Goodrive350A series high-performance multifunction VFD
Basic operation guidelines
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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, 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 users 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 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 source reference P00.06 or P00.07 to 12 (set by pulse train AB), at this
point, the acceleration/deceleration time is determined by the acceleration/deceleration time of the
VFD, meanwhile, the parameters of pulse train AB is still set by P21 group. In speed mode, the filter
time of pulse train AB is determined by P21.29.
Step 8: The input frequency of pulse train is the same with the feedback frequency of encoder pulse,
the relation between them can be changed by altering P21.11 (numerator of position command ratio)
and P21.12 (denominator of position command ratio)
Step 9: When running command or servo enabling is valid (by setting P21.00 or terminal function 63),
it will enter pulse train servo running mode.
