFD is in fault state It is off if the VFD is in normal state It...

Page 53: ...tward in the interface for the VFD in stopped or running state or to select digits to change during parameter setting 5 3 Keypad display The VFD keypad displays information such as the stopped state parameters running state parameters and fault status and allows you to modify function codes 5 3 1 Displaying stopped state parameters When the VFD is in stopped state the keypad displays stopped state...

Page 54: ...rating the VFD through the keypad Various operations can be performed on the rectifier inverter unit through the keypad including entering exiting menus selecting parameters and setting parameters 5 4 1 Modifying the function codes of the rectifier unit The rectifier unit has the menu of three levels which are 1 Function code group number level 1 menu 2 Function code number level 2 menu 3 Function...

Page 55: ...ESC DATA ENT DATA ENT DATA ENT Figure 5 4 Setting a password 5 4 3 Viewing rectifier inverter unit status The function code group P17 of the rectifier unit is the status viewing group while the function code groups P17 P18 and P19 of the inverter unit are the status viewing groups You can enter the related function code group directly to view the status All digits are blinking The ones place is bl...

Page 56: ...ase Set the value according to the actual application situation Function code Name Description Default Modify P00 04 Braking start voltage for the braking unit Voltage at which the braking unit starts braking When the bus voltage reaches the value of this function parameter during running the braking pipe starts braking This function is valid only for the models configured with built in braking un...

Page 57: ...lated digital terminal functions if you select the communication control mode you need to set P00 02 to select a communication mode Function code Name Description Default Modify P00 01 Channel of running commands Used to select the channel of rectifier unit control commands including the start stop and fault reset commands 0 Keypad The running commands are controlled through keypad keys such as RU...

Page 58: ...cted on the rectifier side the inverter decelerates to stop according to the set DEC time 2 Coast to stop When grid undervoltage is detected on the rectifier side the inverter coasts to stop 0 P01 03 Inverter protection against input phase loss 0 Run The inverter continues to run regardless of the rectifier fault 1 Decelerate to stop When the grid voltage phase loss is detected on the rectifier si...

Page 59: ...ommunication fault is detected on the rectifier side the inverter coasts to stop 0 P01 08 Inverter protection against overheating 0 Run The inverter continues to run regardless of the rectifier fault 1 Decelerate to stop When rectifier bridge module overheating is detected on the rectifier side the inverter decelerates to stop according to the set DEC time 2 Coast to stop When rectifier bridge mod...

Page 60: ...its trigger an E CAN fault and stop in the set manner In general you need to configure the rectifier and inverter units to stop in the same manner In addition to the OFFL fault the rectifier unit sends a stop command upon communication faults including E CAN E C1 E C2 E DP E PN and E CAT Function code Name Description Default Modify P01 15 Inverter protection against networking communication fault...

Page 61: ...nit to run The rectifier unit sends a run prohibition command to the inverter unit according to this feedback signal 8 Enable the inverter unit to coast to stop The rectifier unit sends a command of coasting to stop to the inverter unit according to this feedback signal 9 Enable the inverter unit to stop in the set manner The rectifier unit sends a command of stopping in the set manner to the inve...

Page 62: ...unction Description 0 No output The output terminal does not have any function 1 Ready for running When the rectifier unit works properly and sends the run command to the inverter unit it outputs the ON signal 2 Running When the rectifier unit detects that the bus voltage is in normal state it outputs the ON signal 3 Fault output When the rectifier unit encounters a fault it outputs the ON signal ...

Page 63: ...ter unit basic functions 5 6 1 What this section describes This section describes the internal function modules of the inverter unit Ensure that all terminals have been securely connected Ensure that the motor power matches the inverter unit 5 6 2 Common commissioning procedure of the inverter unit The common commissioning procedure is as follows taking motor 1 as an example ...

Page 64: ...es and power on again Set autotuning mode P00 15 Complete parameter rotary autotuning Partial parameter rotary autotuning Start autotuning after sending the command and stop after autotuning is done Set running frequency Set speed running control mode P00 00 SVC 0 P00 00 0 SVC 1 P00 00 1 SVPWM control mode P00 00 2 Set vector control parameters in P03 group Set vector control parameters in P03 gro...

Page 65: ...Sensorless vector control SVC mode 1 2 Space voltage vector control mode 3 Closed loop vector control mode Note Before using a vector control mode 0 1 or 3 enable the inverter unit to perform motor parameter autotuning first 2 P00 01 Channel of running commands 0 Keypad 1 Terminal 2 Communication Note The keypad indicates the external LCD keypad since the built in LED keypad is not equipped with t...

Page 66: ... 0kW Model depended P02 02 Rated frequency of AM 1 0 01Hz P00 03 Max output frequency 50 00Hz P02 03 Rated speed of AM 1 1 60000rpm Model depended P02 04 Rated voltage of AM 1 0 1200V Model depended P02 05 Rated current of AM 1 0 8 6000 0A Model depended P02 15 Rated power of SM 1 0 1 3000 0kW Model depended P02 16 Rated frequency of SM 1 0 01Hz P00 03 Max output frequency 50 00Hz P02 17 Number of...

Page 67: ... motor parameters before executing vector control As the vector control algorithm is complicated exercise caution before modifying vector control function parameters Calculate im ACR exciting current Flux linkage observation Current detection Position observation Speed identifi cation Voltage detection ACR torque current Calculate iT Park conversion PWM pulse Rectifier bridge Inverter bridge Motor...

Page 68: ... 20 0 P03 04 Speed loop integral time 2 0 000 10 000s 0 200s P03 05 High point frequency for switching P03 02 P00 03 Max output frequency 10 00Hz P03 06 Speed loop output filter 0 8 corresponding to 0 2 8 10ms 0 P03 07 Electromotive slip compensation coefficient of vector control 50 200 100 P03 08 Braking slip compensation coefficient of vector control 50 200 100 P03 09 Current loop proportional c...

Page 69: ...cation same as the above Note For setting methods 1 12 100 corresponds to the max frequency 0 P03 15 Setting source of reverse rotation upper limit frequency in torque control 0 Keypad P03 17 1 12 Same as those for P03 14 0 P03 16 Forward rotation upper limit frequency set through keypad in torque control Setting range 0 00 Hz P00 03 Max output frequency 50 00Hz P03 17 Reverse rotation upper limit...

Page 70: ...eserved 0 Reserved 1 Reserved Hundreds place indicates whether to enable speed loop integral separation 0 Disable 1 Enable Thousands place Reserved 0 Reserved 1 Reserved Range 0x0000 0x1111 Note Valid only in the closed loop vector control mode P00 00 3 0x0000 P03 36 Speed loop differential gain 0 00 10 00s 0 00s P03 37 High frequency current loop proportional coefficient In the closed loop vector...

Page 71: ...e and speed it is recommended to adopt the V F curve corresponding to the power of 1 3 1 7 or 2 0 b f b V Output voltage Output frequency Straight type Torque down V F curve 1 3th order Square type Torque down V F curve 1 7th order Torque down V F curve 2 0th order The inverter unit also provides multi point V F curves You can change the V F curves output by the inverter unit by setting the voltag...

Page 72: ...n to compensate for the speed change caused by load fluctuation through inverter unit internal output adjustment The setting range of slip compensation gain is 0 200 in which 100 corresponds to the rated slip frequency Note Rated slip frequency Rated synchronous rotation speed of motor Rated rotation speed of motor x Number of motor pole pairs 60 4 Oscillation control Motor oscillation often occur...

Page 73: ...erCAT PROFINET PLC card 12 13 11 12 13 Multi step speed PROFIBUS DeviceNet Pulse string AB PROFIBUS DeviceNet 14 15 When selecting the customized V F curve function you can specify the setting channels and acceleration deceleration time of voltage and frequency respectively which form a real time V F curve in combination manner Note This type of V F curve separation can be applied in various varia...

Page 74: ...motor 1 0 0 110 0 0 0 P04 05 V F frequency point 2 of motor 1 P04 03 P04 07 0 00Hz P04 06 V F voltage point 2 of motor 1 0 0 110 0 0 0 P04 07 V F frequency point 3 of motor 1 P04 05 P02 02 or P04 05 P02 16 0 00Hz P04 08 V F voltage point 3 of motor 1 0 0 110 0 0 0 P04 09 V F slip compensation gain of motor 1 0 0 200 0 100 0 P04 10 Low frequency oscillation control factor of motor 1 0 100 10 P04 11...

Page 75: ... run 0 P04 27 Voltage setting channel 0 Keypad The output voltage is determined by P04 28 1 AI1 2 AI2 3 AI3 4 Reserved 5 Multi step speed running The setting is determined by group P10 6 PID 7 Modbus communication 8 CANopen communication 9 Ethernet communication 10 Reserved 11 EtherCAT PROFINET communication 12 Programmable expansion card 13 PROFIBUS DP DeviceNet communication 0 P04 28 Voltage set...

Page 76: ... current closed loop output limit in SM VF control When the SM VF control mode is enabled the function parameter is used to set the output limit of the reactive current closed loop control A greater value indicates a higher reactive closed loop compensation voltage and higher output power of the motor In general you do not need to modify the function code Setting range 0 16000 8000 P04 40 Enabling...

Page 77: ...he value is a percentage in relative to the rated current of the motor Setting range 0 5000 350 P04 49 Starting frequency point for switching off IF mode for AM 2 0 00 P04 51 10 00Hz P04 50 End frequency point for switching off IF mode for AM 1 P04 44 P00 03 25 00Hz P04 51 End frequency point for switching off IF mode for AM 2 P04 49 P00 03 25 00Hz 5 6 5 Torque control The inverter unit supports t...

Page 78: ...t P03 18 Setting source of electromotive torque upper limit P03 15 Setting source of reverse rotation upper limit frequency in torque control P03 14 Setting source of forward rotation upper limit frequency in torque control Upper limit of braking torque Speed control Terminal function 29 Switching between torque control and speed control Valid Invalid P03 11 Torque setting method P03 13 Torque ref...

Page 79: ...12 Programmable expansion card 13 PROFIBUS DP DeviceNet communication same as the above Note For setting methods 2 13 100 corresponds to triple the motor rated current 0 P03 12 Torque set through keypad 300 0 300 0 of the motor rated current 50 0 P03 13 Torque reference filter time 0 000 10 000s 0 010s P03 14 Setting source of forward rotation upper limit frequency in torque control 0 Keypad P03 1...

Page 80: ...otor rated current 0 P03 19 Setting source of braking torque upper limit 0 Keypad P03 21 1 12 Same as those for P03 18 0 P03 20 Electromotive torque upper limit set through keypad 0 0 300 0 of the motor rated current 180 0 P03 21 Braking torque upper limit set through keypad 0 0 300 0 of the motor rated current 180 0 P03 32 Enabling torque control 0 Disable 1 Enable 0 P17 09 Output torque 250 0 25...

Page 81: ... communication modes Keypad P00 01 0 Terminal P00 01 1 Communication P00 01 2 MODBUS communication CANopen communication Start Select running command channel P00 01 Set switchover channel for motor 1 and motor 2 P08 31 Terminal function 35 Motor 1 switches to motor 2 Communication setting value 2009H Motor 1 Motor 2 Invalid Valid BIT0 1 00 BIT0 1 01 Set P08 31 ones place to 0 Ethernet communicatio...

Page 82: ... RUN or STOP key If rotary autotuning is selected during motor autotuning disconnect the motor from the load to put the motor in static and no load state Otherwise the motor parameter autotuning results may be incorrect In this situation P02 06 P02 10 can be autotuned for AMs and P02 20 P02 23 can be autotuned for SMs If static autotuning is selected for motor autotuning there is no need to discon...

Page 83: ...utotuning 1 but only valid for AMs 5 Static autotuning 3 partial autotuning which is valid only for AMs 0 P02 00 Type of motor 1 0 Asynchronous motor AM 1 Synchronous motor SM 0 P02 01 Rated power of AM 1 0 1 3000 0kW Model depended P02 02 Rated frequency of AM 1 0 01Hz P00 03 Max output frequency 50 00Hz P02 03 Rated speed of AM 1 1 60000rpm Model depended P02 04 Rated voltage of AM 1 0 1200V Mod...

Page 84: ...ommunication 5 PROFIBUS communication Tens place indicates whether to enable switchover during running 0 Disable 1 Enable 00 P12 00 Type of motor 2 0 Asynchronous motor AM 1 Synchronous motor SM 0 P12 01 Rated power of AM 2 0 1 3000 0kW Model depended P12 02 Rated frequency of AM 2 0 01Hz P00 03 Max output frequency 50 00Hz P12 03 Rated speed of AM 2 1 60000rpm Model depended P12 04 Rated voltage ...

Page 85: ...an select the proper start mode based on actual conditions For large inertia load especially in cases where reversal may occur you can choose to start after DC braking or start after speed tracking Note It is recommended to drive SMs in direct start mode 1 Logic diagram for start after a running command is given at power on Jogging N P00 11 ACC time 1 P00 12 DEC time 1 A C C p ro ce ss D E C p r o...

Page 86: ... VFD fault In running Auto VFD fault reset count P08 28 Auto VFD fault reset interval P08 29 Start running after VFD fault reset Display the fault code and stop N N Y Y Related parameter list Function code Name Description Default P00 01 Channel of running commands 0 Keypad 1 Terminal 2 Communication 0 P00 11 ACC time 1 0 0 3600 0s Model depended P00 12 DEC time 1 0 0 3600 0s Model depended P01 00...

Page 87: ...d running command protection at power on 0 The terminal running command is invalid at power on 1 The terminal running command is valid at power on 0 P01 19 Action selected when running frequency less than frequency lower limit valid when frequency lower limit greater than 0 0 Run at the frequency lower limit 1 Stop 2 Sleep 0 P01 20 Wake up from sleep delay 0 0 3600 0s Valid only when P01 19 2 0 0s...

Page 88: ... 06 Running frequency of jog 0 00Hz P00 03 Max output frequency 5 00Hz P08 07 ACC time for jogging 0 0 3600 0s Model depended P08 08 DEC time for jogging 0 0 3600 0s Model depended P08 19 Switching frequency of ACC DEC time 0 00 P00 03 Max frequency 0 00Hz No switchover If the running frequency is greater than P08 19 switch to ACC DEC time 2 0 P08 21 Reference frequency of ACC DEC time 0 Max outpu...

Page 89: ... Keypad AI1 CANopen Modbus PID Multi step speed Simple PLC Reserved AI3 AI2 Ethernet P00 06 A frequency command selection P00 07 B frequency command selection P00 09 Combination mode of setup source P00 05 Lower limit of running frequency P17 00 Set frequency A B A B A B Max A B Min A B P17 02 Ramp reference frequency P00 08 B frequency command reference object selection Frequency set through keyp...

Page 90: ...frequency decremental change rate Sx Sy UP terminal function selection 10 DOWN terminal function selection 11 UP terminal state DOWN terminal state T F T T UP terminal frequency incremental integral speed P08 44 DOWN terminal frequency decremental integral speed P08 45 Related parameter list Function code Name Description Default P00 03 Max output frequency P00 04 400 00Hz 50 00Hz P00 04 Upper lim...

Page 91: ...selection 0 Valid only when P00 06 0 or P00 07 0 1 Valid for all frequency setting methods 2 Invalid for multi step speed running when multi step speed running has the priority Hundreds place Action selection for stop 0 Setting is valid 1 Valid during running cleared after stop 2 Valid during running cleared after a stop command is received 0x000 P08 45 Frequency increment change rate of the UP te...

Page 92: ...0 0 100 0 P05 31 AI2 middle value 1 P05 29 P05 33 0 00V P05 32 Corresponding setting of AI2 middle value 1 300 0 300 0 0 0 P05 33 AI2 middle value 2 P05 31 P05 35 0 00V P05 34 Corresponding setting of AI2 middle value 2 300 0 300 0 0 0 P05 35 AI2 upper limit P05 33 10 00V 10 00V P05 36 Corresponding setting of AI2 upper limit 300 0 300 0 100 0 P05 37 AI2 input filter time 0 000s 10 000s 0 100s P05...

Page 93: ...Synchronous speed corresponding to max output frequency 4 Output current relative to the inverter unit 0 Twice the inverter unit rated current 5 Output current relative to motor 0 wice the motor rated current 6 Output voltage 0 1 5 times the inverter unit rated voltage 7 Output power 0 Twice the motor rated power 8 Set torque value bipolar 0 Twice the motor rated current A negative value correspon...

Page 94: ...cation 0 1000 28 C_AO1 from the PLC 0 1000 29 C_AO2 from the PLC 0 1000 30 Running speed 0 Twice the motor rated synchronous speed 31 Output torque bipolar 0 Twice the motor rated torque A negative value corresponds to 0 0 by default 32 Value 1 set through CANopen communication 0 1000 33 Value 2 set through CANopen communication 0 1000 34 47 Reserved Related parameter list Function code Name Descr...

Page 95: ...cy 25 Ramp reference frequency bipolar 0 Max output frequency 26 Rotational speed bipolar 0 Speed corresponding to max output 27 Value 2 set through EtherCAT PROFINET communication 0 1000 28 C_AO1 Set P27 00 to 1 0 1000 29 C_AO2 Set P27 00 to 1 0 1000 30 Rotational speed 0 Twice the motor rated synchronous speed 31 Output torque Actual value 0 Twice the motor rated torque 32 Value 1 set through CA...

Page 96: ...e same The following uses EC IO702 as an example to describe the wiring method and setting GND EC IO702 K N PT PE Sensor Figure 5 6 Temperature sensor wiring for the IO expansion card After installing the I O expansion card to the inverter unit you can wire the temperature sensor according to the preceding figure Then set P28 16 Type of sensor for IO card to detect motor temperature set P28 17 P28...

Page 97: ...10 0 C P28 18 Detection time of IO card detected motor OH protection 0 1 3600 0s 5 0s P28 19 IO card detected motor OH pre alarm threshold 20 0 200 0 C The pre alarm indicator blinks 90 0 C P28 20 B25 85 value of NTC sensor for IO card 0 6000K 0 P28 21 NTC temperature calibration coefficient 0 00 2 00 1 00 5 6 11 2 By using AI AO The function of using AI AO to detect motor temperature supports the...

Page 98: ...efore the detection When AO1 is used for temperature detection AO1 output selection P06 14 is invalid Related function codes of detecting motor temperature by using AI AO Function code Name Description Default P19 11 AI AO detected motor temperature 20 0 175 0 C 0 0 C P28 22 Type of sensor for AI AO to detect motor temperature 0 No temperature sensor 1 PT100 2 PT1000 3 KTY84 Motor temperature is d...

Page 99: ... FWD External terminals are used to control the forward reverse running of the inverter unit l 2 Run reversely FWD 3 3 Three wire running control The terminal is used to determine the three wire running control of the inverter unit For details see P05 13 4 Jog forward For details about frequency of jogging running and ACC DEC time of jogging running see the description for P08 06 P08 07 and P08 08...

Page 100: ...speed 3 Multi step speed 2 Multi step speed 1 BIT3 BIT2 BIT1 BIT0 17 Multi step speed terminal 2 18 Multi step speed terminal 3 19 Multi step speed terminal 4 20 Pause multi step speed running The multi step speed selection function can be screened to keep the set value in the present state 21 ACC DEC time selection 1 The status of the two terminals can be combined to select four groups of ACC DEC...

Page 101: ...ion is disabled the running command channel is restored to the previous setting 39 Pre exciting command When the function is enabled motor pre exciting is started until the function becomes invalid 40 Clear power consumption quantity When the function is enabled the power consumption quantity of the inverter unit is cleared 41 Maintain power consumption quantity When the function is enabled the pr...

Page 102: ...ved Related parameter list Function code Name Description Default P05 01 Function of S1 0 No function 1 Run forward 2 Run reversely 3 Three wire running control 4 Jog forward 5 Jog reversely 6 Coast to stop 7 Reset faults 8 Pause running 9 External fault input 10 Increase frequency setting UP 11 Decrease frequency setting DOWN 12 Clear the frequency increase decrease setting 13 Switch between A se...

Page 103: ...eypad 43 Position reference point input only valid for S1 S2 and S3 44 Disable spindle orientation 45 Spindle zeroing Local positioning zeroing 46 Spindle zeroing position selection 1 47 Spindle zeroing position selection 2 48 Spindle scale division selection 1 49 Spindle scale division selection 2 50 Spindle scale division selection 3 51 Terminal for switching between position control and speed c...

Page 104: ...itch off delay 0 000 50 000s 0 000s P05 16 S3 switch on delay 0 000 50 000s 0 000s P05 17 S3 switch off delay 0 000 50 000s 0 000s P05 18 S4 switch on delay 0 000 50 000s 0 000s P05 19 S4 switch off delay 0 000 50 000s 0 000s P07 39 Input terminal status at present fault 0 P17 12 Digital input terminal status 0 5 6 13 Digital output The inverter unit carries two groups of relay output terminal and...

Page 105: ...signal 12 Ready for running When the main circuit and control circuit powers are established the inverter unit protection functions do not act and the inverter unit is ready to run it outputs the ON signal 13 Pre exciting When the inverter unit is pre exciting it outputs the ON signal 14 Overload pre alarm When the pre alarm time elapsed if the inverter unit pre alarm threshold is reached it outpu...

Page 106: ...ion virtual terminal output A signal is output based on the value set through CANopen communication When the value is 1 the ON signal is output when the value is 0 the OFF signal is output 36 Speed position control switchover completed When the mode switchover is completed the output is valid 37 Any frequency reached When the set frequency is exceeded the output is valid 38 40 Reserved 41 C_Y1 C_Y...

Page 107: ...imit 34 EtherCAT PROFINET communication virtual terminal output 35 CANopen communication virtual terminal output 36 Speed position control switchover completed 37 Any frequency reached 38 40 Reserved 41 C_Y1 from PLC Set P27 00 to 1 42 43 Reserved 44 C_R01 from PLC Set P27 00 to 1 45 C_RO2 from PLC Set P27 00 to 1 46 C_RO3 from PLC Set P27 00 to 1 47 C_RO4 from PLC Set P27 00 to 1 48 63 Reserved P...

Page 108: ...f P10 36 PLC restart mode P17 00 Power off during running Terminal function 23 Simple PLC stop reset Set frequency Digital output 16 Simple PLC state completed Digital output 17 Simple PLC cycle completed Related parameter list Function code Name Description Default P05 01 P05 04 Digital input function selection 23 Simple PLC stop reset 24 Pause simple PLC 25 Pause PID control P06 01 P06 04 Digita...

Page 109: ...0 P10 27 Running time of step 12 0 0 6553 5s min 0 0s P10 28 Multi step speed 13 100 0 100 0 0 0 P10 29 Running time of step 13 0 0 6553 5s min 0 0s P10 30 Multi step speed 14 100 0 100 0 0 0 P10 31 Running time of step 14 0 0 6553 5s min 0 0s P10 32 Multi step speed 15 100 0 100 0 0 0 P10 33 Running time of step 15 0 0 6553 5s min 0 0s P10 34 ACC DEC time of steps 0 7 of simple PLC 0x0000 0XFFFF ...

Page 110: ... time 2 P08 01 deceleration time 2 P08 02 acceleration time 3 P08 03 deceleration time 3 P08 04 acceleration time 4 P08 15 deceleration time 4 00 01 10 11 P10 35 Acceleration deceleration time selection of 8 15 section of simple PLC Multi step speed output Running command Multi step speed 0 Multi step speed 1 Multi step speed 15 ON OFF OFF ON Terminal function 16 Multi step speed terminal 1 Termin...

Page 111: ...he simple PLC function 0 5 6 16 PID control PID control a common mode for process control is mainly used to adjust the inverter unit output frequency or output voltage through performing scale division integral and differential operations on the difference between feedback signal of controlled variables and signal of the target thus forming a negative feedback system to keep the controlled variabl...

Page 112: ...eviation between feedback and reference changes output the regulating variable which is proportional to the deviation variation rate and this regulating variable is only related to the direction and magnitude of the deviation variation rather than the direction and magnitude of the deviation itself Differential control is used to control the feedback signal variation based on the variation trend D...

Page 113: ...s possible Before adjustment After adjustment Response Time t Control long term vibration If the cycle of periodic 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 Before adjustment After adjustment Time t Response Control short term vibration If the vibration cycle is short is almost the sam...

Page 114: ...ogrammable expansion card 10 PROFIBUS DP DeviceNet communication 0 P09 03 PID output characteristics selection 0 PID output is positive characteristic 1 PID output is negative characteristic 0 P09 04 Proportional gain Kp 0 00 100 00 1 80 P09 05 Integral time Ti 0 01 10 00s 0 90s P09 06 Differential time Td 0 00 10 00s 0 00s P09 07 Sampling cycle T 0 000 10 000s 0 100s P09 08 PID control deviation ...

Page 115: ... proportional gain Kp 0 00 100 00 1 00 P09 15 ACC DEC time of PID command 0 0 1000 0s 0 0s P09 16 PID output filter time 0 000 10 000s 0 000s P09 17 Reserved 100 0 100 0 0 0 P09 18 Low frequency integral time Ti 0 00 10 00s 0 90s P09 19 Low frequency differential time Td 0 00 10 00s 0 00s P09 20 Low frequency point for PID parameter switching 0 P09 21 5 00Hz P09 21 High frequency point for PID par...

Page 116: ...00 06 Setting channel of A frequency command 0 Keypad 1 AI1 2 AI2 3 AI3 4 Reserved 5 Simple PLC program 6 Multi step speed running 7 PID control 8 Modbus communication 9 CANopen communication 10 Ethernet communication 11 Reserved 12 Pulse train AB 13 EtherCAT PROFINET communication 14 Programmable expansion card 15 PROFIBUS DP DeviceNet communication 0 P00 11 ACC time 1 0 0 3600 0s Model depended ...

Page 117: ... 1 The master and slave must be in the same type of vector control When the master is in speed control the slave is forced into torque control 2 Combination mode The slave switches from speed mode master slave mode 0 to torque mode master slave mode 1 at a frequency point Tens place Slave start command source 0 Master 1 Determined by P00 01 Hundreds place Whether to enable master slave to send rec...

Page 118: ...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 pre...

Page 119: ...ameter autotuning or static parameter autotuning Step 4 Verity the installation and settings of encoder Set P00 00 3 and P00 10 20Hz to run the system and check the control effect and performance of the system Step 5 Set P21 00 0001 to set positioning mode to position control namely pulse string control There are four kinds of pulse command modes which can be set by P21 01 pulse command mode Under...

Page 120: ...00 bit3 to enable or disable zero calibration and select zero calibration mode by setting P22 00 bit7 Step 6 Perform spindle zeroing operation a Select the positioning direction by setting P22 00 bit4 b There are four zero positions in P22 group you can choose one out of four zeroing positions by setting zeroing input terminal selection 46 47 in P05 group When executing zeroing function the motor ...

Page 121: ...ol performance of closed loop vector will be affected Proximity switch positioning supports the following spindle positioning modes a The encoder is installed on the motor shaft the drive ratio between motor shaft and spindle is not necessarily 1 1 At this point it is required to set P22 14 spindle drive ratio 5 Commissioning procedures for digital positioning The diagram for digital positioning i...

Page 122: ...anwhile set P21 17 P21 11 and P21 12 set positioning displacement based on actual needs set P21 21 deceleration time of positioning however 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 Step 6 Perform cyclic positioning After positioning is done the ...

Page 123: ... fault 1 Inverter unit U phase protection OUt1 2 Inverter unit V phase protection OUt2 3 Inverter unit W phase protection OUt3 4 Overcurrent during acceleration OC1 5 Overcurrent during deceleration OC2 6 Overcurrent during constant speed running OC3 7 Overvoltage during acceleration OV1 8 Overvoltage during deceleration OV2 9 Overvoltage during constant speed running OV3 10 Bus undervoltage fault...

Page 124: ...7 Encoder disconnection fault ENC1O 38 Encoder direction reversal fault ENC1D 39 Encoder Z pulse disconnection fault ENC1Z 40 Safe torque off STO 41 Channel 1 safety circuit exception STL1 42 Channel 2 safety circuit exception STL2 43 Exception in both channels 1 and 2 STL3 44 Safety code FLASH CRC fault CrCE 45 PLC card customized fault 1 P E1 46 PLC card customized fault 2 P E2 47 PLC card custo...

Page 125: ... last fault 0 0 C P07 47 Input terminal status at last fault 0 P07 48 Output terminal status at last fault 0 P07 49 Running frequency at 2nd last fault 0 00Hz P07 50 Ramp reference frequency at 2nd last fault 0 00Hz P07 51 Output voltage at 2nd last fault 0V P07 52 Output current at 2nd last fault 0 0A P07 53 Bus voltage at 2nd last fault 0 0V P07 54 Temperature at 2nd last fault 0 0 C P07 55 Inpu...

Page 126: ...t different types of communication protocols into CANopen protocols between the inverter units to form a communication network 6 2 Standard communication interfaces The rectifier and inverter units are equipped with standard RS485 and CAN communication interfaces The communication terminals are decribed in the following Table 6 1 Rectifier inverter unit RJ45 interface definition Interface type Net...

Page 127: ...able describes the data format 11 bit character frame Bits 1 to 8 are data bits Start bit BIT1 BIT2 BIT3 BIT4 BIT5 BIT6 BIT7 BIT8 Parity bit Stop bits 10 bit character frame Bits 1 to 7 are data bits Start bit BIT1 BIT2 BIT3 BIT4 BIT5 BIT6 BIT7 Parity bit Stop bits In a character frame only the data bits carry information The start bit check bit and stop bit are used to facilitate the transmission...

Page 128: ...n as well as the core of data exchanging CRC CHK low order bits Detection value CRC 16 bits CRC CHK high order bits END frame tail T1 T2 T3 T4 time gap with a min length of 3 5 bytes 6 3 2 2 RTU communication frame error check modes During the transmission of data errors may occur due to various factors Without check the data receiving device cannot identify data errors and may make a wrong respon...

Page 129: ... invalid for the start end and check bits During the generation of the CRC values the exclusive or XOR operation is performed on the each 8 bit character and the content in the register The result is placed in the bits from the low order bit to the high order bit and 0 is placed in the high order bit Then the low order bit is detected If the low order bit is 1 the XOR operation is performed on the...

Page 130: ...T2 T3 T4 time gap with a min length of 3 5 bytes START and END are T1 T2 T3 T4 time gap with a min length of 3 5 bytes indicating that a time gap with a minimum length of 3 5 bytes must be kept before RS485 communication is executed The time gap is used to distinguish one message from another so that the two messages are not regarded as one message ADDR is 01H indicating that the command is sent t...

Page 131: ...d can be used to write only one piece of data It is used to modify the parameters and running mode of the VFD For example to write 5000 1388H to 0004H of the VFD whose address is 02H the frame structures are described in the following RTU master command sent from the master to the VFD START T1 T2 T3 T4 time gap with a min length of 3 5 bytes ADDR 02H CMD 06H High order bit of data writing address ...

Page 132: ... END T1 T2 T3 T4 time gap with a min length of 3 5 bytes 6 3 3 4 Command code 10H continuous writing The command code 10H is used by the master to write data to the VFD The quantity of data to be written is determined by Data count and a maximum of 16 pieces of data can be written For example to write 5000 1388H and 50 0032H respectively to 0004H and 0005H of the VFD whose slave address is 02H the...

Page 133: ...he hexadecimal form of 02 Therefore the function code address is 0502H in the hexadecimal form For example the parameter address of P10 01 is 0A01H Function code Name Description Default P10 00 Simple PLC mode 0 Stop after running once 1 Keep running with the final value after running once 2 Cyclic running 0 P10 01 Simple PLC memory selection 0 Without memory after power off 1 With memory after po...

Page 134: ... of the upper limit of reverse running frequency 0 Fmax unit 0 01 Hz R W 2007H Upper limit of the electromotion torque 0 3000 1000 corresponding to 100 0 of the VFD rated current R W 2008H Upper limit of the brake torque 0 3000 1000 corresponding to 100 0 of the motor rated current R W 2009H Special control command word Bit0 1 00 Motor 1 01 Motor 2 Bit2 1 Enable speed torque control switchover 0 D...

Page 135: ...uency 3000H 0 Fmax Unit 0 01Hz Compatible with CHF100A and CHV100 communication addresses R Set frequency 3001H 0 Fmax Unit 0 01Hz R Bus voltage 3002H 0 0 2000 0V Unit 0 1V R Output voltage 3003H 0 1200V Unit 1V R Output current 3004H 0 0 3000 0A Unit 0 1A R Rotating speed 3005H 0 65535 Unit 1RPM R Output power 3006H 300 0 300 0 Unit 0 1 R Output torque 3007H 250 0 250 0 Unit 0 1 R Closed loop set...

Page 136: ... we can multiply 50 12 by 100 to obtain an integer 5012 and then 50 12 can be represented as 1394H 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 depends on the number of decimals in the value specified in Setting range or Default If there are n decima...

Page 137: ... 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 terminal cannot be set repeatedly 05H Password error The password entered in the password verification address is different from that set in P07 00 06H Data frame error The length of the data frame transmitted by ...

Page 138: ...e code 86H generated based on the MSB 1 of the write command 06H indicates that it is an exception response to the write command 06H The error code is 04H From the preceding table we can see that it indicates the error Operation failure which means The parameter is set to an invalid value in the write operation 6 3 7 Read Write operation examples For the formats of the read and write commands see ...

Page 139: ...l command is 2000H and 0001H indicates forward running Function Address Data description R W Communication based control command 2000H 0001H Forward running R W 0002H Reverse running 0003H Forward jogging 0004H Reverse jogging 0005H Stop 0006H Coast to stop emergency stop 0007H Fault reset 0008H Jogging to stop The command transmitted by the master is as follows Parameter address CRC VFD address W...

Page 140: ...ommand is 2000H 0001H indicates forward running and the address of Communication based value setting is 2001H as shown in the following figure 10Hz is 03E8H in the hexadecimal form Function Address Data description R W Communication based control command 2000H 0001H Forward running R W 0002H Reverse running 0003H Forward jogging 0004H Reverse jogging 0005H Stop 0006H Coast to stop emergency stop 0...

Page 141: ...e added to a command just for explanatory purposes In practical applications no space is required in the commands 6 3 7 4 Modbus communication commissioning example A PC is used as the host a USB RS485 converter is used for signal conversion and the PC serial port used by the converter is COM1 an RS485 port The upper computer commissioning software is the serial port commissioning assistant Commix...

Page 142: ...ress Write command CRC Forward running 03 06 20 00 00 01 42 28 6 3 8 Related parameters Table 6 3 Rectifier unit related parameters Function code Name Description Default Modify P20 00 Local communication address 1 247 1 P20 01 Communication baud rate 0 1200BPS 1 2400BPS 2 4800BPS 3 9600BPS 4 19200BPS 5 38400BPS 6 57600BPS 7 115200BPS 4 P20 02 Data bit check 0 No check N 8 1 for RTU 1 Even check E...

Page 143: ...PS 2 4800BPS 3 9600BPS 4 19200BPS 5 38400BPS 6 57600BPS 7 115200BPS 4 P14 02 Data bit check 0 No check N 8 1 for RTU 1 Even check E 8 1 for RTU 2 Odd check O 8 1 for RTU 3 No check N 8 2 for RTU 4 Even check E 8 2 for RTU 5 Odd check O 8 2 for RTU 1 P14 03 Communication response delay 0 200ms 5 P14 04 Communication timeout time 0 0 invalid 0 1 60 0s 0 0s P14 05 Transmission error processing 0 Repo...

Page 144: ...he shield layer to connect the master device and rectifier unit with the shield layer connected to CGND Use the network cable as shipped with the product to connect units and use 120Ω termination matching resistors at both ends of the bus to prevent signal reflection Rectifier unit Inverter unit 1 Inverter unit 2 Inverter unit N CAN1H CAN1L PLC A B A B A B A B CAN Figure 6 2 Wiring 1 for CANopen b...

Page 145: ...ode 2 DC voltage 10 V 3 Grid voltage 1 V 4 Grid frequency 10 Hz 5 Braker current 10 A 6 Terminal input status 7 Terminal output status 8 Number of online slave nodes 9 Online offline state of slave nodes 02 17 10 Online offline state of slave nodes 18 21 11 CANopen bus load rate 12 Type of card at slot 1 13 Type of card at slot 2 14 Software version of card at slot 1 15 Software version of card at...

Page 146: ...equency 0 Fmax unit 0 01 Hz 6 Setting of the upper limit of reverse running frequency 0 Fmax unit 0 01 Hz 7 Upper limit of the electromotive torque 0 3000 in which 1000 corresponds to 100 0 of the motor rated current 8 Upper limit of braking torque 0 2000 in which 1000 corresponds to 100 of the motor rated current 9 Virtual input terminal command Range 0x000 0x1FF 10 Virtual output terminal comman...

Page 147: ...10 A 6 Actual output torque x10 7 Actual output power x10 8 Rotation speed of running x1 RPM 9 Linear speed of running x1 m s 10 Ramp reference frequency 11 Fault code 12 AI1 input 100 V 13 AI2 input 100 V 14 AI3 input 100 V 15 Reserved 16 Terminal input status 17 Terminal output status 18 PID reference x100 19 PID feedback x100 20 Motor rated torque 21 High order bit of position reference signed ...

Page 148: ...ntrol Supports NMT broadcast addresses Supports NMT error control Supports boot up Supports SYNC 1 240 Supports asynchronous transmission of 254 and 255 Supports time disabling Supports event timers Supports manufacturer defined object dictionary You can use the SDO to control and obtain the actual parameter values of the VFD in real time 3 Non supported CANopen services Saves object dictionary pa...

Page 149: ...used by the master node to control the NMT status of slave nodes Command Master node Slave node COB ID Byte0 Byte1 0x000 Command specifier CS Node ID Node ID Description In this command the COB ID is 0 00 If Node ID is set to 0 the command is broadcast to all CANopen slave nodes and each slave node must execute the NMT command Table 6 7 describes the function of each CS Table 6 7 Function of each ...

Page 150: ...le For example the command for the master node to detect the status of slave node 3 is as follows Master node remote frame Slave node COB ID No data 0x703 After receiving the node protection command transmitted from the master node the slave node transmits the following command response to the master node COB ID Byte0 status value 0x703 0x85 In the command bit 7 of Byte0 is 1 and the status value ...

Page 151: ...ion card whose node ID is 3 transmits the following start packet COB ID Byte0 0x703 0x00 6 4 10 Synchronous packet object SYNC Generally SYNC signals are transmitted from the CANopen master node cyclically A SYNC signal does not contain any data and is used mainly to request PDO Tx of a slave node node of the synchronous transmission type 0x1005 in the object dictionary defines COB IDs of the obje...

Page 152: ...rent error inside the device 23xx Current error on the device output side 30xx Voltage 31xx Mains voltage 32xx Voltage inside the device 33xx Output voltage 40xx Temperature 41xx Ambient temperature 42xx Device temperature 50xx Device hardware 60xx Device software 61xx Internal software 62xx User software 63xx Data set 70xx Additional modules 80xx Monitoring 81xx communication 8110 CAN overrun 812...

Page 153: ...ransmit non time key data By using SDOs the master node can read data from and write data to the object dictionary of a device Command Request Master node Slave node COB ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x600 NodeID Request code Object index Sub index Response data LSB MSB Response Slave node Master node COB ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x580 NodeID Response...

Page 154: ...y overflow 0601 0000 No access to the object 0601 0001 Attempts to read a write only object 0601 0002 Attempts to write information to a read only object 0602 0000 Object cannot be found in the object dictionary 0604 0041 Object cannot be mapped to PDO 0604 0042 Number and length of the object to be mapped exceeds the PDO length 0604 0043 Common parameter incompatibility 0604 0047 Common internal ...

Page 155: ...te3 Byte4 Byte5 Byte6 Byte7 0x603 0x40 0x01 0x18 0x03 0x00 0x00 0x00 0x00 After receiving the command transmitted by the master node the slave node transmits the following command response if the current disabled time of PDO2 Tx is 1000ms COB ID Response code Object index Sub inde x Response data Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x583 0x43 0x01 0x18 0x03 0xe8 0x03 0x00 0x00 Read wri...

Page 156: ...DO2 Tx is set to 200 the slave node transmits a PDO2 Tx command at the interval of 200 ms When the value of the event timer is zero the slave node transmits a PDO Tx command once the corresponding PDO Tx data changes and the transmission interval is subject to the disabled time A PDO Tx packet can be transmitted only once in the disabled time which effectively reduces the load of the bus When the ...

Page 157: ... the hexadecimal form of the number before the dot mark and low order byte is that of the number behind the dot mark Take P10 01 as an example the number before the dot mark is 10 that is the high order byte of the parameter address is 0 0A and the number behind the dot mark is 01 that is the low order byte is 0 01 Therefore the function code address is 0 0A01 Table 6 17 VFD parameter address Func...

Page 158: ...ration corresponding to the request code is not allowed to be executed The possible causes are as follows The function code is applicable only on new devices and is not implemented on this device The slave node is in the faulty state when processing this request 02H Invalid data address For a slave device the data address in the request of the master node is not allowed In particular the combinati...

Page 159: ...2 Byte3 Byte4 Byte5 0x203 0x02 0x00 0x0A 0x0E 0x01 0x00 If the VFD parameter is successfully modified the following PDO1 Tx command is returned COB ID Response code Error ID Response data Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x183 0x01 0x00 0x00 0x00 0x01 0x00 0x00 0x00 6 4 13 3 PDO2 Rx PDO2 Rx is used to modify CWs and real time process data setting 1 setting 2 and setting 3 of the VFD...

Page 160: ...ncy to 50 Hz through CANopen communication Command analysis You need to set the VFD start mode and frequency reference mode to CANopen communication P00 01 2 P00 02 1 first In this example use Setting 2 to set the running frequency P14 11 1 that is set Received PZD3 to 1 Set frequency When a CW is 0 01 it indicates that the VFD is to be run To set the frequency to 50 Hz you need to set Setting 2 t...

Page 161: ...2 and returned value 3 correspond to transmitted PZD2 transmitted PZD3 and transmitted PZD4 respectively To set the function of returned value 1 to Running frequency you need only to set Transmitted PZD2 to 1 Running frequency The same principle applies to other returned values Multiple returned values can be enabled simultaneously Example Assume that the slave node address is 3 the VFD is running...

Page 162: ...ning frequency The default transmission type of PDO3 Tx and PDO4 Tx is 254 and therefore PDO3 Tx or PDO4 Tx is transmitted once data corresponding to a returned value in the same command changes PDO3 Tx command Slave node Master node COB ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x380 NODEID Returned value 4 Returned value 5 Returned value 6 Returned value 7 0x2000 06 0x2000 07 0x2000 08 ...

Page 163: ...2 E Reserved RW 2 Byte F Reserved RW 2 Byte 2101 0 CW RW 2 Byte Table 6 23 Objects with the monitoring function in the manufacturer defined object dictionary Index hex Subindex hex Function Access permission Data length Corresponding to 2000 0 Response code Do not use RO 2 Byte 1 Error code Do not use RO 2 Byte 2 Response data Do not use RO 2 Byte 3 Returned value1 RO 2 Byte Sent PZD2 4 Returned v...

Page 164: ...00 0x01 0x01 0x00 0x00 Example 4 Assume that the address of the VFD slave node is 3 and the function of Returned value 1 is defined as Running frequency To read the VFD running frequency the master node transmits the following SDO command COB ID Request code Object index Sub index Request data Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x603 0x40 0x00 0x20 0x03 0x00 0x00 0x00 0x00 If the VFD ...

Page 165: ...data transmission a master can also transmit commands to multiple nodes in broadcast mode When the broadcast mode is adopted the nodes do not need to transmit feedback signals to the master On PROFIBUS networks nodes cannot communicate with each other The PROFIBUS protocol is described in details in the EN50170 standard For details refer to the EN50170 standard 6 5 2 Communication packet structure...

Page 166: ...d bus to CANopen bus Rectifier unit Inverter unit 1 Inverter unit 2 Inverter unit N A B A B A B A B DP communication card PLC Figure 6 5 PROFIBUS DP to CANopen network topology Note In the networking wiring the RJ45 ports between units must be cross connected that is port A of a unit can only be connected to port B of another unit If the connection is incorrect the communication performance of the...

Page 167: ...user program Stop The commissioning is completed Rectifier P00 14 1 Inverter P00 18 1 Group P00 Rectifier Groups P21 and P22 Inverter Group P14 Inverter P17 15 Figure 6 6 Commissioning procedure 6 5 6 2 TIA portal configuration S7 300 The following uses SIMATIC S7 300 as an example to describe the configuration procedure on TIA Portal 1 Create a project Double click the TIA Portal V15 icon to star...

Page 168: ...hen double click to open the project view as shown in the following figure 2 Add the GSD file similar to the following Choose Options Manage general station description files GSD In the dialog box that appears enter the source path of the GSD file select the GSD file and click Install ...

Page 169: ...ction VFD Communication networking 161 If the installation is successful the following dialog box appears 3 Configure the project information To configure project information do as follows Step 1 Double click Devices networks in the project view ...

Page 170: ... Add project devices according to your selected PLC model For example if you use SIMATIC S7 300 PLC choose Controllers SIMATIC S7 300 CPU CPU 315 2 PN DP 6ES7 315 2EH14 0AB0 in the Hardware catalog panel on the right and then double click or drag the 6ES7 315 2EH14 0AB0 icon to the project ...

Page 171: ...devices PROFIBUS DP General INVT ELECTRIC CO LTD INVT INVT 6SE70 GW and then double click the INVT 6SE70 GW icon to add the GSD file to the project Click the Not assigned option of INVT 6SE70 GW and select the IO controller PLC_1 MPI DP interface_1 In the network view the CPU and INVT 6SE70 GW have been connected to the same PROFIBUS sub network ...

Page 172: ...k view Double click PLC_1 CPU 315 2 PN DP to enter the device view interface Double click the network interface position of the S7 300 icon to enter the PROFINET interface_1 editing interface Click the General tab choose Ethernet addresses and set parameters Click MPI DP interface_1 to enter the MPI DP interface_1 editing interface Click the General tab choose PROFIBUS addresses and set parameters...

Page 173: ...neral tab click Device specific parameters select Default Address from CANopen Address type The IO module addresses increase by 1 in ascending order To be specific the data of IO module 1 corresponds to CANopen node 1 the data of IO module 2 corresponds to CANopen node 2 and so on I address and Q address indicate the receiving and sending addresses of the node Slot 1 corresponds to the data of the...

Page 174: ... node 1 CANopen master node QW24 QW47 correspond to the PLC output addresses of the inverter unit node2 CANopen slave node IW24 IW47 corresponds to the PLC input addresses of the inverter unit node2 CANopen slave node QW48 QW63 correspond to the PLC output addresses of the inverter unit node3 CANopen slave node IW48 IW63 correspond to the PLC input addresses of the inverter unit node3 CANopen slav...

Page 175: ...e to enter the IO module view On the General tab click Device specific parameters set CANopen Address to the CANopen node number for example 3 For example if you want to make the data of IO module 2 correspond to CANopen node 3 click IN OUT 12words_2 click Device specific parameters set CANopen Address to 3 Note To ensure that data from different IO modules are not sent to the same rectifier or in...

Page 176: ... has been connected to your computer through a network cable Then make settings to ensure your computer Ethernet IP address are in the same sub network as the IP address set for the PROFIBUS master node In the project tree choose Online access TwinCAT Intel PCI Ethernet Adapter Update accessible devices Then you can view the device IP address ...

Page 177: ...ng 169 Step 6 Download and compile the project After configuring the project you need to download the project configuration information to the CPU After saving the project right click PLC_1 CPU 315 2 PN DP and choose Compile Hardware and software only changes Download to device ...

Page 178: ...mpleted the following interface appears Select PN IE from the Type of the PG PC interface drop down list box Click Start search in the lower right corner to start scanning for PLC devices in the detection network Select the PLC to download there is only one PLC in the example Then click Load and then Finish ...

Page 179: ...correspond to the PLC input addresses consistent with the I addresses in the configuration You can monitor and modify the values Finally you can perform PLC programming 6 5 6 3 IN OUT module mapping In the configuration of PROFIBUS DP to CANopen communication to ensure the efficiency of CANopen communication IN OUT modules can support the selection of 2 4 8 10 12 words but not 16 words Selecting d...

Page 180: ...US DP 4 PROFINET EtherCAT 0 P17 15 Actual online slave nodes Number of actual online slave nodes Range 0 20 0 P17 16 Type of card at slot 1 Used to display the type of card at the slot Range 0 18 0 No card 1 PLC 2 I O 3 4 Reserved 5 Ethernet 6 PROFIBUS DP 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 14 Reserved 15 PROFINET 16 Modbus 17 EtherCAT 18 BACnet 0 P17 17 Type of card at slot 2 0 P17 18...

Page 181: ... with a PROFIBUS DP communication card 0 Disable 1 Fault code 2 DC voltage 10 V 3 Grid voltage 1 V 4 Grid frequency 10 Hz 5 Braker current 10 A 6 Terminal input status 7 Terminal output status 8 Number of online slave nodes 9 Online offline status of slave nodes 02 17 10 Online offline status of slave nodes 18 21 11 CANopen bus load rate 12 Type of card at slot 1 13 Type of card at slot 2 14 Softw...

Page 182: ...unning 7 PID control 8 Modbus communication 9 CANopen communication 10 Ethernet communication 11 Reserved 12 Pulse train AB 13 EtherCAT PROFINET communication 14 Programmable expansion card 15 PROFIBUS DP DeviceNet communication 0 P07 27 Type of present fault 0 No fault 1 Inverter unit U phase protection OUt1 2 Inverter unit V phase protection OUt2 3 Inverter unit W phase protection OUt3 4 Overcur...

Page 183: ...ommunication fault E_dP 30 Ethernet communication 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 Underload fault LL 37 Encoder disconnection fault ENC1O 38 Encoder direction reversal fault ENC1D 39 Encoder Z pulse disconnection fault ENC1Z 40 Safe torque off...

Page 184: ...O card detected motor overtemperature fault E OT3 66 EtherCAT card communication fault E CAT 67 BACnet card communication fault E BAC 68 DeviceNet card communication fault E DEV 69 CAN slave fault in master slave synchronization S Err 70 AI detected motor overtemperature fault E OT4 71 Reserved P14 00 Local communication address Setting range 1 247 When the master writes the slave communication ad...

Page 185: ...ue 0 3000 in which 1000 corresponds to 100 0 of the motor rated current 8 Upper limit of braking torque 0 2000 in which 1000 corresponds to 100 of the motor rated current 9 Virtual input terminal command Range 0x000 0x1FF 10 Virtual output terminal command Range 0x00 0x0F 11 Voltage setting special for V F separation 0 1000 in which 1000 corresponds to 100 of the motor rated voltage 12 AO1 output ...

Page 186: ...Terminal output status 18 PID reference x100 19 PID feedback x100 20 Motor rated torque 21 High order bit of position reference signed 22 Low order bit of position reference unsigned 23 High order bit of position feedback signed 24 Low order bit of position feedback unsigned 25 Status word 26 Reserved 27 31 Reserved 0 P14 22 Sent PZD3 0 P14 23 Sent PZD4 0 P14 24 Sent PZD5 0 P14 25 Sent PZD6 0 P14 ...

Page 187: ...ed functions Supports the PROFINET protocol and supports PROFINET I O devices Provides two PROFINET I O ports and supports the 100M full duplex operation Supports the linear network topology and star shaped network topology 2 Supported communication types Standard Ethernet channels Standard Ethernet channels are non realtime communication channels that use the TCP IP protocol and are mainly used f...

Page 188: ...U state Data header 7 byte preamble 1 byte synchronization information 6 byte source MAC address 6 byte destination MAC address Table 6 29 describes the structure of the IRT frame synchronous Table 6 29 IRT frame structure Data header Ethernet type VLAN Ethernet type Frame identifier IRT user data FCS 7 byte preamble 1 byte synchroniz ation 6 byte source MAC address 6 byte destination MAC address ...

Page 189: ...01 adapter modules To enable the control over the VFD through PROFINET you need to set the communication module as the controller of the VFD Actual value An actual value is a 16 bit word that includes information about VFD operation The monitoring function is defined through VFD parameters The conversion scale of an integer transmitted as an actual value from the VFD to the master depends on the s...

Page 190: ...M and EEPROM 2 3 or 4 Requests 2 3 and 5 are not supported currently Table 6 32 Response identification flag PKW1 Response No from a slave to the master Response No Function 0 No response 1 Transmitting the value of a parameter one word 2 Transmitting the value of a parameter two words 3 The task cannot be executed and one of the following error number is returned 1 Invalid command 2 Invalid data ...

Page 191: ... You can set PKW1 to 4 and PKW2 to 10 to modify a frequency set through keypad the address of the frequency set through keypad is 10 and the value to be modified 50 00 is in PKW4 Request master node VFD PKW1 00 04 PKW2 00 10 PKW3 00 00 PKW4 50 00 CW xx xx PZD2 xx xx PZD3 xx xx PZD12 xx xx CW Request 5000 Parameter address in address 10 0004 Request for parameter value modifying Response VFD master...

Page 192: ...fier unit CW in binary format Bit Name State to be entered description Priority 0 Communication based control command 0 Stop 1 Run 1 1 Reserved Reserved 2 0 None 1 Fault reset 3 3 Reserved Reserved 4 Reserved Reserved 5 Reserved Reserved 6 Reserved Reserved 7 Reserved Reserved 8 Enabling Read Write 1 Enable function code reading writing PKW1 PKW4 0 Disable function code reading writing PKW1 PKW4 T...

Page 193: ...n of the inverter unit The first word in a task packet that the inverter unit receives or sends is a CW or SW You can specify whether to use binary or decimal by setting P14 33 Table 6 37 Inverter unit CW in decimal format Bit Name Value Description 0 7 Communication based control command 1 Run forward 2 Run reversely 3 Jog forward 4 Jog reversely 5 Stop 6 Coast to stop 7 Fault reset 8 Jog to stop...

Page 194: ...celerate to stop in emergency manner 0 Highest priority Table 6 39 Inverter unit SW in decimal format Bit Name Value Description 0 7 Byte of running status 1 Running forward 2 Running reversely 3 Stopped 4 Faulty 5 POFF 6 Pre exciting 8 Bus voltage established 1 Ready for running 0 Not ready for running 9 10 Motor group selection 00 Motor 1 01 Motor 2 11 Motor type feedback 1 Synchronous motor 0 A...

Page 195: ...erload pre alarm generated 0 No overload pre alarm generated 13 14 Running mode selection 00 Keypad 01 Terminal 10 Communication 11 Reserved 15 Heartbeat reference 1 Enable heartbeat 0 Disable heartbeat Reference value REF The main reference values are the second to twelfth words in a PZD task packet that the inverter unit receives Actual value ACT The main actual values are the second to twelfth ...

Page 196: ...C The following takes SIMATIC PLC as an example PLC model PROFINET PROFIBUS DP IO modules IO sub modules Master nodes Slave nodes Sub modules S7 1200 16 16 16 3 32 3 32 16 The system using S7 1200 can support up to 15 modules since the bridge unit itself is also considered as an IO module for which 16 sub modules can be configured that is 15 CANopen slave nodes rectifier or inverter You can add sl...

Page 197: ...tly Otherwise CANopen addresses may conflict 6 6 5 Commissioning procedure 6 6 5 1 Commissioning flowchart Ensure the electrical wiring is correct and secure Power on The panel data display is normal Restore to factory settings Set the command channel Set CANopen networking parameters Start Check the CANopen networking status Perform upper computer configuration Download and run the PLC user progr...

Page 198: ...o describe the configuration procedure on TIA Portal 1 Create a project Double click the TIA Portal V15 icon to start the TIA Portal V15 project tool Then choose Create new project On the right of the interface enter Project name Path Version Author and Comment and click Create Then double click to open the project view as shown in the following figure 2 Add the GSD file similar to the following ...

Page 199: ...munication networking 191 Choose Options Manage general station description files GSD In the dialog box that appears enter the source path of the GSD file select the GSD file and click Install If the installation is successful the following dialog box appears ...

Page 200: ...roject view Step 2 Add project devices according to your selected PLC model For example if you use SIMATIC S7 1500 PLC choose Controllers SIMATIC S7 1500 CPU CPU 1511 1 PN 6ES7 511 1AK02 0AB0 in the Hardware catalog panel on the right and then double click or drag the 6ES7 511 1AK02 0AB0 icon to the project In the Hardware catalog panel on the right choose Other field devices PROFIBUS IO IO INVT I...

Page 201: ... Configure PROFINET slave nodes depending on the number of nodes on the network Double click the GD600 Profinet Adapter V1 0 icon in the project to enter the slave node parameter setting view A slot number corresponds to a CANopen node number while the I address and Q address correspond to the receiving address and sending address of the node Slot 1 corresponds to the rectifier unit master node wh...

Page 202: ... the inverter unit node2 CANopen slave node IW32 IW47 correspond to the PLC input addresses of the inverter unit node2 CANopen slave node QW48 QW55 correspond to the PLC output addresses of the inverter unit node3 CANopen slave node IW48 IW55 correspond to the PLC input addresses of the inverter unit node3 CANopen slave node The same rule is applied to the other To ensure the consistency you are r...

Page 203: ...r the editing interface in the network view Double click the INVT GD600 Profinet module to enter the device view Double click the network interface position of the INVT Profinet icon to enter the PROFINET interface editing interface Click the General tab choose PROFINET interface X1 Ethernet addresses and set parameters ...

Page 204: ...ed to your computer through a network cable In the project tree choose Online access find the network card corresponding to your computer double click Update accessible devices and wait for a period of time All the devices scanned in the network are displayed Find and click the option corresponding to INVT communication card Double click Online diagnostics to enter the online commissioning state ...

Page 205: ...Choose Functions Assign PROFINET device name set parameters and click Assign name invt01 for example Note The PROFINET communication card name that is online set must be the same as the PROFINET communication card name that is set during project configuration Otherwise devices cannot communicate through PROFINET In addition your computer Ethernet IP address needs to be in the same network segment ...

Page 206: ...ave compile and download the project configuration information After configuring the project you need to download the project configuration information to the CPU After saving the project right click PLC_1 CPU 1511 1 PN and choose Compile Hardware and software only changes Download to device ...

Page 207: ...following interface appears Select PN IE_1 from the Connection to interface subnet drop down list box Click Start search in the lower right corner to start scanning for PLC devices in the detection network Select the PLC to download there is only one PLC in the example and click Download Then click Load and then Finish ...

Page 208: ...t tree on the left The addresses in the table are consistent with those allocated during IN OUT module configuration QW0 QW31 correspond to the PLC output addresses of the rectifier unit node 1 consistent with the Q addresses in the configuration while IW0 IW31 correspond to the PLC input addresses consistent with the I addresses in the configuration You can monitor and modify the values ...

Page 209: ...r and modify the values Step 7 Perform PLC programming 6 6 5 3 IN OUT module mapping In the configuration of PROFINET to CANopen communication you can select different IN OUT modules according to your needs IN OUT modules can support the selection of 2 4 6 8 10 12 and 16 words Selecting different word types causes data mapping difference When an IN OUT module selects 8 words or more it supports th...

Page 210: ...inal The running commands such as run stop and fault reset are controlled through multi function input terminals 2 Communication The running commands are controlled by the upper computer in communication mode 1 P00 02 Communication mode of running commands Used to select the rectifier unit communication command mode 0 RS485 1 CANopen 2 PLC 3 PROFIBUS DP 4 PROFINET EtherCAT 0 P17 15 Actual online s...

Page 211: ...0 No fault 1 Grid undervoltage LvI 2 Grid overvoltage ovI 3 Grid phase A loss SPI1 4 Grid phase B loss SPI2 5 Grid phase C loss SPI3 6 Phase lock failure PLLF 7 DC undervoltage Lv 8 DC overvoltage ov 9 Reserved 10 EEPROM operation error EEP 11 Braker direct connection fault bCE 12 External fault EF 13 Braker overload fault bOL 14 Braker overcurrent fault bOC 15 RS485 communication fault E 485 16 C...

Page 212: ...0 0s P21 31 Power on delay for networking 0 0 invalid 0 1 100 0s When there is a large number of bus sharing inverter units the power on time becomes longer The CANopen master node communication has been ready for communication while the slave nodes are not powered on and not initialization which will cause the E CAN or OFFL communication fault reporting In such a situation you can set the paramet...

Page 213: ...d 2 0 01 30 00s 0 P23 28 Sent PZD2 Used only when the rectifier unit has been configured with a PROFINET or EtherCAT communication card 0 Disable 1 Fault code 2 Bus voltage 10 V 3 Grid voltage 1 V 4 Grid frequency 10 Hz 5 Braking current 10 A 6 Input terminal status 7 Output terminal status 8 Number of online slave nodes 9 Online offline state of slave nodes 02 17 10 Online offline state of slave ...

Page 214: ...pen communication 10 Ethernet communication 11 Reserved 12 Pulse train AB 13 EtherCAT PROFINET communication 14 Programmable expansion card 15 PROFIBUS DP DeviceNet communication 0 P00 07 Setting channel of B frequency command 14 P07 27 Type of present fault 0 No fault 1 Inverter unit U phase protection OUt1 2 Inverter unit V phase protection OUt2 3 Inverter unit W phase protection OUt3 4 Overcurr...

Page 215: ...3 To ground short circuit fault 2 ETH2 34 Speed deviation fault dEu 35 Mal adjustment fault STo 36 Underload fault LL 37 Encoder disconnection fault ENC1O 38 Encoder direction reversal fault ENC1D 39 Encoder Z pulse disconnection fault ENC1Z 40 Safe torque off STO 41 Channel 1 safety circuit exception STL1 42 Channel 2 safety circuit exception STL2 43 Exception in both channels 1 and 2 STL3 44 Saf...

Page 216: ...4 09 CANopen communication baud rate 0 50Kbps 1 100 Kbps 2 125Kbps 3 250Kbps 4 500Kbps 5 1M bps 3 P14 10 Received PZD2 Used for CANopen networking communication 0 Disable 1 Set frequency 0 Fmax Unit 0 01Hz 2 PID reference 0 1000 in which 1000 corresponds to 100 0 3 PID feedback 0 1000 in which 1000 corresponds to 100 0 4 Torque setting 3000 3000 in which 1000 corresponds to 100 0 of the motor rate...

Page 217: ...1 and then to 0 19 31 Reserved P14 21 Sent PZD2 Used for CANopen networking communication 0 Disable 1 Running frequency x100 Hz 2 Set frequency x100 Hz 3 Bus voltage x10 V 4 Output voltage 1 V 5 Output current x10 A 6 Actual output torque x10 7 Actual output power x10 8 Rotation speed of running x1 RPM 9 Linear speed of running x1 m s 10 Ramp reference frequency 11 Fault code 12 AI1 input 100 V 13...

Page 218: ...V 4 Reserved 5 Ethernet card 6 PROFIBUS DP card 7 Reserved 8 Rotary PG card 9 Reserved 10 Reserved 11 PROFINET card 12 Sine cosine PG card without CD signals 13 Sine cosine PG card with CD signals 14 Reserved 15 Reserved 16 Reserved 17 EtherCAT card 18 Reserved 19 Reserved 0 P19 01 Type of card at slot 2 0 P19 03 Software version of card at slot 1 0 655 35 0 00 P19 04 Software version of card at s...

Page 219: ...unication card DP communication card DP communication card DP communication card Figure 6 10 PROFIBUS DP network topology 6 7 3 Communication performance The number of nodes in the PROFINET bus communication network depends on the number of nodes supported by the PLC CPU When there are more than 32 nodes in the network repeaters are needed for relaying A maximum of 32 nodes including repeaters can...

Page 220: ...0 18 1 Rectifier Group P22 Inverter Group P15 Group P00 Rectifier Group P22 Inverter Group P15 Figure 6 11 Commissioning procedure 6 7 4 2 TIA portal configuration S7 300 For details see 6 5 6 2 TIA portal configuration S7 300 Note There is difference in the salve device configuration between the PROFIBUS DP bus networking and PROFIBUS DP to CANopen networking In the PROFIBUS DP to CANopen network...

Page 221: ...r unit related parameters Function code Name Description Default Modify P00 01 Channel of running commands Used to select the channel of rectifier unit control commands including the start stop and fault reset commands 0 Keypad The running commands are controlled through keypad keys such as RUN and STOP RST 1 Terminal The running commands such as run stop and fault reset are controlled through mul...

Page 222: ... The communication address of a slave cannot be set to 0 1 P22 01 DP expansion card module address 0 127 3 P22 13 Sent PZD2 Used only when the rectifier unit has been configured with a PROFIBUS DP communication card 0 Disable 1 Fault code 2 DC voltage 10 V 3 Grid voltage 1 V 4 Grid frequency 10 Hz 5 Braker current 10 A 6 Terminal input status 7 Terminal output status 8 Number of online slave nodes...

Page 223: ...ommunication 11 Reserved 12 Pulse train AB 13 EtherCAT PROFINET communication 14 Programmable expansion card 15 PROFIBUS DP DeviceNet communication 0 P15 01 Module address 0 127 2 P15 02 Received PZD2 0 Disable 1 Set frequency 0 Fmax Unit 0 01Hz 2 PID reference 0 1000 in which 1000 corresponds to 100 0 3 PID feedback 0 1000 in which 1000 corresponds to 100 0 4 Torque setting 3000 3000 in which 100...

Page 224: ... feedback setting flag position feedback can be set only after this flag is set to 1 and then to 0 19 31 Reserved P15 13 Sent PZD2 0 Disable 1 Running frequency x100 Hz 2 Set frequency x100 Hz 3 Bus voltage x10 V 4 Output voltage 1 V 5 Output current x10 A 6 Actual output torque x10 7 Actual output power x10 8 Rotation speed of running x1 RPM 9 Linear speed of running x1 m s 10 Ramp reference freq...

Page 225: ...1 0 00 655 35 0 00 P19 04 Software version of card at slot 2 0 00 655 35 0 00 6 8 PROFINET bus networking 6 8 1 Communication packet structure The PROFIBUS DP communication data frame structure PKW PZD is similar to the PROFINET communication data frame structure For details see 6 6 2 Communication packet structure Parameter identification PKW Process data PZD Free allocated zone PKW1 PKW2 PKW3 PK...

Page 226: ...INET communication card PROFINET communication card PROFINET communication card PROFINET communication card Figure 6 13 PROFINET star type network topology 6 8 3 Communication performance The number of nodes in the PROFINET bus network depends on the number of nodes supported by the PLC CPU Take SIMATIC S7 1200 PLC as an example One PROFINET communication card occupies only one IO node while S7 12...

Page 227: ... 18 1 Rectifier Group P00 Inverter Groups P00 and P03 Rectifier P22 26 Inverter P16 31 Rectifier Group P23 Inverter Group P16 Figure 6 14 Commissioning procedure 6 8 4 2 TIA portal configuration S7 1500 For details see 6 6 5 2 TIA portal configuration S7 1500 Note There is difference in the salve device configuration between the PROFINET bus networking and PROFINET to CANopen networking In the PRO...

Page 228: ...ning commands are controlled through keypad keys such as RUN and STOP RST 1 Terminal The running commands such as run stop and fault reset are controlled through multi function input terminals 2 Communication The running commands are controlled by the upper computer in communication mode 1 P00 02 Communication mode of running commands Used to select the rectifier unit communication command mode 0 ...

Page 229: ...ommunication fault E 485 16 CANopen communication fault E CAN 17 Reserved 18 DP communication fault E DP 19 Reserved 20 Reserved 21 Rectifier bridge module overheat oH1 22 Brake overheat fault bOH 23 Reserved 24 PROFINET communication timeout fault E PN 25 Reserved 26 Communication fault of expansion card 1 E C1 27 Communication fault of expansion card 2 E C2 28 Reserved 29 Failure to identify the...

Page 230: ...8 Number of online slave nodes 9 Online offline state of slave nodes 02 17 10 Online offline state of slave nodes 18 21 11 CANopen bus load rate 12 Type of card at slot 1 13 Type of card at slot 2 14 Software version of card at slot 1 15 Software version of card at slot 2 16 R phase current 17 S phase current 18 T phase current 19 Node number of first CANopen offline unit 20 31 Reserved 0 P23 29 S...

Page 231: ...ype of present fault 0 No fault 1 Inverter unit U phase protection OUt1 2 Inverter unit V phase protection OUt2 3 Inverter unit W phase protection OUt3 4 Overcurrent during acceleration OC1 5 Overcurrent during deceleration OC2 6 Overcurrent during constant speed running OC3 7 Overvoltage during acceleration OV1 8 Overvoltage during deceleration OV2 9 Overvoltage during constant speed running OV3 ...

Page 232: ...fety circuit exception STL1 42 Channel 2 safety circuit exception STL2 43 Exception in both channels 1 and 2 STL3 44 Safety code FLASH CRC fault CrCE 45 PLC card customized fault 1 P E1 46 PLC card customized fault 2 P E2 47 PLC card customized fault 3 P E3 48 PLC card customized fault 4 P E4 49 PLC card customized fault 5 P E5 50 PLC card customized fault 6 P E6 51 PLC card customized fault 7 P E...

Page 233: ...INET communication timeout time 0 0 invalid 60 0s 5 0s P16 32 Received PZD2 0 Disable 1 Set frequency 0 Fmax Unit 0 01Hz 2 PID reference 0 1000 in which 1000 corresponds to 100 0 3 PID feedback 0 1000 in which 1000 corresponds to 100 0 4 Torque setting 3000 3000 in which 1000 corresponds to 100 0 of the motor rated current 5 Setting of the upper limit of forward running frequency 0 Fmax unit 0 01 ...

Page 234: ...1 V 5 Output current x10 A 6 Actual output torque x10 7 Actual output power x10 8 Rotation speed of running x1 RPM 9 Linear speed of running x1 m s 10 Ramp reference frequency 11 Fault code 12 AI1 input 100 V 13 AI2 input 100 V 14 AI3 input 100 V 15 Reserved 16 Terminal input status 17 Terminal output status 18 PID reference x100 19 PID feedback x100 20 Motor rated torque 21 High order bit of posi...

Page 235: ...rd 7 Reserved 8 Rotary PG card 9 Reserved 10 Reserved 11 PROFINET card 12 Sine cosine PG card without CD signals 13 Sine cosine PG card with CD signals 14 Reserved 15 Reserved 16 Reserved 17 EtherCAT card 18 Reserved 19 Reserved P19 03 Software version of card at slot 1 0 00 655 35 0 00 P19 04 Software version of card at slot 2 0 00 655 35 0 00 ...

Page 236: ... state indicates that the value of the parameter cannot be modified when the power unit is in running state indicates that the value of the parameter is detected and recorded and cannot be modified The power unit automatically checks and constrains the modification of parameters which helps prevent incorrect modifications 2 The parameters adopt the decimal system DEC If the hexadecimal system is a...

Page 237: ...n 2 PLC 3 PROFIBUS DP 4 PROFINET EtherCAT 0 P00 03 Undervoltage point for bus voltage Undervoltage point for bus voltage for protection purpose When the bus voltage is lower than the value of this function parameter during running the VFD stops and reports the bus undervoltage fault Setting range 0 0V 500 0V 350 0V P00 04 Braking start voltage for the braking unit Voltage at which the braking unit...

Page 238: ...election Tens place Braking pipe overcurrent enabling selection Hundreds place Braking pipe overload enabling selection Note Valid only for the 45kW rectifier unit with the built in braking unit 0x111 P00 11 Enabling protection against three phase input voltage exception Used to select the mode of protection against grid voltage detection faults 0 Disable 1 Enable Ones place indicates whether to e...

Page 239: ...e loss 0 Run The inverter continues to run regardless of the rectifier fault 1 Decelerate to stop When the grid voltage phase loss is detected on the rectifier side the inverter decelerates to stop according to the set DEC time 2 Coast to stop When the grid voltage phase loss is detected on the rectifier side the inverter coasts to stop 0 P01 04 Inverter protection against direct connection of the...

Page 240: ...t overheating 0 Run The inverter continues to run regardless of the rectifier fault 1 Decelerate to stop When rectifier bridge module overheating is detected on the rectifier side the inverter decelerates to stop according to the set DEC time 2 Coast to stop When rectifier bridge module overheating is detected on the rectifier side the inverter coasts to stop 0 P01 09 Inverter protection against b...

Page 241: ...0 P05 05 Function of S5 0 P05 06 Input terminal polarity Used to set the polarity of input terminals When a bit is 0 the input terminal is positive when a bit is 1 the input terminal is negative BIT4 BIT3 BIT2 BIT1 BIT0 S5 S4 S3 S2 S1 Setting range 0x000 0x1F 0x000 P05 07 Digital input filter time Used to set the filter time of sampling for terminals S1 S5 In strong interference cases increase the...

Page 242: ...inal is negative BIT1 BIT0 RO2 RO1 Setting range 0x0 0xF 0x0 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 P07 group Human machine interface Function code Name Description Default Modify P07 00 User password 0 65535 When you set the function code to a non zero number password protect...

Page 243: ...ar code 5 0x0000 0xFFFF P07 08 Factory bar code 6 0x0000 0xFFFF P17 group Status viewing Function code Name Description Default Modify P17 00 Rated power of the rectifier unit Used to display the rated power of the rectifier unit Range 0 00 3000 0kW 0 0kW P17 01 Rated current of the rectifier unit Used to display the rated current of the rectifier unit Range 0 00 600 00A 0 0A P17 02 CW for the bra...

Page 244: ... 0A The 160kW and 355kW rectifier unit models support the use of the optional current detection module 0 0A P17 12 Digital input terminal status Used to display the present digital input terminal status of the rectifier unit Range 0000 00FF BIT4 BIT3 BIT2 BIT1 BIT0 S5 S4 S3 S2 S1 0 P17 13 Digital output terminal status Used to display the present digital output terminal status of the rectifier uni...

Page 245: ...e online offline status of slave nodes 18 21 Range 0 0xF 0 Offline 1 Online 0 P17 22 Reserved P17 23 CANopen bus load rate Used to display the CANopen bus load rate Range 0 0 100 0 0 0 P17 24 R phase current Used to display the R phase current Range 0 0 1000 0A 0 0A P17 25 S phase current Used to display the S phase current Range 0 0 1000 0A 0 0A P17 26 T phase current Used to display the T phase ...

Page 246: ...rved 29 Failure to identify the card at slot 1 E F1 30 Failure to identify the card at slot 2 E F2 31 Reserved 32 Expansion card detection exception E CP 33 54 Reserved 55 Parameter download error E DNE 56 Some inverter units are offline OFFL 57 EtherCAT communication timeout E CAT 58 60 Reserved P19 06 Grid frequency at present fault 0 0Hz P19 07 DC voltage at present fault 0 0V P19 08 Grid volta...

Page 247: ... check the corresponding value and range 0 P20 group Serial communication Function code Name Description Default Modify P20 00 Local communication address Setting range 1 247 When the master writes the slave communication address to 0 indicating a broadcast address in a frame all the salves on the Modbus bus receive the frame but do not respond to it The communication addresses on the communicatio...

Page 248: ...out time 0 0 invalid 0 1 60 0s When the function code is set to 0 0 the communication timeout time is invalid When the function code is set to a non zero value the system reports the 485 communication fault CE if the communication interval exceeds the value In general the function code is set to 0 0 When continuous communication is required you can set the function code to monitor communication st...

Page 249: ...atus 7 Terminal output status 8 Number of online slave nodes 9 Online offline state of slave nodes 02 17 10 Online offline state of slave nodes 18 21 11 CANopen bus load rate 12 Type of card at slot 1 13 Type of card at slot 2 14 Software version of card at slot 1 15 Software version of card at slot 2 16 R phase current 17 S phase current 18 T phase current 19 Node number of first CANopen offline ...

Page 250: ...ng to the bus load rate 0 Disable 1 Enable 0 P21 33 Number of CANopen slave nodes 0 20 Set this parameter only when the master node is valid 0 P21 34 CANopen master slave selection 0 Slave 1 Master 0 P21 35 Sending interval of PDO1 1 3000ms 6 P21 36 Sending interval of PDO2 1 3000ms 2 P21 37 Sending interval of PDO3 1 3000ms 18 P21 38 Sending interval of PDO PDO4 1 3000ms 32 P21 39 Mode for trigge...

Page 251: ...2_TX Bit2 PDO3_TX Bit3 PDO4_TX Bit4 bit15 Reserved 0x07 P22 group Extended communication function group 1 PROFIBUS DP Function code Name Description Default Modify P22 00 Reserved 0 65535 0 P22 01 DP expansion card module address 0 127 3 P22 02 P22 12 Reserved 0 65535 0 P22 13 Sent PZD2 Used only when the rectifier unit has been configured with a PROFIBUS DP communication card 0 Disable 1 Fault co...

Page 252: ...communication timeout time 0 0 invalid 0 1 60 0s 5 0 P22 26 PROFINET communication timeout time 0 0 invalid 0 1 60 0s 5 0 P22 27 P22 42 Reserved P22 43 Time to identify expansion card 1 0 01 30 00s 0 P22 44 Time to identify expansion card 2 0 01 30 00s 0 P22 45 Communication timeout time of expansion card 1 0 01 30 00s 0 P22 46 Communication timeout time of expansion card 2 0 01 30 00s 0 P22 48 P2...

Page 253: ...eserved P23 28 Sent PZD2 Used only when the rectifier unit has been configured with a PROFINET or EtherCAT communication card 0 Disable 1 Fault code 2 Bus voltage 10 V 3 Grid voltage 1 V 4 Grid frequency 10 Hz 5 Braking current 10 A 6 Input terminal status 7 Output terminal status 8 Number of online slave nodes 9 Online offline state of slave nodes 02 17 10 Online offline state of slave nodes 18 2...

Page 254: ...MoP2 Used to monitor view the MoP2 value of the PLC 0 P24 14 C_MoP3 Used to monitor view the MoP3 value of the PLC 0 P24 15 C_MoP4 Used to monitor view the MoP4 value of the PLC 0 P24 16 C_MoP5 Used to monitor view the MoP5 value of the PLC 0 P24 17 C_MoP6 Used to monitor view the MoP6 value of the PLC 0 P24 18 C_MoP7 Used to monitor view the MoP7 value of the PLC 0 P24 19 C_MoP8 Used to monitor v...

Page 255: ...it of the output frequency of the inverter unit which is lower than or equal to the max output frequency When the set frequency is higher than the upper limit of the running frequency the upper limit of the running frequency is used for running Setting range P00 05 P00 03 Max output frequency 50 00Hz P00 05 Lower limit of running frequency The lower limit of the running frequency is the lower limi...

Page 256: ...time 1 ACC time means the time needed if the inverter unit speeds up from 0Hz to the max output frequency P00 03 DEC time means the time needed if the inverter unit speeds down from the max output frequency P00 03 to 0Hz The inverter unit has four groups of ACC DEC time which can be selected by P05 The default ACC DEC time of the inverter unit is the first group P00 11 and P00 12 setting range 0 0...

Page 257: ...e VFD needs to derate by 10 for each increase of 1k carrier frequency Setting range 1 2 15 0kHz P00 15 Motor parameter autotuning 0 No operation 1 Rotary autotuning 1 Comprehensive motor parameter autotuning It is recommended to use rotating autotuning when high control accuracy is needed 2 Static autotuning 1 comprehensive autotuning static autotuning 1 is used in cases where the motor cannot be ...

Page 258: ...ncy can increase the torque during VFD start During the hold time of the starting frequency the output frequency of the inverter unit is the starting frequency And then the inverter unit runs from the starting frequency to the set frequency If the set frequency is lower than the starting frequency the inverter unit stops running and keeps in the standby state The starting frequency is not limited ...

Page 259: ... 0 1s P01 07 Time of ending segment of ACC S curve 0 1s P01 08 Stop mode 0 Decelerate to stop After a stop command takes effect the inverter unit lowers output frequency based on the DEC mode and the defined DEC time after the frequency drops to the stop speed P01 15 the inverter unit stops 1 Coast to stop After a stop command takes effect the inverter unit stops output immediately and the load co...

Page 260: ...ing deadzone time Used to indicate the transition time specified in P01 14 during FWD REV rotation switching See the figure Output frequency f Forward Reverse Deadzone time Time t Start frequency Switch over after the zero frequency Switch over after the start frequency Setting range 0 0 3600 0s 0 0s P01 14 FWD REV running switching mode 0 Switch at zero frequency 1 Switch at the starting frequenc...

Page 261: ... unit coasts to stop when the set frequency is lower than the lower limit one If the set frequency exceeds the lower limit one again and it lasts for the time set by P01 20 the inverter unit resumes the running state automatically 0 P01 20 Wake up from sleep delay Used to set the wake up from sleep delay time When the running frequency of the inverter unit is lower than the lower limit the inverte...

Page 262: ... DEC time for emergency stop 0 0 60 0s 2 0s P01 27 Time of starting segment of DEC S curve 0 0 50 0s 0 1s P01 28 Time of ending segment of DEC S curve 0 0 50 0s 0 1s P01 29 Short circuit braking current When the inverter unit starts in direct start mode P01 00 0 set P01 30 to a non zero value to enter short circuit braking During stop if the running frequency of the inverter unit is lower than the...

Page 263: ...utual inductance of AM 1 0 1 6553 5Mh P02 10 No load current of AM 1 0 1 6553 5A P02 11 Magnetic saturation coefficient 1 of iron core of AM 1 0 0 100 0 80 0 P02 12 Magnetic saturation coefficient 2 of iron core of AM 1 0 0 100 0 68 0 P02 13 Magnetic saturation coefficient 3 of iron core of AM 1 0 0 100 0 57 0 P02 14 Magnetic saturation coefficient 4 of iron core of AM 1 0 0 100 0 40 0 P02 15 Rate...

Page 264: ...or is not impacted by the rotation speed it is not necessary to adjust the protection value at low speed running 2 P02 27 Overload protection coefficient of motor 1 Motor overload multiples M Iout In K In is rated motor current lout is inverter unit output current and K is motor overload protection coefficient A smaller value of K indicates a bigger value of M When M 116 protection is performed af...

Page 265: ...ar change of two groups of parameters See the following figure Output frequency f PI parameters P03 02 P03 05 P03 03 P03 04 P03 00 P03 01 The speed loop dynamic response characteristics of vector control can be adjusted by setting the proportional coefficient and integral time of speed regulator Increasing proportional gain or reducing integral time can accelerate dynamic response of speed loop ho...

Page 266: ...eters impact the dynamic response speed and control accuracy of the system Generally you do not need to modify the two function parameters Applicable to SVC mode 0 P00 00 0 and closed loop VC mode P00 00 3 The values of the two function parameters are updated automatically after SM parameter autotuning is completed Setting range 0 65535 1000 P03 10 Current loop integral coefficient I 1000 P03 11 T...

Page 267: ...ROFINET communication 11 Programmable expansion card 12 PROFIBUS DP DeviceNet communication Note For setting methods 1 12 100 corresponds to the max frequency 0 P03 16 Forward rotation upper limit frequency set through keypad in torque control Used to set the frequency upper limits 100 corresponds to the max frequency P03 16 specifies the value when P03 14 1 while P03 17 specifies the value when P...

Page 268: ...t power zone Used when the AM is in flux weakening control T f 0 1 Flux weakening coefficient of motor 1 0 2 0 Min flux weakening limit of motor The function codes P03 22 and P03 23 are valid at constant power The motor enters the flux weakening state when the motor runs above the rated speed Change the flux weakening curvature by modifying the flux weakening control coefficient The larger the coe...

Page 269: ...e 1 Enable 0 P03 33 Flux weakening integral gain 0 8000 1200 P03 34 Reserved 0 65535 0 P03 35 Control mode optimization selection 0 0x1111 Ones place Torque command selection 0 Torque reference 1 Torque current reference Tens place Reserved 0 Reserved 1 Reserved Hundreds place indicates whether to enable speed loop integral separation 0 Disable 1 Enable Thousands place Reserved 0 Reserved 1 Reserv...

Page 270: ... 43 Inertia identification torque Due to friction force it is required to set certain identification torque for the inertia identification to be performed properly 0 0 100 0 of the motor rated torque 10 0 P03 44 Enabling inertia identification 0 No operation 1 Enable 0 P03 45 P03 46 Reserved 0 65535 0 P04 group V F control Function code Name Description Default Modify P04 00 V F curve setting of m...

Page 271: ...select torque boost based on the load For example larger load requires larger torque boost however if the torque boost is too large the motor will run at over excitation which may cause increased output current and motor overheating thus decreasing the efficiency When torque boost is set to 0 0 the inverter unit uses automatic torque boost Torque boost cut off threshold Below this frequency thresh...

Page 272: ...hus improve the rigidity of the mechanical characteristics of the motor You need to calculate the rated slip frequency of the motor as follows f fb n p 60 Of which fb is the rated frequency of the motor corresponding to function code P02 02 n is the rated rotating speed of the motor corresponding to function code P02 03 p is the number of pole pairs of the motor 100 0 corresponds to the rated slip...

Page 273: ... 0 P04 20 V F frequency point 3 of motor 2 P04 18 P12 02 Rated frequency of AM 2 or P04 18 P12 16 Rated frequency of SM 2 0 00Hz P04 21 V F voltage point 3 of motor 2 0 0 110 0 of the motor rated voltage 00 0 P04 22 V F slip compensation gain of motor 2 0 0 200 0 0 0 P04 23 Low frequency oscillation control factor of motor 2 0 100 10 P04 24 High frequency oscillation control factor of motor 2 0 10...

Page 274: ...0s 5 0s P04 30 Voltage decrease time 5 0s P04 31 Max output voltage Used to set the upper and lower limits of output voltage Vmax Vmin Vset Time t t1 t2 t1 P04 29 t2 P04 30 P04 31 setting range P04 32 100 0 of the motor rated voltage P04 32 setting range 0 0 P04 31 100 0 P04 32 Min output voltage 0 0 P04 33 Weakening coefficient in constant power zone 1 00 1 30 1 00 P04 34 Pull in current 1 in SM ...

Page 275: ...ency point for switching off IF mode for AM 2 0 00 P04 51 10 00Hz P04 50 End frequency point for switching off IF mode for AM 1 P04 44 P00 03 25 00Hz P04 51 End frequency point for switching off IF mode for AM 2 P04 49 P00 03 25 00Hz P05 group Input terminals Function code Name Description Default Modify P05 00 Reserved 0 65535 0 P05 01 Function of S1 0 No function 1 Run forward 2 Run reversely 3 ...

Page 276: ...d 33 Clear the frequency increase decrease setting temporarily 34 DC braking 35 Switch from motor 1 to motor 2 36 Switch the running command channel to keypad 37 Switch the running command channel to terminal 38 Switch the running command channel to communication 39 Pre exciting command 40 Clear electricity consumption 41 Keep electricity consumption 42 Switch the setting source of braking torque ...

Page 277: ...79 Reserved P05 07 Reserved 0 65535 0 P05 08 Input terminal polarity Used to set the polarity of input terminals When a bit is 0 the input terminal is positive when a bit is 1 the input terminal is negative 0x000 0x0F BIT3 BIT2 BIT1 BIT0 S4 S3 S2 S1 0x000 P05 09 Digital input filter time Used to specify the filter time of S1 S4 terminal sampling In strong interference cases increase the value to a...

Page 278: ...ing Reverse running 2 Three wire control 1 This mode defines Sin as the enabling terminal and the running command is generated by FWD while the direction is controlled by REV During inverter unit running the Sin terminal needs to be closed The terminal FWD generates a rising edge signal and then the inverter unit starts to run in the direction set by the state of terminal REV the inverter unit nee...

Page 279: ...F Decelerate to stop Sin Three wire control FWD Forward running REV Reverse running Note For two wire controlled running mode when the FWD REV terminal is valid if the inverter unit stops due to a stop command given by another source the inverter unit does not run again after the stop command disappears even if the control terminal FWD REV is still valid To make the inverter unit run you need to t...

Page 280: ...e 0 2 10V 0 4 20mA input When AI1 selects the 0 20mA input the corresponding voltage of 20mA is 10V AI2 supports the 10 10V input P05 24 setting range 0 00V P05 26 P05 25 setting range 300 0 300 0 P05 26 setting range P05 24 10 00V P05 27 setting range 300 0 300 0 P05 28 setting range 0 000s 10 000s P05 29 setting range 10 00V P05 31 P05 30 setting range 300 0 300 0 P05 31 setting range P05 29 P05...

Page 281: ...ng in zero speed 10 Upper limit frequency reached 11 Lower limit frequency reached 12 Ready for running 13 Pre exciting 14 Overload pre alarm 15 Underload pre alarm 16 Simple PLC stage completed 17 Simple PLC cycle completed 18 Set counting value reached 19 Designated counting value reached 20 External fault is valid 21 Reserved 22 Running time reached 23 Modbus communication virtual terminal outp...

Page 282: ...O2 RO1 Y1 Setting range 0x00 0x07 00 P06 06 Y1 switch on delay the function parameters specify the delay time corresponding to the electrical level changes when the programmable output terminals switch on or switch off Y electric level Y valid Invalid Switch on delay invalid Valid Switch off delay Setting range 0 000 50 000s 0 000s P06 07 Y1 switch off delay 0 000s P06 08 Reserved 0 P06 09 Reserve...

Page 283: ...et through EtherCAT PROFINET communication 0 1000 22 Torque current bipolar 0 Triple the motor rated current 23 Exciting current bipolar 0 Triple the motor rated current 24 Set frequency bipolar 0 Max output frequency 25 Ramp reference frequency bipolar 0 Max output frequency 26 Rotational speed bipolar 0 Speed corresponding to max output 27 Value 2 set through EtherCAT PROFINET communication 0 10...

Page 284: ...type AO1 output upper limit 100 0 P06 20 AO1 output corresponding to upper limit 10 00V P06 21 AO1 output filter time 0 000s P06 22 Current type AO1 output lower limit 300 0 P06 24 0 0 P06 23 AO1 output corresponding to lower limit Current type 0 00mA 20 00 mA 0 00mA P06 24 Current type AO1 output upper limit P06 22 300 0 100 0 P06 25 AO1 output corresponding to upper limit Current type 0 00mA 20 ...

Page 285: ...ssword Exercise caution when using this function P07 01 Reserved 0 65535 0 P07 02 Function of QUICK JOG Range 0x00 0x27 Ones place Function of QUICK JOG 0 No function 1 Jog 2 Reserved 3 Switch between forward and reverse rotating 4 Clear the UP DOWN setting 5 Coast to stop 6 Switch command channels in sequence 7 Reserved Tens place Reserved 0x01 P07 03 Reserved 0 65535 0 P07 04 Stop function valid...

Page 286: ... Input terminal state Bit 3 Output terminal state Bit 4 PID reference value blinking Bit 5 PID feedback value on Bit 6 Set torque on Bit 7 AI1 V on Bit 8 AI2 V on Bit 9 AI3 V on Bit 10 Reserved Bit 11 Reserved Bit 12 Count value Bit 13 PLC and current step number of multi step speed Bit 14 15 Reserved 0x00FF P07 08 Frequency display coefficient 0 01 10 00 Display frequency Running frequency P07 08...

Page 287: ...phase protection OUt1 2 Inverter unit V phase protection OUt2 3 Inverter unit W phase protection OUt3 4 Overcurrent during acceleration OC1 5 Overcurrent during deceleration OC2 6 Overcurrent during constant speed running OC3 7 Overvoltage during acceleration OV1 8 Overvoltage during deceleration OV2 9 Overvoltage during constant speed running OV3 10 Bus undervoltage fault UV 11 Motor overload OL1...

Page 288: ...ault CrCE 45 PLC card customized fault 1 P E1 46 PLC card customized fault 2 P E2 47 PLC card customized fault 3 P E3 48 PLC card customized fault 4 P E4 49 PLC card customized fault 5 P E5 50 PLC card customized fault 6 P E6 51 PLC card customized fault 7 P E7 52 PLC card customized fault 8 P E8 53 PLC card customized fault 9 P E9 54 PLC card customized fault 10 P E10 55 Duplicate expansion card ...

Page 289: ...us at last fault 0 P07 49 Running frequency at 2nd last fault 0 00Hz P07 50 Ramp reference frequency at 2nd last fault 0 00Hz P07 51 Output voltage at 2nd last fault 0V P07 52 Output current at 2nd last fault 0 0A P07 53 Bus voltage at 2nd last fault 0 0V P07 54 Temperature at 2nd last fault 20 0 120 0 C 0 0 C P07 55 Input terminal status at 2nd last fault 0 P07 56 Output terminal status at 2nd la...

Page 290: ...equency 0 00Hz P08 10 Jump frequency amplitude 1 0 00Hz P08 11 Jump frequency 2 0 00Hz P08 12 Jump frequency amplitude 2 0 00Hz P08 13 Jump frequency 3 0 00Hz P08 14 Jump frequency amplitude 3 0 00Hz P08 15 Amplitude of wobbling frequency 0 0 100 0 of the set frequency 0 0 P08 16 Amplitude of sudden jump frequency 0 0 50 0 of the amplitude of wobbling frequency 0 0 P08 17 Rise time of wobbling fre...

Page 291: ...ut frequency of the inverter unit changes as the load changes The function code is mainly used to balance the power when several motors drive a same load Setting range 0 00 50 00Hz 0 00Hz P08 31 Channel for switching between motor 1 and motor 2 0x00 0x15 LEDOnes place Switchover channel 0 Terminal 1 Modbus communication 2 CANopen communication 3 Ethernet communication 4 EtherCAT PROFINET communica...

Page 292: ...ed When the output frequency is within the detection range the multifunction digital output terminal outputs the signal of Frequency reached Y RO1 RO2 Output frequency Set frequency Detection amplitude Time t Time t Setting range 0 00Hz P00 03 Max output frequency 0 00Hz P08 37 Reserved 0 65535 0 P08 38 Reserved 0 65535 0 P08 39 Cooling fan running mode 0 Normal mode 1 Permanent running after powe...

Page 293: ...equency control enabling selection 0 Control through the key is valid 1 Control through the key is invalid Tens place Frequency control selection 0 Valid only when P00 06 0 or P00 07 0 1 Valid for all frequency setting methods 2 Invalid for multi step speed running when multi step speed running has the priority Hundreds place Action selection for stop 0 Setting is valid 1 Valid during running clea...

Page 294: ...frequency adjusting through Modbus communication 0 Save the setting at power off 1 Clear the setting at power off Hundreds place Action selection at power off during frequency adjusting through CANopen communication 0 Save the setting at power off 1 Clear the setting at power off 0x000 P08 48 Initial electricity consumption high order bits Used to set the initial electricity consumption Initial el...

Page 295: ...r limit frequency bias value in torque control 0 00 Hz P00 03 Max frequency 0 00Hz P08 54 Upper limit frequency ACC DEC selection in torque control 0 No limit on acceleration or deceleration 1 ACC DEC time 1 2 ACC DEC time 2 3 ACC DEC time 3 4 ACC DEC time 4 0 P09 group PID control Function code Name Description Default Modify P09 00 PID reference source When the frequency command selection P00 06...

Page 296: ...t is positive When the feedback signal is greater than the PID reference value the output frequency of the inverter unit will decrease to balance the PID Example PID control on strain during unwinding 1 PID output is negative When the feedback signal is greater than the PID reference value the output frequency of the inverter unit will increase to balance the PID Example PID control on strain duri...

Page 297: ...le T Used to indicate the sampling cycle of feedback The regulator calculates in each sampling cycle A longer sampling cycle indicates slower response Setting range 0 001 10 000s 0 001s P09 08 PID control deviation limit The output of the PID system is relative to the max deviation of the closed loop reference As shown in the following figure the PID regulator stops regulating in the range of devi...

Page 298: ...ns place 0 Same as the main reference direction 1 Contrary to the main reference direction Hundreds place 0 Limit as per the max frequency 1 Limit as per A frequency Thousands place 0 A B frequency acceleration deceleration of main reference A frequency source buffering is invalid 1 A B frequency acceleration deceleration of main reference A frequency source buffering is valid acceleration deceler...

Page 299: ...P10 32 P10 30 P10 28 DEC time two steps ACC time two steps P10 03 P10 05 P10 07 P10 31 P10 33 When selecting multi step speed running the multi step speed is within the range of fmax fmax and it can be set continuously The start stop of multi step stop running is also determined by P00 01 The inverter unit supports the setting of speeds of 16 steps which are set by combined codes of multi step ter...

Page 300: ... terminal 4 are shown in the following T indicates terminal T1 OFF ON OFF ON OFF ON OFF ON T2 OFF OFF ON ON OFF OFF ON ON T3 OFF OFF OFF OFF ON ON ON ON T4 OFF OFF OFF OFF OFF OFF OFF OFF Step 0 1 2 3 4 5 6 7 T1 OFF ON OFF ON OFF ON OFF ON T2 OFF OFF ON ON OFF OFF ON ON T3 OFF OFF OFF OFF ON ON ON ON T4 ON ON ON ON ON ON ON ON Step 8 9 10 11 12 13 14 15 0 0 P10 33 Running time of step 15 0 0s min ...

Page 301: ...ill run from the first step after restart 1 Continue running from the step frequency when interruption occurred namely if the VFD stops during running caused by stop command or fault it will record the running time of current step and enters this step automatically after restart then continue running at the frequency defined by this step in the remaining time 0 P10 37 Multi step time unit 0 second...

Page 302: ...Valid 1 Invalid 01 P11 06 Automatic current limit level Current limit protection function detects output current during running and compares it with the current limit level defined by P11 06 if it exceeds the current limit level the inverter unit will run at stable frequency during accelerated running or run in decreased frequency during constant speed running if it exceeds the current limit level...

Page 303: ...ands place Inverter unit overload current reference selection 0 Related to current calibration coefficient 1 Irrelated to current calibration coefficient 0x000 P11 09 Overload pre alarm detection level If the inverter unit 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 overload pre alarm sig...

Page 304: ...tion protection is invalid when P11 15 0 0 Speed Actual detection value Set detection value Time t t1 t2 t2 P11 15 t1 t2 The VFD continues running dEu Running Fault output Setting range 0 0 10 0s 2 0s P11 16 Automatic frequency reduction during voltage drop 0 1 0 Disable 1 Valid 0 P11 17 Proportional coefficient of voltage regulator during undervoltage stall 0 1000 100 P11 18 Integral coefficient ...

Page 305: ... Default Modify P12 00 Type of motor 2 0 Asynchronous motor AM 1 Synchronous motor SM 0 P12 01 Rated power of AM 2 0 1 3000 0kW Model depended P12 02 Rated frequency of AM 2 0 01Hz P00 03 Max output frequency 50 00Hz P12 03 Rated speed of AM 2 1 60000rpm Model depended P12 04 Rated voltage of AM 2 0 1200V P12 05 Rated current of AM 2 0 8 6000 0A P12 06 Stator resistance of AM 2 0 001 65 535Ω P12 0...

Page 306: ...0 10000V 300 P12 24 Initial pole position of SM 2 reserved 0 0xFFFF 0x0000 P12 25 Identification current of SM 2 reserved 0 50 of the motor rated current 10 P12 26 Overload protection selection of motor 2 0 No protection 1 Common motor with low speed compensation 2 Frequency variable motor without low speed compensation 2 P12 27 Overload protection coefficient of motor 2 Motor overload multiples M...

Page 307: ...ction rate of the injection current of SM Setting range 0 0 100 0 of the motor rated current 80 0 P13 01 Detection mode of initial pole 0 Not detect 1 High frequency superposition 2 Pulse superposition 0 P13 02 Pull in current 1 Pull in current is the pole position orientation current pull in current 1 is valid within the lower limit of pull in current switch over frequency threshold If you need t...

Page 308: ...iveness of anti maladjustment function If the load inertia is large increase the value of this parameter properly however the responsiveness may slow down accordingly Setting range 0 0 10 0s 0 5s P13 12 High frequency compensation coefficient of SM Valid when the motor speed exceeds the rated speed If oscillation occurred to the motor adjust this parameter properly Setting range 0 0 100 0 0 0 P13 ...

Page 309: ... interval from when the inverter unit completes receiving data to when it sends response data to the upper computer If the response delay is shorter than the rectifier processing time the rectifier sends response data to the upper computer after processing data If the delay is longer than the rectifier processing time the rectifier does not send response data to the upper computer until the delay ...

Page 310: ...2 Used for CANopen networking communication 0 Disable 1 Set frequency 0 Fmax Unit 0 01Hz 2 PID reference 0 1000 in which 1000 corresponds to 100 0 3 PID feedback 0 1000 in which 1000 corresponds to 100 0 4 Torque setting 3000 3000 in which 1000 corresponds to 100 0 of the motor rated current 5 Setting of the upper limit of forward running frequency 0 Fmax unit 0 01 Hz 6 Setting of the upper limit ...

Page 311: ...ning frequency x100 Hz 2 Set frequency x100 Hz 3 Bus voltage x10 V 4 Output voltage 1 V 5 Output current x10 A 6 Actual output torque x10 7 Actual output power x10 8 Rotation speed of running x1 RPM 9 Linear speed of running x1 m s 10 Ramp reference frequency 11 Fault code 12 AI1 input 100 V 13 AI2 input 100 V 14 AI3 input 100 V 15 Reserved 16 Terminal input status 17 Terminal output status 18 PID...

Page 312: ...0 1000 in which 1000 corresponds to 100 0 4 Torque setting 3000 3000 in which 1000 corresponds to 100 0 of the motor rated current 5 Setting of the upper limit of forward running frequency 0 Fmax unit 0 01 Hz 6 Setting of the upper limit of reverse running frequency 0 Fmax unit 0 01 Hz 7 Upper limit of the electromotive torque 0 3000 in which 1000 corresponds to 100 0 of the motor rated current 8 ...

Page 313: ...ual output power x10 8 Rotation speed of running x1 RPM 9 Linear speed of running x1 m s 10 Ramp reference frequency 11 Fault code 12 AI1 input 100 V 13 AI2 input 100 V 14 AI3 input 100 V 15 Reserved 16 Terminal input status 17 Terminal output status 18 PID reference x100 19 PID feedback x100 20 Motor rated torque 21 High order bit of position reference signed 22 Low order bit of position referenc...

Page 314: ...gateway 3 0 255 1 P16 13 Ethernet gateway 4 0 255 1 P16 14 Ethernet monitoring variable address 1 0 0xFFFF 0 P16 15 Ethernet monitoring variable address 2 0 0xFFFF 0 P16 16 Ethernet monitoring variable address 3 0 0xFFFF 0 P16 17 Ethernet monitoring variable address 4 0 0xFFFF 0 P16 18 P16 23 Reserved 0 65535 0 P16 24 Time to identify expansion card 1 0 0 600 0s The value 0 0 indicates not detecti...

Page 315: ...ich 1000 corresponds to 100 of the motor rated voltage 12 AO1 output setting 1 1000 1000 in which 1000 corresponds to 100 0 13 AO2 output setting 2 1000 1000 in which 1000 corresponds to 100 0 14 High order bit of position reference signed 15 Low order bit of position reference unsigned 16 High order bit of position feedback signed 17 Low order bit of position feedback unsigned 18 Position feedbac...

Page 316: ... 65535 0 P17 group Status viewing Function code Name Description Default Modify P17 00 Set frequency Displays the current set frequency of the inverter unit Range 0 00Hz P00 03 50 00Hz P17 01 Output frequency Displays the current output frequency of the inverter unit Range 0 00Hz P00 03 0 00Hz P17 02 Ramp reference frequency Displays the current ramp reference frequency of the inverter unit Range ...

Page 317: ...quency under the open loop vector condition Range 0 00 P00 03 0 00Hz P17 11 DC bus voltage Displays current DC bus voltage of the inverter unit Range 0 0 2000 0V 0V P17 12 Digital input terminal status Displays the present digital input terminal state of the inverter unit 0x0000 0x000F BIT3 BIT2 BIT1 BIT0 S4 S3 S2 S1 0 P17 13 Digital output terminal status Displays the present digital output termi...

Page 318: ...itial identification angle of SM Range 0 0 360 0 0 0 P17 30 Phase compensation of SM Displays the phase compensation of SM Range 180 0 180 0 0 0 P17 31 High frequency superposition current of SM 0 0 200 0 of the motor rated current 0 0 P17 32 Motor flux linkage 0 0 200 0 0 0 P17 33 Exciting current reference Displays the exciting current reference value under the vector control mode Range 3000 0 3...

Page 319: ... rotation upper limit frequency in torque control 0 00 P00 03 50 00Hz P17 45 Inertia compensation torque 100 0 100 0 0 0 P17 46 Friction compensation torque 100 0 100 0 0 0 P17 47 Motor pole pairs 0 65535 0 P17 48 Inverter unit overload count value 0 65535 0 P17 49 Frequency set by A source 0 00 P00 03 0 00Hz P17 50 Frequency set by B source 0 00 P00 03 0 00Hz P17 51 PID proportional output 100 0 ...

Page 320: ...stop in emergency manner P17 59 CANopen SW viewed value Low order byte SW1 When the SW is in binary format P14 33 1 Bit0 Running forward Bit1 Running reversely Bit2 Stopped Bit3 Faulty Bit4 POFF Bit5 Pre exciting When the SW is in decimal format P14 33 0 1 Running forward 2 Running reversely 3 Stopped 4 Faulty 5 POFF 6 Pre exciting High order byte SW2 Bit0 0 Not ready to run 1 Ready to run Bit1 2 ...

Page 321: ...order bit of position reference value It is cleared after stop Range 0 65535 0 P18 05 High order bit of position feedback value It is cleared after stop Range 0 30000 0 P18 06 Low order bit of position feedback value It is cleared after stop Range 0 65535 0 P18 07 Position deviation Deviation between the reference position and actual running position Range 32768 32767 0 P18 08 Position of position...

Page 322: ...inal is converted to the set frequency and it is valid under the pulse position mode and pulse speed mode Range 3276 8 3276 7Hz 0 00Hz P18 19 Position regulator output 327 68 327 67Hz 0 00Hz P18 20 Count value of resolver Range 0 65535 0 P18 21 Resolver angle Pole position angle read by the resolver type encoder Range 0 00 359 99 0 00 P18 22 SM pole angle in closed loop Present pole position Range...

Page 323: ... Reserved 0 65535 0 P18 31 Z pulse value of pulse reference 0 65535 0 P18 32 Main control board measured value of pulse reference 3276 8 3276 7Hz 0 0Hz P18 33 PG card measured value of pulse reference 3276 8 3276 7Hz 0 0Hz P18 34 Present encoder filter width 0 63 0 P18 35 Reserved 0 65535 0 P19 group Expansion card status viewing Function code Name Description Default Modify P19 00 Type of card at...

Page 324: ...19 12 PG card detected motor temperature 20 0 175 0 C PT100 PT1000 KTY84 0 0 C P19 13 IO card detected motor temperature 20 0 175 0 C PT100 PT1000 KTY84 NTC 0 0 C P19 14 CW of card at slot 1 When the CW is in decimal format P14 33 1 0 0x00 Decelerate to stop 1 0x01 Run forward 2 0x02 Run reversely 4 0x04 Fault reset 8 0x08 Coast to stop 16 0x10 Jog forward 32 0x20 Jog reversely 64 0x40 Jog to stop...

Page 325: ...t6 00 Keypad control 01 Terminal control 10 Communication control Bit7 0 No pre alarm upon motor temperature 1 Pre alarm upon motor temperature P19 16 CW of card at slot 2 When the CW is in decimal format P14 33 1 0 0x00 Decelerate to stop 1 0x01 Run forward 2 0x02 Run reversely 4 0x04 Fault reset 8 0x08 Coast to stop 16 0x10 Jog forward 32 0x20 Jog reversely 64 0x40 Jog to stop 1024 0x400 Deceler...

Page 326: ...it4 0 No pre alarm upon overload 1 Pre alarm upon overload Bit5 Bit6 00 Keypad control 01 Terminal control 10 Communication control Bit7 0 No pre alarm upon motor temperature 1 Pre alarm upon motor temperature P19 18 P19 39 Reserved 0 65535 0 P20 group Encoder of motor 1 Function code Name Description Default Modify P20 00 Encoder type display 0 Incremental encoder 1 Resolver type encoder 2 Sin Co...

Page 327: ...surement Bit3 Reserved Bit4 Reserved Bit5 Do not detect the encoder initial angle in v f control Bit6 Enable the CD signal calibration Bit7 Reserved Bit8 Do not detect encoder faults during autotuning Bit9 Enable Z pulse detection optimization Bit10 Enable the initial Z pulse calibration optimization Bit12 Clear the Z pulse arrival signal after stop 0x3 P20 08 Enable Z pulse offline detection 0x00...

Page 328: ...asured through HDIA and HDIB Only the 24V incremental encoders are supported 0 P20 16 Frequency division coefficient 0 255 When the function parameter is set to 0 or 1 frequency division of 1 1 is implemented 0 P20 17 Pulse filter handling selection 0x0000 0xFFFF Bit0 Enable disable encoder input filter 0 No filter 1 Filter Bit1 Encoder signal filter mode 0 Self adaptive filter 1 Use P20 18 filter...

Page 329: ...ioning mode Ones place Control mode selection only for closed loop vector control 0 Speed control 1 Position control Tens place Position command source 0 Pulse string using PG card terminal A2 B2 pulse giving signal for position control 1 Digital position using the setting of P21 17 for position control while the positioning mode can be set through P21 16 2 Positioning of photoelectric switch duri...

Page 330: ...se direction 0 Forward 1 Reverse Bit1 Set pulse direction by running direction 0 Disable and BIT0 is valid 1 Enable Hundreds place Frequency multiplication selection for pulse direction reserved 0 No frequency multiplication 1 Frequency multiplication Thousands place Pulse control selection Bit0 Pulse filter selection 0 Inertia filter 1 Moving average filter Bit1 Overspeed control 0 No control 1 C...

Page 331: ... positioning completion 0 0 1000 0ms 10 0ms P21 11 Numerator of position command ratio lectronic gear ratio used to adjust the corresponding relation between position command and actual running displacement Setting range 1 65535 1000 P21 12 Denominator of position command ratio Setting range 1 65535 1000 P21 13 Position feedforward gain 0 00 120 00 For pulse string reference only position control ...

Page 332: ...ction 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 posit...

Page 333: ...itioning ACC time Used to set the ACC DEC time in the positioning process P21 20 indicates the time the inverter takes to accelerate from 0 Hz to the maximum output frequency P00 03 P21 21 indicatesthe time the inverter takes to decelerate from the maximum output frequency P00 03 to 0 Hz P21 20 setting range 0 01 300 00s P21 21 setting range 0 01 300 00s 3 00s P21 21 Positioning DEC time 3 00s P21...

Page 334: ...ction 69 pulse decrease The time sequence of this function is same as the above The difference is that this terminal is the pulse number that is superposed degressively Note The pulses mentioned above are superposed to A2 and B2 of pulse reference channel Functions such as filtering and electronic gear are still valid for superposed pulses 4 Output terminal function 28 during pulse superposition D...

Page 335: ...t the first time 1 Calibrate in real time Bit8 Action selection after zeroing signal cancellation electric level type 0 Switch to speed mode 1 Position lock mode Bit9 Positioning completion signal selection 0 Electric level signal 1 Pulse signal Bit10 Z pulse signal source 0 Motor 1 Spindle Bit11 15 Reserved P22 01 Speed of spindle orientation During spindle orientation the speed of the position p...

Page 336: ...vision angle 7 Setting range 0 00 359 99 180 00 P22 14 Spindle drive ratio Used to set the reduction ratio of the spindle and the mounting shaft of the encoder Setting range 0 000 30 000 1 000 P22 15 Spindle zero point communication setting Used to set spindle zero point offset if the selected spindle zero point is P22 03 the final spindle zero point will be the sum of P22 03 and P22 15 Setting ra...

Page 337: ...op dynamic response characteristics of vector control can be adjusted by setting the proportional coefficient and integral time of speed regulator Increasing proportional gain or reducing integral time can accelerate dynamic response of speed loop however if the proportional gain is too large or integral time is too small system oscillation and overshoot may occur if proportional gain is too small...

Page 338: ... automatically after SM parameter autotuning is completed Setting range 0 65535 1000 P23 10 Current loop integral coefficient I 1000 P23 11 Speed loop differential gain 0 00 10 00s 0 00s P23 12 High frequency current loop proportional coefficient In the closed loop vector control mode P00 00 3 when the frequency is lower than the current loop high frequency switching threshold P23 14 the current l...

Page 339: ... shaft and motor You need to set the function parameter when the encoder is not installed on the motor shaft and the drive ratio is not 1 Setting range 0 001 65 535 1 000 P24 07 Control parameters of SM Bit0 Enable Z pulse calibration Bit1 Enable encoder angle calibration Bit2 Enable SVC speed measurement Bit3 Reserved Bit4 Reserved Bit5 Do not detect the encoder initial angle in v f control Bit6 ...

Page 340: ...election 0 No optimization 1 Optimization mode 1 2 Optimization mode 2 1 P24 13 CD signal zero offset gain 0 65535 0 P24 14 Encoder type selection Ones place Incremental encoder 0 without UVW 1 with UVW Tens place Sin Cos encoder 0 without CD signal 1 with CD signal 0x00 P24 15 Speed measurement mode 0 PG card 1 Locally measured through HDIA and HDIB Only the 24V incremental encoders are supported...

Page 341: ...surement mode switchover 0 630 00Hz 1 00Hz P24 23 SM angle compensation coefficient 200 0 200 0 100 0 P24 24 Pole pairs in SM pole initial angle autotuning 0 128 2 P25 group I O card input Function code Name Description Default Modify P25 00 HDI1 input type selection 0 High speed pulse input 1 Digital input 0 P25 01 Function of S5 Same as those in P05 0 P25 02 Function of S6 0 P25 03 Function of S...

Page 342: ...limit Used to define the relationship between the analog input voltage and its corresponding setting When the analog input voltage exceeds the range from the upper limit to the lower limit the upper limit or lower limit is used When the analog input is current input 0mA 20mA current corresponds to 0V 10V voltage In different applications 100 0 of the analog setting corresponds to different nominal...

Page 343: ...ugh frequency 1 Counting 0 P25 35 HDI1 lower limit frequency 0 000kHz P25 37 0 000 kHz P25 36 Corresponding setting of HDI1 lower limit frequency 300 0 300 0 0 0 P25 37 HDI1 upper limit frequency P25 35 50 000kHz 50 000 kHz P25 38 Corresponding setting of HDI1 upper limit frequency 300 0 300 0 100 0 P25 39 HDI1 frequency input filter time 0 000s 10 000s 0 030s P25 40 AI3 input signal type Range 0 ...

Page 344: ... P26 27 Reserved 0 000s P26 28 Reserved 0 000s P26 29 Reserved 0 000s P26 30 Reserved 0 000s P26 31 Reserved 0 000s P26 32 Reserved 0 000s P26 33 Reserved 0 000s P26 34 Reserved 0 000s P26 35 AO2 output Same as the description for P06 14 0 P26 36 Reserved 0 P26 37 Reserved 0 P26 38 AO2 output lower limit Used to define the relationship between the output value and analog output When the output val...

Page 345: ...e a value to WrP2 of the PLC 0 P27 03 C_WrP3 Used to write a value to WrP3 of the PLC 0 P27 04 C_WrP4 Used to write a value to WrP4 of the PLC 0 P27 05 C_WrP5 Used to write a value to WrP5 of the PLC 0 P27 06 C_WrP6 Used to write a value to WrP6 of the PLC 0 P27 07 C_WrP7 Used to write a value to WrP7 of the PLC 0 P27 08 C_WrP8 Used to write a value to WrP8 of the PLC 0 P27 09 C_WrP9 Used to write...

Page 346: ...alid 1 The local device is the master 2 The local device is the slave 0 P28 01 Master slave communication data selection 0 CAN2 1 Reserved 0 P28 02 Master slave control mode Ones place Master slave running mode 0 Master slave mode 0 The master and slave use speed control with power balanced through droop control 1 Master slave mode 1 The master and slave must be in the same type of vector control ...

Page 347: ...ace When the PG card detects overheating 0 Coast to stop 1 Keep running Tens place When the IO card detects overheating 0 Coast to stop 1 Keep running Note The function code is applicable only to temperature detection on the motor in running If overheating is detected on a stopped motor a fault is reported 0x00 P28 12 Type of sensor for PG card to detect motor temperature 0 No temperature sensor 1...

Page 348: ...etect motor temperature 0 No temperature sensor 1 PT100 2 PT1000 3 KTY84 Motor temperature is displayed through P19 11 0 P28 23 AI AO detected motor OH protection threshold P28 14 200 0 C 110 0 C P28 24 AI AO detected motor OH pre alarm threshold 20 0 P28 13 When the motor temperature exceeds the value the DO terminal with function 50 AI detected motor OH pre alarm outputs a valid signal 90 0 C P2...

Page 349: ...stomized function group 2 Function code Name Description Default Modify P91 00 P91 39 Reserved 0 65535 0 P92 group Customized function group 3 Function code Name Description Default Modify P92 00 P92 39 Reserved 0 65535 0 P93 group Customized function group 4 Function code Name Description Default Modify P93 00 P93 39 Reserved 0 65535 0 P98 group AI AO calibration Reserved P99 group Factory parame...

Page 350: ...NT key on the keypad digital inputs or by cutting off the rectifier unit power After faults are removed the rectifier unit can be started again 8 3 2 Inverter fault reset On the fault interface you can reset the inverter unit through DATA ENT key on the keypad digital inputs or by cutting off the inverter unit power After faults are removed the motor can be started again 8 4 Fault history For the ...

Page 351: ... phase and grid voltage PLLF Phase locked failed The grid voltage is abnormal Check the input wiring and grid voltage OH1 Bridge rectifier module overheating Air duct is blocked or fan is damaged Ambient temperature is too high Long time overload running Ventilate the air duct or replace the fan Lower the ambient temperature OH2 Heat sink module overheating EF External fault SI external fault inpu...

Page 352: ...is not switched on improperly The GSD file of the master station is set improperly The peripheral interference is too large Check the related settings Check the surrounding environment and eliminate interference effects E NET Ethernet communication fault The address of Ethernet is set improperly Ethernet communication mode is selected improperly The peripheral interference is too large Check the r...

Page 353: ... contacted well Check the communication mode selection Check the surrounding environment and eliminate interference effects E F1 Identification fault occurred to the expansion card slot 1 The communication card in the expansion card slot 1 failed to be identified normally The peripheral interference is too large Check whether the expansion card in card slot 1 is contacted well Check the communicat...

Page 354: ...ion occurred to input voltage Large energy feedback Lack of braking units Dynamic brake is not enabled Check the input power Check whether load DEC time is too short or the motor starts during rotating Install dynamic brake components Check the setup of related function codes OV2 Over voltage during DEC OV3 Over voltage during constant speed running OC1 Over current during ACC ACC is too fast Grid...

Page 355: ...motor is asymmetrical Check the output wiring Check the motor and cable OH2 Overheat of inverter module Air duct is blocked or fan is damaged Ambient temperature is too high Long time overload running Ventilate the air duct or replace the fan Lower the ambient temperature EF External fault SI external fault input terminal acts Check external device input CE RS485 communication fault Incorrect baud...

Page 356: ...oad pre alarm based on the set value Check the load and overload pre alarm threshold PCE Keypad communication fault Keypad cable connected improperly or disconnected Keypad cable too long causing strong interference Keypad or mainboard communication circuit error Check the keypad cable to determine whether a fault occurs Check for and remove the external interference source Replace the hardware an...

Page 357: ...per Replace the hall component Replace the main control board Reset the motor parameters properly ETH2 To ground short circuit fault 2 Inverter output is short connected to the ground Current detection circuit is faulty Actual motor power setup deviates sharply from the inverter power Check whether the motor wiring is proper Replace the hall component Replace the main control board Reset the motor...

Page 358: ...related devices E OT4 Overtemperature fault AI AO detection The temperature detected by AI AO exceeds the threshold Check for external overtemperature Check and maintain related devices STO Safe torque off Safe torque off function is enabled by external forces STL1 Exception occurred to safe circuit of channel H1 The wiring of STO is improper Fault occurred to external switch of STO Hardware fault...

Page 359: ...l variation occurred to UVW signal Check the wiring of UVW Encoder is damaged F1 Er Failed to identify the expansion card in card slot 1 There is data transmission in interfaces of card slot 1 however it cannot read the card type Confirm whether the expansion card inserted can be supported Stabilize the expansion card interfaces after power off and confirm whether a fault still occurs at next powe...

Page 360: ... insertion port is damaged if yes replace the insertion port after power off C2 Er Communication timeout occurred to the expansion card in card slot 2 There is no data transmission in interfaces of card slot 2 Confirm whether the expansion card inserted can be supported Stabilize the expansion card interfaces after power off and confirm whether a fault still occurs at next power on Check whether t...

Page 361: ...t properly Normal running Check the voltage of UVW with a multimeter Inverter fault Whether the motor is properly wired Wire the motor properly Whether the load is too heavy Reduce the load if the motor is locked due to heavy loads Motor fault Yes No No Yes Yes Normal Yes Yes Normal Exception occurs normal Communication Terminal Keypad Yes Exception occurs No No No No No No Normal Normal Exception...

Page 362: ...erly Set the parameters properly Check the set frequency Check the load Yes No Yes No Yes No Yes No Yes No Yes No Yes No 8 6 3 Overvoltage Overvoltage fault Whether the voltage of the power supply is within the standard range Whether the ACC DEC time is too short Whether the loaded motor is drived reversely Ensure the power supply meets the requirement Whether UVW on the output side of the inverte...

Page 363: ...vice is running on the grid that pulls down the voltage of the grid Yes No Yes No Yes No Yes No 8 6 5 Motor overheating The motor is overheating Set the motor parameters correctly Whether parameter autotuning is performed Perform parameter autotuning Whether the inverter runs at a low speed all time Use a variable frequency motor Reduce the load Replace the motor Set the carrier frequency properly...

Page 364: ...otor stalls during ACC Motor stalls during ACC Whether the ACC time is too short If it is an inverter fault or interference contact our company Overcurrent If it is an inverter fault or interference contact our company Whether parameter autotuning is performed Modify the torque boost Whether the torque boost is too high 过电流 Whether a special motor is used Reduce the inertia of the load and increas...

Page 365: ...s No Yes No Yes No Yes No Yes No Yes No No Yes Yes No No Yes Yes No Yes No Reduce the load of the motor and increase the capacity of the inverter Whether the load is too heavy Whether UVW on the output side of the inverter is short to ground Remove the motor cable and checked whether it is connected to earth 8 7 Countermeasures on common interference 8 7 1 Interference on meter switches and sensor...

Page 366: ...s of 0 to 20 mA to a temperature meter the capacitor needs to be added on the terminal of the temperature meter if an electronic ruler is to transmit signals of 0 to 30 V to a PLC signal terminal the capacitor needs to be added on the terminal of the PLC If a large number of meters or sensors are disturbed it is recommended that you configure an external C2 filter on the inverter unit input power ...

Page 367: ... arranged in the same cable tray After the system is started properly the S terminal cannot be used to stop the inverter 2 Indicator shimmering After the power unit is started the relay indicator power distribution box indicator PLC indicator and indication buzzer shimmer blink or emit unusual sounds unexpectedly Solution 1 Check and ensure that the exception signal cable is arranged 20 cm or fart...

Page 368: ...ution to RCD misoperation handling the system power distribution 1 Check and ensure that the power cable is not soaking in water 2 Check and ensure that the cables are not damaged or spliced 3 Check and ensure that no secondary grounding is performed on the neutral wire 4 Check and ensure that the main power cable terminal is in good contact with the air switch or contactor all screws are tightene...

Page 369: ... this manual are met Keypad Check the display of information Visual inspection The characters are displayed properly Check whether characters are not completely displayed Visual inspection The requirements stated in this manual are met Main circuit Common Check whether the bolts loose or come off Screw them up No exception occurs Check whether the machine is deformed cracked or damaged or their co...

Page 370: ... whether the contacts are in good contact Visual inspection No exception occurs Control circuit Control PCB and connector Check whether the screws and connectors loose Screw them up No exception occurs Check whether there is unusual smell or discoloration Olfactory and visual inspection No exception occurs Check whether there are cracks damage deformation or rust Visual inspection No exception occ...

Page 371: ... from INVT Cooling fan replacement Read chapter 1 Safety precautions carefully and follow the instructions to perform operations Ignoring these safety precautions may lead to physical injury or death or equipment damage 1 Stop the VFD disconnect the AC power supply and wait for a time no shorter than the waiting time designated on the VFD 2 Remove the fan coverplate 3 Pull out the fan and remove t...

Page 372: ...move the four fasten screws from each fan Figure 9 2 Fan maintenance for the 355kW rectifier unit model 9 4 Capacitor reforming If the VFD has been left unused for a long time you need to follow the instructions to reform the DC bus capacitor before using it The storage time is calculated from the date the VFD is delivered Storage time Operation principle Less than 1 year No charging operation is ...

Page 373: ...ure that the voltage requirement for example 380 V is met during charging Capacitor changing requires little current and therefore you can use a small capacity power supply 2 A is sufficient The method for using a resistor incandescent lamp to charge the drive is described as follows If you directly connect the drive device to a power supply to charge the DC bus capacitor it needs to be charged fo...

Page 374: ...e instructions to perform operations Ignoring these safety precautions may lead to physical injury or death or equipment damage 1 Stop the VFD disconnect the power supply and wait for a time no shorter than the waiting time designated on the VFD 2 Check the connection of the power cables Ensure that they are firmly connected 3 Power on the VFD ...

Page 375: ...nterface pulse direction setting frequency divided output 04 Resolver PG interface pulse direction setting frequency divided output 05 Incremental PG card pulse direction setting frequency divided output 06 Absolute PG interface pulse direction setting frequency divided output 07 24V simplified incremental PG card Working power 00 Passive 05 5V 12 12 15V 24 24V EC PC 7 01 01 Field Description Nami...

Page 376: ...Expansion card Card category IO IO card Technical version Indicates the generation of a technical version by using odd numbers for example 1 3 5 and 7 indicate the 1st 2nd 3rd and 4th generations of the technical version Distinguishing code 01 Multiple function I O card 02 Digital I O card 03 Analog I O card 04 Reserved 1 05 Reserved 2 Special requirement The following table describes expansion ca...

Page 377: ... Ethernet communication with INVT s internal protocol Can be used in combination with INVT s upper computer monitoring software INVT Workshop EtherCAT communication card EC TX708 Supporting the EtherCAT protocol PROFINET communication card EC TX709 Supporting the PROFINET protocol IO card EC IO702 2 digital inputs 1 analog input 1 analog output 1 double contact relay output Supporting PT100 PT1000...

Page 378: ...iddle cover Align with the slot and insert the card Wire the card Install the middle cover in the opposite direction of STEP2 Please cut off the knock down hole on the bottom and remove burrs with diagonal pliers STEP 7 STEP 4 Use a screwdriver to loosen the screws and remove the expansion card slot cover STEP 6 Tighten the screws with a screwdriver STEP 5 STEP 3 STEP 1 STEP 2 Figure A 2 Expansion...

Page 379: ...ble grounding diagram 2 Wire an expansion card as follows Shielded cable wiring Figure A 4 Expansion card wiring diagram A 4 Programmable card EC PC701 01 LED5 LED4 LED3 C N 1 S W 1 EC PC701 01 has 4 digital inputs and 2 relay outputs using spring cage terminals SW1 is the start stop switch of the programmable card CN1 is the program download interface using a standard USB cable to connect to a co...

Page 380: ...lay 2 PR02C Common contact of relay 2 Indicator Definition Function LED3 Status indicator This indicator is on when the expansion card is establishing a connection with the control board it blinks periodically after the expansion card is properly connected 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 expansion card is disconnected from the con...

Page 381: ... of the network port LED Color Status Description LED1 Green 3 3V power indicator LED2 Bus status 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 PROFINET controller has been established LED3 System fault indicator Green On PROFINET diagnosis exists Off No P...

Page 382: ...opology The linear network topology electrical connection diagram is shown as follows Master device Slave device 2 RJ45 RJ45 Slave device 1 RJ45 RJ45 Slave device n RJ45 RJ45 Figure A 5 Linear network topology electrical connection diagram Note For the star network topology you need to prepare PROFINET switches The star network topology electrical connection diagram is shown as follows Master devi...

Page 383: ...he expansion card is establishing a connection with the control board it blinks periodically after the expansion card is properly connected 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 expansion card is disconnected from the control board LED2 Online indicator This indicator is on when the communication card is online and data exchange can be ...

Page 384: ...o the communication card A 5 3 Ethernet communication card EC TX704 RJ45 LED2 LED3 LED1 LED4 EC TX704 uses standard RJ45 terminals Indicators Indicator Definition Function LED1 Status indicator This indicator is on when the expansion card is establishing a connection with the control board it blinks periodically after the expansion card is properly connected to the control board the period is 1s o...

Page 385: ... other 0 5s and it is off when the expansion card is disconnected from the control board LED2 Disconnection indicator This indicator is off when A1 B1 or Z1 of the encoder is disconnected and it is on when the pulses are normal LED3 Power indicator This indicator is on after the control board feeds power to the PG card EC PG705 12 terminals Signal Port Description PWR Encoder power Voltage 5V 12V ...

Page 386: ...igure shows the external wiring when the expansion card is used in combination with an open collector encoder A pull up resistor is configured inside the PG card 24V PE COM S4 S3 S2 S1 PW A1 B1 B1 Z1 Z1 U V W U V W M3 PG AO AO BO BO ZO ZO pulse A pulse B A2 A2 B2 B2 FWD jog FWD run CNC PLC Upper computer A1 Fault reset Z2 Z2 PGND PWR 5V 12V SW1 Z B A The following figure shows the external wiring ...

Page 387: ...g FWD run CNC PLC Upper computer A1 Fault reset Z2 Z2 PGND PWR 5V 12V SW1 Z B A The following figure shows the external wiring when the expansion card is used in combination with a differential encoder 24V PE COM S4 S3 S2 S1 PW A1 B1 B1 Z1 Z1 U V W U V W M3 PG AO AO BO BO ZO ZO pulse A pulse B A2 A2 B2 B2 FWD jog FWD run CNC PLC Upper computer A1 Fault reset Z2 Z2 PGND PWR 5V 12V SW1 ...

Page 388: ...r is disconnected it is on when the encoder signals are normal and it blinks when the encoder signals are not stable LED3 Power indicator This indicator is on after the control board feeds power to the PG card EC PG704 00 can be used in combination with a resolver of excitation voltage 7 Vrms It is user friendly adopting spring cage terminals EC PG704 00 terminals Signal Port Description SI Encode...

Page 389: ...he external wiring when EC PG704 00 is used 24V PE COM S4 S3 S2 S1 PW SI CO CO EX EX U V W U V W M3 PG AO AO BO BO ZO ZO pulse A pulse B A2 A2 B2 B2 FWD jog FWD run CNC PLC Upper computer SI Fault reset Z2 Z2 A 6 3 24V simplified incremental PG card EC PG707 24 LED1 LED3 LED2 CN3 J1 J2 PGND PWR Z1 Z1 B1 B1 A1 A1 KTY84 PTA GND PE Indicators Indicator Definition Function LED1 Disconnection indicator...

Page 390: ...ial interfaces Frequency response 200 kHz A1 B1 B1 Z1 Z1 KTY84 KTY84 temperature sensor interface Supporting the KTY84 130 temperature sensor measurable temperature range 20 C 175 C error 5 C PTA PT100 PT1000 temperature sensor interfac Supporting the PT100 PT1000 temperature sensor measurable temperature range 20 C 175 C error 5 C GND GND terminal Temperature sensor reference ground PE Grounding ...

Page 391: ...e ground of the 10V power supply AI3 Input range 0 2 10V 0 4 20mA P25 40 specifies whether to use voltage or current input Input impedance 20kΩ for voltage input or 250Ω for current input Resolution 5mV when 10V corresponds to 50Hz Error 0 5 when input exceeds 5V or 10mA AO2 Output range 0 2 10V 0 4 20mA J3 is used to select voltage or input output Error 0 5 when output exceeds 5V or 10mA at 25 C ...

Page 392: ...Grounding terminal PE Grounding terminal Reserved NC Reserved Note It is not recommended the connection cable length of the PT100 temperature sensor be longer than 3 m When the temperature detection sensor and the electricity line are routed in parallel you are recommended to use shield layers to prevent interference IO EC702 is applicable only to the inverter unit currently ...

Page 393: ...ed hardware version CONST String V1 00 100A 0 Manufacturer defined software version CONST String V1 00 100C 0 Protection time RW Unsigned16 0 100D 0 Life cycle factor RW Unsigned16 0 1016 Consumer heartbeat time 0 Number of subindexes RO Unsigned8 1 Consumer heartbeat time RW Unsigned32 1017 0 Producer heartbeat time RW Unsigned16 0 1018 Identifier objects 0 Number of subindexes RO Unsigned8 4 1 S...

Page 394: ...ation parameters 0 Supported Max number of subindexes RO Unsigned8 1 COB ID used by PDO RW Unsigned32 2 Transmission type RW Unsigned8 3 Unsigned16 4 Unsigned8 5 Event timer RW Unsigned16 1402 PDO3 Rx communication parameters 0 Supported Max number of subindexes RO Unsigned8 1 COB ID used by PDO RW Unsigned32 2 Transmission type RW Unsigned8 3 Unsigned16 4 Unsigned8 5 Event timer RW Unsigned16 140...

Page 395: ...er of application program objects mapped in PDO RW Unsigned8 4 1 First mapped object RW Unsigned32 0x21000610 2 Second mapped object RW Unsigned32 0x21000710 3 Third mapped object RW Unsigned32 0x21000810 4 Fourth mapped object RW Unsigned32 0x21000910 1603 PDO4 Rx mapping parameters 0 Number of application program objects mapped in PDO RW Unsigned8 4 1 First mapped object RW Unsigned32 0x21000a10...

Page 396: ...0 1803 PDO4 Tx communication parameters 0 Supported Max number of subindexes RO Unsigned8 1 COB ID used by PDO RW Unsigned32 2 Transmission type RW Unsigned8 254 3 Disabled time RW Unsigned16 500 4 Reserved RW Unsigned8 5 Event timer RW Unsigned16 0 1A00 PDO1 Tx mapping parameters 0 Number of application program objects mapped in PDO RW Unsigned8 3 1 First mapped object RW Unsigned32 0x20000010 2 ...

Page 397: ...nsigned32 0x20000610 2 Second mapped object RW Unsigned32 0x20000710 3 Third mapped object RW Unsigned32 0x20000810 4 Fourth mapped object RW Unsigned32 0x20000910 1A03 PDO4 Tx mapping parameters 0 Number of application program objects mapped in PDO RW Unsigned8 4 1 First mapped object RW Unsigned32 0x20000a10 2 Second mapped object RW Unsigned32 0x20000b10 3 Third mapped object RW Unsigned32 0x20...

Page 398: ...d to check and ensure that the power flowing through the common DC connection in the common DC system does not exceed the rated power of the motor C 2 2 Derating If the ambient temperatue on the site where the inverter is installed exceeds 40 C the altitude exceeds 1000 m or the switching frequency is changed from 4 kHz to 8 12 or 15 kHz the VFD needs to be derated C 2 2 1 Derating due to temperat...

Page 399: ... field weakening point Short circuit protection The motor output short circuit protection meets the requirements of IEC 61800 5 1 Frequency 0 400 Hz Frequency resolution 0 01 Hz Current See section 3 6 Product ratings Power limit 1 5 times of the rated power of the motor Field weakening point 10 400 Hz Carrier frequency 4 8 12 or 15 kHz C 4 1 EMC compatibility and motor cable length The following ...

Page 400: ...EMC product standard EN 61800 3 describes the EMC requirements on VFDs Application environment categories First environment Civilian environments including application scenarios where VFDs are directly connected to the civil power supply low voltage grids without intermediate transformers Second environment All environments except those in Category I VFD categories C1 Rated voltage lower than 1000...

Page 401: ... meets the requirements of the second environment in the IEC EN 61800 3 standard The induction disturbance limit meets the following stipulations 1 Select an optional EMC filter according to Appendix E Optional peripheral accessories and install it following the description in the EMC filter manual 2 Select the motor and control cables according to the description in the manual 3 Install the VFD a...

Page 402: ...4 Appendix D Dimension drawings D 1 What this chapter contains This chapter provides the VFD dimension drawings which uses millimeter mm as the unit D 2 VFD structure Figure D 1 Structure diagram of the 45kW rectifier unit Figure D 2 Structure diagram of the 37kW inverter unit ...

Page 403: ...unting dimensions for the 380V 45kW rectifier unit Model Dimensions mm Installation hole diameter mm Weight kg H1 H3 W1 D1 H2 W2 W3 GD600 71 045 4 B 400 355 100 350 384 50 7 9 Figure D 4 Wall mounting drawing for the 380V 160kW rectifier unit Table D 2 Wall mounting dimensions for the 380V 160kW rectifier unit Model Dimensions mm Installation hole diameter mm Weight kg H1 H3 W1 D1 H2 W2 W3 GD600 7...

Page 404: ... GD600 71 355 4 805 790 180 423 767 5 110 11 42 6 D 3 2 Wall mounting dimensions for inverter unit Figure D 6 Wall mounting drawing for the 380V 1 5 7 5kW inverter units Table D 4 Wall mounting dimensions for the 380V 1 5 7 5kW inverter units Model Dimensions mm Installation hole diameter mm Weight kg H1 H3 W1 D1 H2 W2 W3 GD600 51 1R5 4 400 355 50 350 384 7 4 GD600 51 2R2 4 400 355 50 350 384 7 4 ...

Page 405: ...15 4 400 355 100 350 384 50 7 9 GD600 51 018 4 400 355 100 350 384 50 7 9 GD600 51 022 4 400 355 100 350 384 50 7 9 GD600 51 030 4 400 355 100 350 384 50 7 9 GD600 51 037 4 400 355 100 350 384 50 7 9 Figure D 8 Wall mounting drawing for the 380V 45 75kW inverter units Table D 6 Wall mounting dimensions for the 380V 45 75kW inverter units Model Dimensions mm Installation hole diameter mm Weight kg ...

Page 406: ...nstallation dimensions rectifier and inverter units in parallel Figure D 9 Flange installation drawing for the 380V rectifier and inverter units The area with section line is the hole cutting area Figure D 10 Cut out drawing in the flange installation for the 380V rectifier and inverter units ...

Page 407: ...s This chapter describes how to select optional accessories of the VFD E 2 External wiring The following figure shows the external wiring of the VFD Power supply Breaker Input filter Input reactor Earth PB Braking resistor Braking unit PC RS485 USB converter Output filter Output reactor Motor Earth Upper PC software 485 485 Figure E 1 External wiring of the VFD ...

Page 408: ...input filter near the input terminal side of the VFD or Braking unit or braking resistor Accessories used to consume the regenerative energy of the motor to reduce the DEC time Rectifier units of 45 kW need only to be configured with braking resistors other rectifier units also need to be configured with braking units Output filter Accessory used to restrict interference generated in the wiring ar...

Page 409: ...ate PE conductors must be used To protect the conductors the cross sectional area of the shielded cables must be the same as that of the phase conductors if the cable and conductor are made of materials of the same type This reduces grounding resistance and thus improves impedance continuity To effectively restrict the emission and conduction of radio frequency RF interference the conductivity of ...

Page 410: ...miting circuits that can automatically cut off the test voltage are configured inside the VFDs Note Check the insulation conditions of the input power cable of a VFD according to the local regulations before connecting it Rectifier unit model Recommended cable size mm 2 Connectable cable size mm 2 Terminal screw Fastening torque Nm RST PE RST PB PE GD600 71 045 4 B 35 16 35 70 35 70 16 35 M6 2 5 G...

Page 411: ...stance E 4 4 Insulation inspection Check the motor and the insulation conditions of the motor cable before running the motor 1 Ensure that the motor cable is connected to the motor and then remove the motor cable from the U V and W output terminals of the VFD 2 Use a megohmmeter of 500V DC to measure the insulation resistance between each phase conductor and the protection grounding conductor For ...

Page 412: ...the input side When the distance between the VFD and motor is longer than 50 m the parasitic capacitance between the long cable and ground may cause large leakage current and overcurrent protection of the VFD may be frequently triggered To prevent this from happening and avoid damage to the motor insulator compensation must be made by adding an output reactor When a VFD is used to drive multiple m...

Page 413: ...nected in factory for the rectifier unit products all of which meet the requirements of level C3 Note Disconnect EMC screw in the following situations 1 The EMC filter is applicable to the neutral grounded grid system If it is used for the IT grid system that is non neutral grounded grid system disconnect EMC screws M3 tightening torque 5 6 kgf cm 2 If leakage protection occurs during configuratio...

Page 414: ...IEC61800 3 category C1 EN 61800 3 B First environment IEC61800 3 category C2 EN 61800 3 C Second environment IEC61800 3 category C3 EN 61800 3 E 7 2 Filter model selection Rectifier unit model Input filter GD600 71 045 4 B FLT P04100L B GD600 71 160 4 FLT P04400L B GD600 71 355 4 FLT P04800L B Inverter unit model Output reactor GD600 51 1R5 4 FLT L04006L B GD600 51 2R2 4 GD600 51 004 4 FLT L04016L...

Page 415: ...ise damage to the braking circuit and VFD and fire may be caused Connect the braking components to the VFD according to the wiring diagram If the wiring is not properly performed damage to the VFD or other devices may be caused E 8 2 Braking unit The 45kW rectifier unit model is equipped with the built in braking unit and other rectifier unit models can be configured only with external braking uni...

Page 416: ...r Braking resistor installation The 45kW rectifier unit model needs to be configured only with external braking resistors PB and are the terminals for connecting braking resistors Braking unit installation All rectifier unit models except the 45kW model need to be configured with external braking units and are the terminals for connecting braking units The connection cable length between the and t...

Page 417: ... 160kW rectifier unit model 11 Air deflector GD600 AD1 50mm wide air deflector applicable to 1 5 7 5kW inverter unit models 12 GD600 AD2 100mm wide air deflector applicable to 11 37kW inverter unit models and 45kW rectifier unit model 13 GD600 AD3 200mm wide air deflector applicable to 45 75kW inverter unit models 14 GD600 AD4 300mm wide air deflector applicable to the 160kW rectifier unit model E...

Page 418: ...11 75kW inverter units and the 45kW and 160kW rectifier units Only one terminal can be installed for the 45kW rectifier unit and 11 37kW inverter units Two terminals can be installed for the 45 75kW inverter units Three terminals can be installed for the 160kW rectifier unit No Terminal Terminal specifications Cable specifications 1 100A bus terminal GD600 CON2 16AWG 2AWG 2 200A bus terminal GD600...

Page 419: ...different models support different flange installation brackets The flange installation bracket structure is as follows E 9 7 Air deflector The rectifier and inverter units are vertically installed inside the cabinet wall mounting after being connected in parallel manner In order to make the heat dissipation of an upper unit free from being affected by a lower unit air duct you are recommended to ...

Page 420: ... on UDC UDC Drive circuit PWM PWM U V W H1 H2 Note The contacts of the safety switch must be opened or closed within 250 ms and the cable that connects the VFD to the safety switch cannot be longer than 25 m COM F 1 STO function logic table The following table describes the input states and corresponding faults of the STO function STO input state Corresponding fault H1 and H2 opened simultaneously...

Page 421: ...connect the input power supply and isolate the drive from the power cable through the switch Check the STO circuit connection according to the circuit diagram Check whether the shielding layer of the STO input cable is connected to the 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 ...

Page 422: ...al number of the product you query about You can visit www invt com to find a list of INVT offices G 2 Feedback on INVT VFD manuals Your comments on our manuals are welcome Visit www invt com directly contact online service personnel or choose Contact Us to obtain contact information G 3 Documents on the Internet You can find manuals and other product documents in the PDF format on the Internet Vi...

Page 423: ...75kW inverter unit Expansion card 11023 00098 EC PC701 01 PLC card 11023 00099 EC TX709 PROFINET communication card 11023 00111 EC TX703 PROFIBUS DP communication card 11023 00097 EC TX704 Ethernet communication card 11023 00096 EC PG705 12 Multifunction incremental PG card 11023 00110 EC PG704 00 Resolver PG card 11023 00122 EC PG707 24 24Vsimplified incremental PG card 11023 00123 EC IO702 IO ca...

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INVT 11020-00136, Operation Manual

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