Goodrive350 IP55 High-ingress Protection Series VFD
Basic Operation Instructions
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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, users 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: 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 procedures for pulse train 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=20.00Hz 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, users can check high bit and low 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
users can figure out the relation between P18.8 (position of position reference point) and
P18.02, pulse command frequency P18.17, pulse command feedforward P18.18 and position
regulator output P18.19.
Step 6: The position regulator has two gains, namely P21.02 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 train 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 train, the pulse train
acceleration/deceleration time of the system can be adjusted. If the pulse train acts as the
frequency source in speed control, users can also set P21.00 to 0000, and set the frequency
