Goodrive600 series high-performance multifunction VFD
Basic operation guidelines
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Set P20.11=2 or 3 (3: rotary autotuning; 2: static autotuning), press the RUN key to run the VFD.
a) Rotary autotuning (P20.11 = 3)
Detect the position of current magnetic pole when autotuning starts, and then accelerates to 10Hz, autotuning
corresponding magnetic pole position of encoder Z pulse, and decelerate to stop.
During running, if ENC1O or ENC1D fault occurred, set P20.02=1 and carry out autotuning again.
After autotuning is done, the angle obtained from autotuning will be saved in P20.09 and P20.10 automatically.
b) Static autotuning
In cases where the load can be disconnected, it is recommended to adopt rotary autotuning (P20.11=3) as it has high
angle precision. If the load cannot be disconnected, you can adopt static autotuning (P20.11=2). The magnetic pole
position obtained from autotuning will be saved in P20.09 and P20.10.
Step 6 Perform closed-loop vector pilot-run.
Adjust P00.10 and speed loop and current loop PI parameter in P03 group to make it run stably in the whole range. If
oscillation occurred, reduce the value of P03.00, P03.03, P03.09 and P03.10. If current oscillation noise occurred during
low speed, adjust P20.05.
Note:
It is necessary to re-determine P20.02 (encoder direction) and carry out magnetic pole position autotuning again if
the wiring of motor or encoder is changed.
3. Commissioning procedure for pulse string control
Pulse input is operated based on closed-loop vector control; speed detection is needed in the subsequent spindle
positioning, zeroing operation and division operation.
Step 1 Restore to default value by keypad
Step 2 Set P00.03, P00.04 and motor nameplate parameters in P02 group
Step 3 Motor parameter autotuning: rotary parameter 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 position control mode, you can check high-order bit and low-order bit of position reference and feedback, P18.02
(count value of Z pulse), P18.00 (actual frequency of encoder), P18.17 (pulse command frequency) and P18.19 (position
regulator output) via P18, through which you can figure out the relation between P18.08 (position of position reference
point) and P18.02, pulse command frequency P18.17, feedforward P18.18 and position regulator output P18.19.
Step 6 The position regulator has two gains, namelyP21.02 and P21.03, and they can be switched by speed command,
torque command and terminals.
Step 7 When P21.08 (output limit of position controller) is set to 0, the position control will be invalid, and at this point, the
pulse string acts as frequency source, P21.13 (position feedforward gain) should be set to 100%, and the speed
acceleration/deceleration time is determined by the acceleration /deceleration time of pulse string, the pulse string
acceleration/deceleration time of the system can be adjusted. If the pulse string acts as the frequency source in speed
control, you can also set P21.00 to 0000, and set the frequency source reference P00.06 or P00.07 to 12 (set by pulse
string AB), at this point, the acceleration/deceleration time is determined by the acceleration/deceleration time of the VFD,
meanwhile, the parameters of pulse string AB is still set by P21 group. In speed mode, the filter time of pulse string AB is
determined by P21.29.
Step 8 The input frequency of pulse string is the same with the feedback frequency of encoder pulse, the relation