INVT Goodrive35 Series Operation Manual
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INVT Goodrive35 Series Operation Manual

Closed-loop vector control vfd
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Goodrive35
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Closed-loop Vector Control VFD

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Summary of Contents for INVT Goodrive35 Series

  • Page 1 Goodrive35 Series Closed-loop Vector Control VFD...
  • Page 2 The control performance of Goodrive35 series VFDs is as outstanding as that of the leading sophisticated VFDs on worldwide market. Goodrive35 series VFDs integrate the drive of...

  • Page 3: Table Of Contents

    Goodrive35 Series Closed-loop Vector Control VFD Contents Contents Preface ............................i Contents ............................ii Chapter 1 Safety precautions ......................1 1.1 What this chapter contains ....................1 1.2 Safety definition ........................1 1.3 Warning symbols ........................1 1.4 Safety guidelines ........................2 1.4.1 Delivery and installation ....................
  • Page 4 Goodrive35 Series Closed-loop Vector Control VFD Contents 4.3.1 Main circuit connection diagram ................... 21 4.3.2 Terminals figure of main circuit ..................22 4.3.3 Wiring of terminals in main circuit ................26 4.4 Standard wiring (control circuit) ................... 27 4.4.1 Wiring diagram of basic control circuit ................27 4.4.2 C1 terminal (EC-PG301-24) instruction and the wiring diagram ........
  • Page 5 Goodrive35 Series Closed-loop Vector Control VFD Contents 7.10 Analog output ........................166 7.11 Digital input ........................169 7.12 Digital input ........................177 7.13 Simple PLC ........................181 7.14 Multi-step speed running ....................183 7.15 PID control ........................185 7.15.1 General steps of PID parameters setting: ..............186 7.15.2 PID inching ......................
  • Page 6 Goodrive35 Series Closed-loop Vector Control VFD Contents 10.3 Application of the VFD ..................... 216 10.3.1 RS485 ........................216 10.3.2 RTU mode ....................... 219 10.4 RTU command code and communication data illustration ..........222 10.4.1 Command code: 03H, reading N words (continuously reading up to 16 words)..222 10.4.2 Command code: 06H, writing a word ...............
  • Page 7 D.8.2 Selecting the brake resistor cables ................288 D.8.3 Installing the brake resistor ..................288 Appendix E Further information....................290 E.1 Product and service queries ....................290 E.2 Feedback on INVT VFD manuals ..................290 E.3 Documents on the Internet ....................290...

  • Page 8: Chapter 1 Safety Precautions

    Goodrive35 Series Closed-loop Vector Control VFD Safety precautions Chapter 1 Safety precautions 1.1 What this chapter contains Please read this manual carefully and follow all safety precautions before moving, installing, operating and servicing the variable-frequency drive (VFD). If ignored, physical injury or death may occur, or damage may occur to the devices.

  • Page 9: Safety Guidelines

    Goodrive35 Series Closed-loop Vector Control VFD Safety precautions 1.4 Safety guidelines  Only qualified electricians are allowed to operate on the VFD.  Do not carry out any wiring and inspection or changing components when the power supply is applied. Ensure all input power supply is disconnected before wiring and checking and always wait for at least the time designated on the VFD or until the DC bus voltage is less than 36 V.

  • Page 10: Commission And Running

    Goodrive35 Series Closed-loop Vector Control VFD Safety precautions  Install away from children and other public places.  The VFD cannot meet the requirements of low voltage protection in IEC61800-5-1 if the altitude of installation site is above 2000m. ...

  • Page 11: Maintenance And Replacement Of Components

    Goodrive35 Series Closed-loop Vector Control VFD Safety precautions The permanent magnet synchronization motor has stopped running and measured to ensure the output voltage of the VFD is less than 36 The waiting time of the permanent magnet synchronization motor after stopping is no less than the time designated and measure to ensure the voltage between + and –...

  • Page 12: Chapter 2 Quick Start-Up

    Goodrive35 Series Closed-loop Vector Control VFD Quick start-up Chapter 2 Quick start-up 2.1 What this chapter contains This chapter mainly describes the basic guidelines during the installation and commission procedures on the VFD, which you may follow to install and commission the VFD quickly.

  • Page 13: Installation Confirmation

    Goodrive35 Series Closed-loop Vector Control VFD Quick start-up 100m. When the altitude exceeds 2000m, configure an isolation transformer on the input end of the VFD. When the altitude exceeds 3000m but is lower than 5000m, contact our company for technical consultation. Do not use the VFD at an altitude higher than 5000m.

  • Page 14: Chapter 3 Product Overview

    The chapter briefly describes the operation principle, product characteristics, layout, name plate and type designation information. 3.2 Basic principles Goodrive35 series VFDs are wall, floor and flange mountable devices for controlling asynchronous AC induction motors and permanent magnet synchronous motors. It supports wall, fange, and floor installation.

  • Page 15: Product Specification

    Goodrive35 Series Closed-loop Vector Control VFD Product overview （+） DC reactor （-） Figure 3-3 The simplified main circuit diagram (VFDs of 660 V) Note: 1. The VFDs of 380 V (≥37 kW) supports external DC reactors and external brake units, but it is necessary to remove the copper tag between P1 and (+) before connecting.
  • Page 16 Goodrive35 Series Closed-loop Vector Control VFD Product overview Function Specification Speed control accuracy ±0.2% (SVC) ±0.02% (VC) Speed fluctuation ± 0.3% (SVC) Torque response <20 ms (SVC), <10 ms (VC) Torque control accuracy 10% (SVC), 5% (VC) Asynchronous motor: 0.25 Hz/150% (SVC) Starting torque Synchronous motor: 2.5 Hz/150% (SVC)

  • Page 17: Product Nameplate

    Goodrive35 Series Closed-loop Vector Control VFD Product overview Function Specification For spindle positioning and control sequence Spindle stopping Internal 7 scale marks and 4 zero marks External zero-position detection switch positioning Position reference Encoder Z phase positioning Servo control Pulse train reference: position control...

  • Page 18: Model Code

    Goodrive35 Series Closed-loop Vector Control VFD Product overview 3.5 Model code The model code contains information on the VFD. The user can find the model code from the nameplate on the the VFD or from the simplified nameplate. GD35–5R5G–4–H1 ④...

  • Page 19: Rated Value Of Ac 3Ph 520 V (-15%)-690 V (+10%)

    Goodrive35 Series Closed-loop Vector Control VFD Product overview Output Input current Output Carrier Model power (kW) current (A) frequency (kHz) GD35-030G-4-C1/D1/H1/H2/S1 1–15 (4) GD35-037G-4-C1/D1/H1/S1 1–15 (4) GD35-045G-4-C1/D1/H1/S1 1–15 (4) GD35-055G-4-C1/D1/H1/S1 1–15 (4) GD35-075G-4-C1/D1/H1/S1 1–15 (2) GD35-090G-4-C1/D1/H1/S1 1–15 (2) GD35-110G-4-C1/D1/H1/S1 1–15 (2) GD35-132G-4-C1/D1/H1/S1 1–15 (2)

  • Page 20: Structure Diagram

    Goodrive35 Series Closed-loop Vector Control VFD Product overview Output Input current Output current Carrier frequency Model power (kW) ( kHz) GD35-220G-6-C1/D1/H1 1–15 (2) GD35-250G-6-C1/D1/H1 1–15 (2) GD35-280G-6-C1/D1/H1 1–15 (2) GD35-315G-6-C1/D1/H1 1–15 (2) GD35-350G-6-C1/D1/H1 1–15 (2) GD35-400G-6-C1/D1/H1 1–15 (2) GD35-500G-6-C1/D1/H1 1–15 (2) GD35-560G-6-C1/D1/H1 1–15 (2)
  • Page 21 Goodrive35 Series Closed-loop Vector Control VFD Product overview Fig 3-6 Structure diagram Serial No. Name Illustration Keypad interface Connect the keypad Upper cover plate Protect the internal parts and components See Chapter 5 "Keypad operation procedures" for detailed Keypad information See Chapter 9 "Routine maintenance"...

  • Page 22: Chapter 4 Installation Guide

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide Chapter 4 Installation guide 4.1 What this chapter contains The chapter describes the mechanical installation and electric installation.  Only qualified electricians are allowed to carry out what described in this chapter. Please operate as the instructions in Chapter 1 "Safety precautions".

  • Page 23: Installation Direction

    The VFD should be installed in upright position to ensure sufficient cooling effect. direction Note: 1. Goodrive35 series VFDs should be installed in a clean and well ventilated environment according to enclosure classification. 2. Cooling air must be clean, free from corrosive materials and electrically conductive dust.

  • Page 24: Single Installation

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide a) Wall mounting (for the VFDs of 380 V≤315 kW and the VFDs of 660 V≤350 kW) b) Flange mounting (for the VFDs of 380 V≤200 kW and the VFDs of 660 V≤220 kW) c) Floor mounting (for the VFDs of 380 V 220-500 kW and the VFDs of 660 V 250–630 kW)

  • Page 25: Multiple Installations

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide 4.2.5 Multiple installations Warm air Cold air Figure 4-4 Parallel installation Note: 1. When installing VFDs with different sizes, align with the upper part of the VFD before installation for the convenience of future maintenance;...

  • Page 26: Vertical Installation

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide 4.2.6 Vertical installation Cold Windscreen Warm air Cold air Windscreen Warm air Figure 4-5 Vertical installation Note: Windscreen should be installed in vertical installation for avoiding mutual impact and insufficient cooling.

  • Page 27: Tilt Installation

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide 4.2.7 Tilt installation Warm Cold air Warm Cold air Warm Cold air Figure 4-6 Tilt installation Note: Ensure the separation of the wind input and output channels in tilt installation for avoiding...

  • Page 28: Standard Wiring

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide 4.3 Standard wiring 4.3.1 Main circuit connection diagram 4.3.1.1 For VFDs of AC 3PH 380 V (-15%)–440 V (+10%) Brake resistor 1PH 220V optional Output reactor Input 3PH power supply reactor 30kW and below Output 380V±15%...

  • Page 29: Terminals Figure Of Main Circuit

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide Note: 1. The fuse, DC reactor, brake unit, brake resistor, input reactor, input filter, output reactor, output filter are optional parts. Please refer to Appendix D "Optional peripheral accessories" for detailed information.
  • Page 30 Goodrive35 Series Closed-loop Vector Control VFD Installation guide Figure 4-11 Terminals of main circuit for the VFDs of 380 V 7.5–11 kW (+) P B (- ) R A1 A2 Figure 4-12 Terminals of main circuit for the VFDs of 380 V 15–18 kW...
  • Page 31 Goodrive35 Series Closed-loop Vector Control VFD Installation guide Figure 4-14 Terminals of main circuit for the VFDs of 380 V 37–55 kW and 660 V 22–45 kW Figure 4-15 Terminals of main circuit for the VFDs of 380 V 75–110 kW and 660 V 55–132 kW...
  • Page 32 Goodrive35 Series Closed-loop Vector Control VFD Installation guide Figure 4-17 Terminals of main circuit for the VFDs of 380 V 220–315 kW and 660 V 250–350 kW Figure 4-18 Terminals of main circuit for the VFDs of 660 V 400–630 kW Terminal name 380 V ≥37 kW...

  • Page 33: Wiring Of Terminals In Main Circuit

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide Terminal name 380 V ≥37 kW Terminal Function 380 V ≤30 kW 660 V Brake PB and (+) are connected with the terminals of resistor 2 brake resistor. 380 V: the grounding resistor is...

  • Page 34: Standard Wiring (Control Circuit)

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide 4.4 Standard wiring (control circuit) 4.4.1 Wiring diagram of basic control circuit Goodrive35 VFD Profibus Multi-function input terminal 1 External Standard extension DB9 plug card Multi-function input terminal 2 (optional) Multi-function input terminal 3...
  • Page 35 Goodrive35 Series Closed-loop Vector Control VFD Installation guide Terminalname Description current output is depended on the jumper. AO1 is switched by J1 and AO2 is switched by J2 2. Deviation±1%, 25° C Terminalname Description RO1A RO1 relay output; RO1A is NO, RO1B is NC, RO1C is common...
  • Page 36 Goodrive35 Series Closed-loop Vector Control VFD Installation guide Terminalname Description Voltage range: 12–24V The VFD provides user power; the maximum output current is 200mA Common port of +24V Digital input 1 Digital input 2 1. Internal impedance: 3.3kΩ Digital input 3 2.

  • Page 37: C1 Terminal (Ec-Pg301-24) Instruction And The Wiring Diagram

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide 4.4.2 C1 terminal (EC-PG301-24) instruction and the wiring diagram 4.4.2.1 Terminal arrangement AI 1 AI 2 AI3 +10V HDO GND AO1 AO2 GND RO1A RO1B RO1C RO2A RO2B RO2C +24V COM +24V PW COM COM CME 485+ 485- PE 4.4.2.2 Terminal instruction...

  • Page 38: D1 Terminal (Ec-Pg304-05) Instruction And The Wiring Diagram

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide 4.4.2.3 Wiring diagram Spindle rotates forward Spindle rotates backward COM1 Fault reset Spindle zeroing Spindle positioning disabled Spindle scaling selection Spindle scaling selection Spindle scaling selection High-speed pulse input and open collector input +24V 4.4.3 D1 terminal (EC-PG304-05) instruction and the wiring diagram...

  • Page 39: H1 Terminal (Ec-Pg305-12) Instruction And The Wiring Diagram

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide Terminal name Instruction Frequency-divided output of encoder signals, 5 V AO+, AO-, BO+, BO-, ZO+, ZO- differential signals Frequency dividing ratio: 1:1 Note: Refer to section 4.4.1 for detailed information of AO1, AO2, AI1, AI2, 485 and other terminals.

  • Page 40: H2 Terminal (Ec-Pg305-05) Instruction And The Wiring Diagram

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide Terminal name Instruction Support encoder differential, open collector, and push-pull pulse reference signal. Pulse reference A2+, A2-, B2+, B2-, signal, default as 5 V input. External current-limiting resistor is needed when the input voltage is above 10 V...
  • Page 41 Goodrive35 Series Closed-loop Vector Control VFD Installation guide 4.4.5.2 Interfaces instruction DB15 CNC system interface DB15 Encoder interface (CNC) signal (ENCODER) signal +5 V 4.4.5.3 Terminal instruction Terminal name (CNC) Instruction 5 V differential pulse + direction reference signal, Support...

  • Page 42: S1 Terminal (Ec-Pg302-05) Instruction

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide 4.4.5.4 The wiring diagram Encoder Ground one terminal +24V Encoder Feedback ALM+ CNC OR PLC ALM- pulse A CCW+ pulse B CCW- SCOM Ground one terminal 4.4.6 S1 terminal (EC-PG302-05) instruction 4.4.6.1 Sin/cos terminal layout...

  • Page 43: Input/Output Signal Connection Diagram

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide DB15 (upper Pulse reference and output DB15 (Lower Sin/cos encoder layer) interface signal layer) interface signal Null Null 4.4.6.3 DB15 pin function instruction Name of upper layer terminal Instruction (pulse reference interface)

  • Page 44: Wiring Protection

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide U-type shorting U-type shorting bar of +24V and bar of COM and Figure 4-21 U-shaped contact tag If the signal is from NPN transistor, please set the U-shaped contact tag between +24 V and PW as below according to the used power supply.

  • Page 45: Protecting The Motor And Motor Cable In Short-Circuit Situations

    Goodrive35 Series Closed-loop Vector Control VFD Installation guide Arrange the protection according to the following guidelines. Input cable Fuse Fig 4-25 Fuse configuration Note: Select the fuse as the manual indicated. The fuse will protect the input power cable from damage in short-circuit situations.

  • Page 46: Chapter 5 Keypad Operation Procedures

    5.2 Keypad The keypad is used to control Goodrive35 series VFDs, read the state data, and modify parameters. If you need to use the keypad in another place rather than on the VFD, use a network cable with a standard RJ45 crystal head as the extension cable.
  • Page 47 Goodrive35 Series Closed-loop Vector Control VFD Keypad operation procedures Name Description is in the terminals operation state; LED on means remote communication control state. LED for faults LED on when the VFD is in the fault state; LED TRIP off in normal state; LED blinking means the VFD is in the pre-alarm state.

  • Page 48: Keypad Displaying

    P07.02. 5.3 Keypad displaying The keypad displaying state of Goodrive35 series VFDs is divided into stopping state parameter, running state parameter, function code parameter editing state and fault alarm state and so on. 5.3.1 Displayed state of stopping parameter When the VFD is in the stopping state, the keypad will display stopping parameters which is shown in Figure 5-2.

  • Page 49: Displayed State Of Fault

    Goodrive35 Series Closed-loop Vector Control VFD Keypad operation procedures P07.06 can select the parameter to be displayed or not by bit and》/SHIFT can shift the parameters form left to right, QUICK/JOG (P07.02=2) can shift the parameters from right to left.

  • Page 50: How To Set The Password Of The Vfd

    Figure 5-4 Sketch map of password setting 5.4.3 How to watch the VFD state through function codes Goodrive35 series VFDs provide group P17 as the state inspection group. Users can enter into P17 directly to watch the state.
  • Page 51 Goodrive35 Series Closed-loop Vector Control VFD Keypad operation procedures All digits are The units place The units place is blinking blinking is blinking DATA DATA DATA The units place is blinking The units place is blinking Note: When setting the value, you can press to modify the value.

  • Page 52: Chapter 6 Function Parameters

    This chapter lists and describes the function parameters. 6.2 Goodrive35 general series function parameters The function parameters of Goodrive35 series VFDs have been divided into 30 groups (P00–P29) according to the function, of which P18–P28 are reserved. Each function group contains certain function codes applying 3-level menus.
  • Page 53 Goodrive35 Series Closed-loop Vector Control VFD Function parameters the password freely and the VFD will work as the last setting one. When P07.00 is set to 0, the password can be canceled. If P07.00 is not 0 during powering on, then the parameter is protected by the password.
  • Page 54 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Set the multi-function key QUICK/JOG to FWD/REV shifting function (P07.02=3) to change the running direction; press STOP/RST simultaneously in running state to make the VFD coast to stop.
  • Page 55 P00.03) 4: High-speed pulse HDI setting The frequency is set by high-speed pulse terminals. Goodrive35 series VFDs provide 1 high speed pulse input as the standard configuration. The pulse frequency range is 0.00–50.00 kHz. 100.0% of the high speed pulse input setting corresponds to the maximum frequency in forward direction (P00.03) and -100.0% corresponds to the...
  • Page 56 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value (HDI high speed pulse input function selection) to frequency setting input. 5: Simple PLC program setting The VFD runs at simple PLC program mode when P00.06=5 or P00.07=5.
  • Page 57 DEC time means the time needed if the VFD speeds on model down from max. output frequency to 0 Hz (P00.03). Goodrive35 series VFDs define four groups of ACC/DEC time which can be selected by P05. The factory default ACC/DEC time of the VFD is the first Depend ○...
  • Page 58 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Modify the function code to shift the rotation direction of the motor. This effect equals to the shifting the rotation direction by adjusting either two of the motor lines (U, V and W).
  • Page 59 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value The VFD needs to derate on high carrier frequency. At the same time, the leakage and electrical magnetic interference will increase.
  • Page 60 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value P01 Group Start-up and stop control 0: Start-up directly: start from the starting frequency P01.01 1: Start-up after DC brake: start the motor from the starting frequency after DC brake (set the parameter P01.03 and P01.04).
  • Page 61 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value brake time. If the DC brake time is set to 0, the DC brake is invalid. The stronger the brake current, the bigger the brake The brake time P01.04...
  • Page 62 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value 0: Decelerate to stop: after the stop command becomes valid, the VFD decelerates to decrease the output frequency during the set time. When the ○...
  • Page 63 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Output frequency f Forward Switch over after starting frequency Starting Switch over after frequency zero frequency Time t Deadzone Reverse time Setting range: 0.0–3600.0s...
  • Page 64 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value powering on. If the running command is detected to be valid during powering on, the system will start the VFD automatically after the initialization.
  • Page 65 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value restart after power automatic running of the VFD when powering off and then powering on. Output frequency f t1=P01.22 t2=P01.23 Time t...
  • Page 66 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value performance, configure the motor based on the motor which matches with the VFD. If the gap between motor power and the matched motor is too...
  • Page 67 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value coefficient 4 for iron core of AM1 Set the parameters of Depend P02.15 Rated power of SM 1 0.1–3000.0 kW ◎...
  • Page 68 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value updated by autotuning, control, which will impact please count according to the control performance the following method. directly. counter- When P00.15=1 (rotary...
  • Page 69 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value speed compensation characteristic mentioned here means reducing the threshold of the overload protection of the motor whose running frequency is below 30 Hz.
  • Page 70 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value P03 Group Vector control ASR proportional The parameters of P03.00–P03.05 are applicable P03.00 20.0 ○ gain1 only to the vector control mode. When the frequency is lower than P03.02 (Low-point frequency for...
  • Page 71 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value The setting range of P03.04: 0.000–10.000s The setting range of P03.05: P03.02–P00.03 (max. output frequency) P03.06 ASR output filter 0–8 (corresponds to 0–2 /10 ms) ○...
  • Page 72 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Keypad setting Setting range: -300.0%–300.0% (rated current of the P03.12 10.0% ○ torque motor) Torque reference P03.13 0.000–10.000s 0.100 s ○...
  • Page 73 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Keypad setting of P03.20 The function code is used to set the limit of the 180.0% ○ electromotion torque torque. Keypad setting of Setting range: 0.0–300.0% (motor rated current)
  • Page 74 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value 2: Mode 2 Tens: Inductance compensation selection 0: Compensate 1: Not compensate Hundreds: High-speed control mode 0: Mode 0 1: Mode 1 0x0000–0x7111...
  • Page 75 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value P04 Group SVPWM control These function codes define the V/F curve of Goodrive35 motor 1 to meet the need of different loads.
  • Page 76 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value automatic torque boost. Torque boost threshold: under the threshold, the torque boost is valid, but over the threshold, the torque boost is invalid.
  • Page 77 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value The setting range of P04.08: 0.0%–110.0% (the rated voltage of motor 1) This function code is used to compensate the change of the rotation speed caused by load during compensation SVPWM control to improve the rigidity of the motor.
  • Page 78 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value motor 2 V/F voltage 3 of P04.21 0.0% ○ motor 2 V/F slip P04.22 compensation gain 100.0% ○ of motor 2...
  • Page 79 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Voltage increasing Voltage increasing time is the time when the VFD P04.29 5.0 s ○ time accelerates from the output minimum voltage to the output maximum voltage.
  • Page 80 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value 15: Shift between combination setting and B setting P05.07 S7 terminal function ◎ 16: Multi-step speed terminal 1 17: Multi-step speed terminal 2 18: Multi-step speed terminal 3 P05.08 S8 terminal function...
  • Page 81 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value control 52: Pulse input disabled 53: Position deviation clear 54: Position proportional gain switch 55: Digital position cycle positioning enabled 56: E-stop...
  • Page 82 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value communication, and the communication address is 0x200A. This parameter is used to set the terminal-based control mode. 0: 2-wire control mode 1, integrating the enabling and direction setting functions.
  • Page 83 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value The direction control is as below during operation: Previous Current direction direction Forward Reverse OFF→ON Reverse Forward Reverse Forward ON→OFF Forward Reverse ON→OFF...
  • Page 84 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Direction OFF→O Forward Reverse Forward OFF→O Reverse ON→OF Decelerat e to stop SIn: 3-wire control; FWD: Forward running; REV: Reverse running...
  • Page 85 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value P05.30 HDI switch-on delay 0.000 s ○ P05.31 HDI switch-off delay 0.000 s ○ P05.32 Lower limit of AI1 The function code defines the relationship between 0.00 V...
  • Page 86 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value The setting range of P05.37: 0.00 V–P05.39 The setting range of P05.38: -300.0%–300.0% The setting range of P05.39: P05.37–10.00 V The setting range of P05.40: -300.0%–300.0% The setting range of P05.41: 0.000s–10.000s...
  • Page 87 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value P06.01 Y1 output 0: Invalid ○ 1: In operation P06.02 HDO output ○ 2: Forward rotation operation P06.03 Relay RO1 output ○...
  • Page 88 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value terminals output terminal. When the current bit is set to 0, input terminal is positive. When the current bit is set to 1, input terminal is negative.
  • Page 89 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value 14: Set value 1 of Modbus communication 15: Set value 2 of Modbus communication 16: Set value 1 of PROFIBUS\CANopen communication...
  • Page 90 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value output of lower limit Setting range of P06.22: -300.0%–P06.24 Setting range of P06.23: 0.00 V–10.00 V Upper output limit of P06.29 100.0%...
  • Page 91 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value 4: Download the keypad function parameters to local address (only for the motor parameter of P02 and P12 group) Note: After completing the 1–4 operations, the parameter will come back to 0 automatically;...
  • Page 92 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value STOP/RST is valid for stop function. STOP/RST is valid in any state for the fault reset. STOP/RST stop 0: Only valid for the keypad control P07.04...
  • Page 93 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value BIT1: Bus voltage (V on) BIT2: Input terminals state BIT3: Output terminals state BIT4: PID reference (% flickering) BIT5: PID feedback value (% flickering)
  • Page 94 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value P07.20 Rated VFD current 0.1–6000.0A ● P07.21 Factory barcode 1 0x0000–0xFFFF ● P07.22 Factory barcode 2 0x0000–0xFFFF ● P07.23 Factory barcode 3 0x0000–0xFFFF ●...
  • Page 95 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Type of the last but 29: PROFIBUS communication fault (E-DP) P07.31 ● three fault 30: Ethernet communication fault (E-NET) 31: CANopen communication fault (E-CAN)
  • Page 96 Four groups of ACC and DEC time are defined for Depend P08.02 ACC time 3 the Goodrive35 series. You can set the ACC and ○ on model DEC time through the corresponding multi-function Depend digital input terminals (in the P05 group). For the P08.03...
  • Page 97 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Setting range: 0.00 Hz–P00.03 (max. output frequency) Overvoltage stall P08.15 Setting range: 0.0–1000.0 12.0 ○ modulator gain P08.16 ASR differential gain Setting range: 0.00–10.00s 0.00 s...
  • Page 98 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Identifying the system inertia correctly and enabling the inertia compensation can improve the dynamic Inertia compensation P08.25 response of the system.
  • Page 99 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value FDT1 electrical level When output frequency exceeds 50.00 P08.32 ○ detection value corresponding frequency of FDT electrical level, the multi-function digital output terminals will output the FDT1 retention P08.33...
  • Page 100 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value The setting range: 0.00 Hz–P00.03 (max. output frequency) This parameter is used to control the internal brake pipe inside the VFD.
  • Page 101 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value 1: Only ∧/∨ keys adjustment is valid 2: Only digital potentiometer adjustments is valid 3: Neither ∧ / ∨ keys nor digital potentiometer...
  • Page 102 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value UP terminals 0.50 P08.45 frequency changing 0.01–50.00 Hz/s ○ Hz/s ratio DOWN terminals 0.50 P08.46 frequency changing 0.01–50.00 Hz/s ○ Hz/s ratio 0x000–0x121...
  • Page 103 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Its other advantages are: Brake immediately after the stop command. It does not need to wait the magnetic flux weaken. Better cooling for motors. The current of the stator...
  • Page 104 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value When P09.00=0, set the parameter whose basic P09.01 Keypad PID preset value is the response value of the system. 0.0% ○...
  • Page 105 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value (P00.03) or the max voltage (P04.31). Shorter the integral time, stronger is the adjustment Setting range: 0.00–50.00s This parameter determines the strength of the...
  • Page 106 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value 100.0 % corresponds to max. output frequency Output lower limit of (P00.03) or the max voltage of (P04.31) P09.10 -50.0% ○...
  • Page 107 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value PID adjustment is different from the current running direction, operate the close-loop adjustment output that is opposite to current running direction..
  • Page 108 The running time of P10.17 0.0 s ○ is also determined by P00.01. step 7 Goodrive35 series VFDs can set 16 stages speed, P10.18 Multi-step speed 8 0.0% ○ selected by the combination of multi-step terminals The running time of 1–4 (select the setting by S terminals, the...
  • Page 109 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Terminal 2 OFF OFF OFF OFF Terminal 3 OFF OFF OFF OFF Terminal 4 Step Simple PLC 0–7 step Below is the detailed instruction: P10.34...
  • Page 110 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value run from the first stage after restart. 1: Continue to run from the stop frequency; stop during running (cause by stop command and fault),...
  • Page 111 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value switching of the grid. 2. Prohibition of input phase loss protection can enable this function. 0: Disable 1: Enable DC bus voltage V...
  • Page 112 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Output current A Current-limit threshold Time t Output frequency f frequency Constant speed Acceleration Time t Setting range of P11.06: 50.0–200.0% Setting range of P11.07: 0.00–50.00 Hz/s...
  • Page 113 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value pre-alarm is generated, and stops after an overload fault is reported. 2: The VFD continues to work after an overload pre-alarm is generated, and stops after an underload fault is reported.
  • Page 114 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Speed Actual detection value Set detection value Time t Running Fault output T1<t2, so the VFD continues running t2=P11.15 Setting range: 0.0–10.0s...
  • Page 115 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value motor and the standard huge, features of the VFD will decrease. Note: Reset the rated power motor (P12.01), and initialize the motor parameter of P12.02–P12.05.
  • Page 116 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Number of poles set the P12.15–P12.19 P12.17 1–128 ◎ pairs for SM 2 according to the name plate of the AM.
  • Page 117 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value force constant can be updated through counted according to the autotuning parameters on the name automatically, and there plate of the motor. There...
  • Page 118 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value The smaller K is, the greater M is, and the more likely protection is implemented. When M=116%, protection is performed after motor overload lasts for 1 hour;...
  • Page 119 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value motor) Source current is directional current of the magnetic pole position. Source current 2 is valid under the Source current 2 frequency point of current shifting.
  • Page 120 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value P14 Group Serial communication The setting range: 1–247 When the master is writing the frame, the communication address of the slave is set to 0; the address is the communication address.
  • Page 121 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value is shorter than the system processing time, then the answer delay time is the system processing time, if the answer delay is longer than the system...
  • Page 122 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value P15 Group PROFIBUS/CANopen function 0: PROFIBUS; P15.00 Module type 1: CANopen ◎ Select communication protocol 0–127 This function code is used to designate the address of the VFD.
  • Page 123 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value 13: AO output set value 2 (-1000–+1000, 1000 corresponds to 100.0%) 14: MSB of position reference (signed digit) 15: LSB of position reference (unsigned digit)
  • Page 124 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value 0.0 (invalid), 0.1–60.0s When this function code is set as 0.0, this function is Fault time of DP invalid. P15.25 communication When the function code is set as nonzero value, if 0.0 s...
  • Page 125 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Set the subnet mask of Ethernet communication. ◎ P16.06 Subnet mask 2 format subnet mask: ◎ P16.07 Subnet mask 3 P16.13.P16.14.P16.15.P16.16.
  • Page 126 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Evaluate the motor rotor frequency on closed-loop Evaluated motor P17.10 vector 0.00 Hz ● frequency Range: 0.00–P00.03 Display current DC bus voltage of the VFD P17.11...
  • Page 127 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Display PID reference value. P17.23 PID reference 0.0% ● Range: -100.0–100.0% Display PID feedback value P17.24 PID feedback 0.0% ● Range: -100.0–100.0% Power factor of the Display the current power factor of the motor.
  • Page 128 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Range : -3000.0Nm–3000.0 Nm PID deviation -100.0%–100.0% 0.0% P17.37 ● PID output –200.00%–200.00% 0.00% P17.38 ● Wrong download of 0.00–29.00 0.00 P17.39...
  • Page 129 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value the direction of pulse Z or the AB phase of encoder, the stopping position will be same. 0: Forward 1: Reverse Reserved P18.12...
  • Page 130 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value reference counting continuously. Range: 0–65535 Inertia compensation Inertia compensation torque P18.26 0.0% ● torque Range: -100.0%–100.0% Friction The torque value of friction compensation.
  • Page 131 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Encoder disconnection fault Detection time of encoder offline fault. P20.03 1.0 s ○ reporting threshold Range: 0.0–100.0 s time Encoder reverse running fault Detection time of encoder reverse fault.
  • Page 132 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value encoder and the magnetic pole position of the motor. Setting range: 0.00–359.99 Setting range: 0–3 0: No operation 1: Rotary autotuning (no load)
  • Page 133 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value 0: Unbiased 1: Biased Bit1：Servo enabled 0: Disabled (Terminal enabled) 1: Enabled Under the pulse string positioning mode or the spindle positioning mode, Servo enable signal is...
  • Page 134 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value P21.02 APR gain 1 Two automatic position regulator (APR) gains are 20.0 ○ provided. You can switch between these two gains through the switching mode set in P21.04.
  • Page 135 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value position command ratio Position gain for pulse string-based position Position feedforward reference. Generally, you do not need to modify this P21.13 100.00%...
  • Page 136 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value Bit 4: Origin searching mode. This function is reserved. 0: Searching for the origin only for once 1: Searching for the origin in every time of running Bit 5: Origin calibration mode.
  • Page 137 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value reference Actual position =P21.17*P21.11/P21.12 0–65535 Positioning speed setting 0: P21.19 digital setting Positioning speed 1: AI1 setting P21.18 ○ setting 2: AI2 setting...
  • Page 138 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value setting channel at the rate specified by P21.27. 2. Input terminal function 31 (pulse ascending) If the terminal is valid, pulses are superposed to the pulse setting channel at the rate specified by P21.27.
  • Page 139 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value It can be selected through terminal function 28. Maximum frequency P21.32 Range: 0.0–400.00 Hz 50.00 Hz ○ of rigid tapping Pulse setting signal P21.34...
  • Page 140 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value is received, the operation mode is automatically switched to speed control mode. Bit7: Reference point calibration mode, setting whether to perform position calibration every time when the reference point is passed.
  • Page 141 Goodrive35 Series Closed-loop Vector Control VFD Function parameters Functio Default Modif Name Detailed instruction of parameters n code value angle 2 Spindle indexing P22.09 Range: 0.00–359.99 45.00 ○ angle 3 Spindle indexing P22.10 Range: 0.00–359.99 60.00 ○ angle 4 Spindle indexing P22.11...

  • Page 142: Chapter 7 Basic Operation Instruction

    Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Chapter 7 Basic operation instruction 7.1 What this chapter contains This chapter describes the internal function mode of the VFD in details.  Check all terminals are connected properly and tightly.
  • Page 143 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Start Power on after right wiring Restore to the factory parameters（P00.18=1） Motor type selection （P02.00） Set P02.01~P02.05 Set P02.15~P02.19 Press QUICK/JOG to jog If the rotation direction is wrong, power off to change the wires and repower on Set autotuning Set P00.15=2 to achieve...
  • Page 144 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Note: If fault occurs, please do as the "Fault Tracking". Estimate the fault reason and settle the issue. Besides P00.01 and P00.02, terminal command setting can also be used to set running command channel.
  • Page 145 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value 3: Static autotuning 2 (autotune part parameters) 0: Asynchronous motor P02.00 Motor type 1 1: Synchronous motor Rated power of Depend on P02.01...

  • Page 146: Vector Control

    Goodrive35 series VFDs are embedded speedless sensor vector control calculation for driving both asynchronous motors and synchronous motors. Because the core calculation of vector control is based on exact motor parameter models, the accuracy of motor parameter will impact on the performance of vector control.
  • Page 147 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Because the vector control calculation is very complicated, high technical theory is needed for the user during internal autotune. It is recommended to use the specific function parameters in vector control with cautions.
  • Page 148 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value High-point frequency for P03.05 P03.02–P00.03 (max. output frequency) 10.00 Hz switching P03.06 ASR output filter 0–8 (corresponds to 0–2 /10 ms) Compensation coefficient of P03.07...
  • Page 149 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value Ethernet communication setting upper-limit frequency (the same as above) Note: Setting method 0–8, 100% corresponds to the maximum frequency. Upper frequency of reverse 0: Keypad (P03.17)

  • Page 150: Svpwm Control

    7.4 SVPWM control Goodrive35 series VFDs provide internal SVPWM control which can be used in the cases where it does not need high control accuracy. It is also recommended to use SVPWM control when one VFD drives multiple motors.
  • Page 151 Square type Output frequency Goodrive35 series VFDs provide multi-dots V/F curve, the user can change the output V/F curve by setting the voltage and frequency of three middle dots. The whole curve is consisted of 5 dots. The starting dot is (0 Hz, 0 V), and the ending dot is (the basic frequency of the motor, the rated voltage of the motor).
  • Page 152 Motor vibration occurs frequently when applying SVPWM control mode in the cases where high power is needed. In order to settle this problem, Goodrive35 series VFDs add two function codes which are set to control the vibration factors. The user can set the corresponding function code according to the vibration frequency.
  • Page 153 P00.06 (A frequency command selection) When the user selects the user-defined V/F curve function in Goodrive35 series VFDs, they can set the reference channel of voltage and frequency and the corresponding ACC/DEC time, or the two can be combined to form a real-time curve.
  • Page 154 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value 1: Synchronous motor Rated frequency of P02.02 0.01 Hz–P00.03 (max. output frequency) 50.00 asynchronous motor 1 Rated voltage of Depend on P02.04 0–1200 V...

  • Page 155: Torque Control

    Minimum output voltage 0.0%–P04.31 (rated voltage of motor) 0.0% 7.5 Torque control Goodrive35 series VFDs support two kinds of control mode: torque control and rotation speed control. The core of rotation speed is that the whole control focuses on the stable speed and ensures the...
  • Page 156 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction setting speed is the same as the actual running speed. The Max Load should be in the range of the torque limit. The core of torque control is that the whole control focus on the stable torque and ensures the setting torque is the same as the actual output torque.
  • Page 157 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value 7: Modbus communication setting torque (the same as above) PROFIBUS/CANopen communication setting torque (the same as above) 9: Ethernet communication setting torque (the...

  • Page 158: Parameters Of The Motor

    Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value upper frequency of reverse rotation Keypad setting upper-limit frequency (P03.20) 1: AI1 (100% corresponds to three times of the rated current of the motor)
  • Page 159 It is proper to de-couple the motor from the load during autotune when necessary. Goodrive35 series VFDs can drive both asynchronous motors and synchronous motors. And at the same time, they can support two sets of motor parameters which can shift between two motors through multi-function digital input terminal or communication.
  • Page 160 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Ready P00.01=0 (keypad control) Motor type (P02.00) P02.00=1 P02.00=0 Input motor nameplate Input motor nameplate (P02.12~P02.19) (P02.01~P02.05) Set autotuning mode (P00.15) Set P00.15=1 Set P00.15=2 Set P00.15=3 (rotary autotuning) (static autotuning 1) (static autotuning 2) Press “RUN”key to start...
  • Page 161 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction 3. During the motor autotune, do not to de-couple the motor form the load if static autotune is selected. Because only some parameters of the motor are involved, the control performance is not as better as the rotation autotune.
  • Page 162 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value Non-load current of Depend on 0.1–6553.5 A P02.10 asynchronous motor 1 model Rated power of synchronous Depend on 0.1–3000.0 kW P02.15 motor 1...

  • Page 163: Start-Up And Stop Control

    Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value Rotor resistor of asynchronous Depend on P12.07 0.001–65.535 Ω motor 2 model Leakage inductance of Depend on P12.08 0.1–6553.5 mH asynchronous motor 2...
  • Page 164 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction 1. The starting logic figure of starting after the running command during the normal powering on. Start directly Linear ACC/DEC P00.03 Start directly P01.00 The starting frequency Starting running The starting frequency...
  • Page 165 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Relative parameters list: Function Default Name Detailed instruction of parameters code value 0: Keypad running command (LED off) 1: Terminal running command channel P00.01 Run command channel (LED flickering) 2: Communication running command...
  • Page 166 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value 0: The terminal running command is Terminal invalid when powering on P01.18 running protection when 1: The terminal running command is powering on...

  • Page 167: Frequency Setting

    7.8 Frequency setting Goodrive35 series VFDs can set the frequency by various means. The given channel can be divided into main given channel and assistant given channel. There are two main given channels: A frequency given channel and B frequency given channel.
  • Page 168 Digital potentiometer P08.42 tens setting Digital enabling (frequency control selection) potentiometer Goodrive35 series VFDs support the shifting between different given channels, and the detailed shifting rules is as below: Current Multi-function terminal Multi-function terminal Multi-function terminal reference function 13...
  • Page 169 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction When select multi-function terminal UP (10) and DOWN (11) to set the internal assistant frequency, P08.44 and P08.45 can be set to increase or decrease the set frequency quickly. UP terminal frequency increasing integral rate P08.45 DOWN terminal frequency increasing integral rate P08.46...
  • Page 170 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value 3: (A-B) combination 4: Max (A, B) combination 5: Min (A, B) combination 10: Increasing frequency setting (UP) 11: Decreasing frequency setting (DOWN)

  • Page 171: Analog Input

    0.00 Hz 7.9 Analog input Goodrive35 series VFDs have three analog input terminals and 1 high-speed pulse input terminals (of which, AI1 and AI2 are 0–10 V/0–20mA and Al can select voltage input or current input by J3, AI2 can select voltage input or current input by J4 and AI3 is for -10–10 V) as the standard configuration.
  • Page 172 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction AI1 input voltage Analog input curve setting Analog input filter P17.19 P05.32 P05.33 P05.36 P05.34 AI2 input voltage P05.35 P17.20 P05.37 P05.38 P05.41 P05.39 AI3 input voltage P05.40 P17.21 P05.42 P05.43 P05.48...

  • Page 173: Analog Output

    0.030 s 7.10 Analog output Goodrive35 series VFDs have 2 analog output terminals (0–10 V or 0–20mA) and 1 high speed pulse output terminal. Analog output signal can be filtered and the maximum and minimum values can be adjusted. The analog output signals can be proportional to motor speed, output frequency, output current, motor torque, motor power, etc.
  • Page 174 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Output instructions: Function Instructions value Running frequency 0–max. output frequency Set frequency 0–max. output frequency Ramp reference frequency 0–max. output frequency 0–2 times of the rated synchronous rotation Running speed speed of the motor Output current (relative to the VFD) 0–2 times of rated current of the VFD...
  • Page 175 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value 0: Running frequency P06.14 AO1 output 1: Set frequency P06.15 AO2 output 2: Ramps reference frequency 3: Running speed 4: Output current (relative to 2 times the rated...

  • Page 176: Digital Input

    0.000 s 7.11 Digital input Goodrive35 series VFDs have 8 programmable digital input terminals and 1 open circuit electrode output terminal in the standard configuration. All functions of the digital input terminals are programmable by the function codes. Open collector pole input can be selected into high speed pulse input terminal or common switch input terminal by function code.
  • Page 177 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction P05.10 P05.11 Switch function selection P05.14 P05.15 P05.01 T delay T delay 1 -1 P17.11 (default value is 1) Switch input terminal state P05.16 P05.17 T delay T delay P05.02 1 -1...
  • Page 178 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Set value Function Instructions External fault reset. It has the same function with the reset Fault reset function of STOP/RST on the keypad. This function can realize remote fault reset. The VFD decelerates to stop. But all running parameters are in the memory state.
  • Page 179 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Set value Function Instructions Multi-step Multi-step Multi-step Multi-step speed 4 speed 3 speed 2 speed 1 BIT3 BIT2 BIT1 BIT0 Shield the multi-step speed selection terminal function to Multi-step speed pause keep the setting value at the current state.
  • Page 180 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Set value Function Instructions DC brake The VFD will begin DC brake after valid command. Switch between motor1 Motor-shifting can be controlled after terminal is valid. and motor2 After the function terminal become valid, the running...
  • Page 181 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Set value Function Instructions Pulse input disabled Pulse input is disabled if the command is valid. Position deviation clear Position deviation can be cleared if the command is valid. Position proportional gain Position proportional gain can be switched.
  • Page 182 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value 8: Operation pause 9: External fault input 10: Increasing frequency setting (UP) 11: Decreasing frequency setting (DOWN) 12: Frequency setting clear 13: Shift between A setting and B setting...
  • Page 183 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value 43: Position reference input (only S8 valid) 44: Spindle direction prohibit 45: Spindle returning/local position returning 46: Zero position selection 1 47: Zero position selection 2...

  • Page 184: Digital Input

    7.12 Digital input Goodrive35 series VFDs have 2 relay output terminals and 1 Y output terminal and 1 high speed pulse output terminal in the standard configuration. All functions of the digital input terminals are programmable by the function codes. Open collector pole input can be selected into high speed pulse...
  • Page 185 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Digital output Digital switch-on delay time P06.05 output polarity Digital switch-off delay time Runnin P17.12 ON/OFF output P06.06 P06.07 terminal T delay P06.01 T delay Fault？ (default value is 0) P07.38...
  • Page 186 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Instructions value Output ON signal when the VFD is in the pre-exciting Pre-exciting state. Output ON signal if the VFD is beyond the pre-alarm point. Overload pre-alarm Refer to P11.08–P11.10 for the detailed instruction.
  • Page 187 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value 1: In operation P06.02 HDO output 2: Forward rotation operation P06.03 Relay RO1 output 3: Reverse rotation operation 4: Jogging operation 5: VFD fault...

  • Page 188: Simple Plc

    Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value P06.06 Y1 switch-on delay time 0.000–50.000 s 0.000 s P06.07 Y1 switch-off delay time 0.000–50.000 s 0.000 s 0.000–50.000 (valid only when P06.08...
  • Page 189 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value 0: Stop after running once P10.00 Simple PLC 1: Run at the final value after running once 2: Cycle running 0: Power loss without memory P10.01...

  • Page 190: Multi-Step Speed Running

    7.14 Multi-step speed running Set the parameters when the VFD carries out multi-step speed running. Goodrive35 series VFDs can set 16-stage speed which can be selected by the combination code of multi-step speed terminals 1–4.
  • Page 191 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction P10.02 multi-stage speed 0 BIT0 P10.34 P10.03 the running time of stage 0 BIT1 Terminal function 16 Multi-stage speed The ACC/DEC time selection terminal 1 of Stage 0~7 of PLC Terminal function 17 P10.04 multi-stage speed 1...

  • Page 192: Pid Control

    Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value P10.16 Multi-step speed 7 -100.0–100.0% 0.0% P10.17 The running time of step 7 0.0–6553.5 s (min) 0.0 s P10.18 Multi-step speed 8 -100.0–100.0%...

  • Page 193: General Steps Of Pid Parameters Setting

    Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Keypad setting PID given P09.00 PID stop P09.01 Keypad (PID given source selection) adjustment PID given value Set frequency Terminal function 25 P09.09 PID control pause P17.23 (the upper limit of PID output) P17.00...

  • Page 194: Pid Inching

    Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction PID parameter setting for detailed information) to make proportional adjustment is the only method to PID. Set the input as 60%–70% of the permitted max value and increase gain P from 0 until the system vibration occurs, vice versa, and record the PID value and set it to 60%–70% of the current...
  • Page 195 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Before adjustment Response After adjustment Time t Control short vibration: Short vibration period and the same set value with the derivative time (Td) mean that the derivative time is strong. Shortening the derivative time (Td) can control the vibration.

  • Page 196: Commissioning For Special Functions

    Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value 6: Ethernet communication feedback 7: Reserved 0: PID output is positive P09.03 PID output feature 1: PID output is negative P09.04 Proportional gain (Kp) 0.00–100.00...
  • Page 197 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Use shield cables Differential output Note: The diagram of differential output is given to the H1 interface, C1 interface applies opto-isolator and H2 interface applies differential chips. The external wiring is the same as that of H1.

  • Page 198: Commissioning Steps

    Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction 4. Push-pull output encoder connection Use shield cable PWR/+24V COM1/COM Push-pull output encoder Push-pull output mode wiring diagram 1 Use shield cable PWR/+24V COM1/COM Push-pull output encoder Push-pull output mode wiring diagram 2 Note: When this output mode is used, please refer to the electrical specifications of output current in the encoder manual.
  • Page 199 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction a) Set P00.15=1 and begin rotating autotuning b) Set P00.15=2 and begin static autotuning De-couple the load from the motor to carry out rotating autotuning; otherwise, carry out static autotuning. The parameters after autotuning can be saved in P02 group automatically.
  • Page 200 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Set P20.11=1 or 2 (1 is the rotating autotuning and 2 is the static autotuning) and press "RUN". a) Rotating autotuning (P20.11=1) Detect the pole position in the beginning, and then accelerate to 10 Hz to autotune the pole position of pulse Z, after that decelerate to stop.
  • Page 201 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction be adjusted. If the pulse train is selected to control the speed, set P21.00=0000, P00.06 or P00.07=12, AB pulse train, then the acceleration and deceleration time depend on the time of the VFD and the parameter setting is determined by P21.
  • Page 202 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction terminal after motor stopping, the motor will inquiry the scaling state and turn to corresponding position. Operation on P18.09 can watch the state. (8) Priority of the speed control, position control, zeroing and scaling The priority of speed control >...
  • Page 203 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Frequency P21.21 P21.20 P21.20 Positioning P21.21 speed Time P21.22 Running command Terminal of enabling signal Positioning finished signal P21.25 The steps of (1)–(4) are the same as the 4 steps in close-loop vector control mode. After the 4 steps, the control requirements can be met.

  • Page 204: Fault Solutions

    During the positioning, the position loop gain is P21.03, but after positioning, it is P21.02. Adjust P03.00, P03.01, P20.05 and P21.02 to keep the position and avoid vibration. 7.17 Fault solutions Goodrive35 series VFDs provide sufficient fault procedure information for the convenience of user’s application. In running...
  • Page 205 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value Type of the last but three (OUt3) P07.31 fault 4: ACC overcurrent (OC1) 5: DEC overcurrent (OC2) 6: Constant-speed overcurrent (OC3) 7: ACC overvoltage (OV1)
  • Page 206 Goodrive35 Series Closed-loop Vector Control VFD Basic operation instruction Function Default Name Detailed instruction of parameters code value 36: Undervoltage fault (LL) 37: Encoder offline fault (ENC1O) 38: Encoder reverse fault (ENC1D) Encoder pulse offline fault (ENC1Z) 43: Motor overtemperature fault (OT) P07.33...

  • Page 207: Chapter 8 Fault Tracking

    Do as the following after the VFD fault: 1. Check to ensure there is nothing wrong with the keypad. If not, contact the local INVT office. 2. If there is nothing wrong, please check P07 and ensure the corresponding recorded fault parameters to confirm the real state when the current fault occurs by all parameters.
  • Page 208 Goodrive35 Series Closed-loop Vector Control VFD Fault tracking Code Fault Cause Solution ACC overvoltage Check the input power Check if the DEC time of the load is DEC overvoltage The input voltage is abnormal too short, or the motor is started There is large energy feedback...
  • Page 209 Goodrive35 Series Closed-loop Vector Control VFD Fault tracking Code Fault Cause Solution Inverter module The time of overload running is Lower the ambient temperature overheated too long. SI external fault input terminals External fault Check the external device input The...
  • Page 210 Goodrive35 Series Closed-loop Vector Control VFD Fault tracking Code Fault Cause Solution communication wires is not good or broken. whether there is mistake. fault The keypad wire is too long and Check the environment and avoid affected by strong interference.
  • Page 211 Goodrive35 Series Closed-loop Vector Control VFD Fault tracking Code Fault Cause Solution shortcut fault 1 circuited with the ground. is normal or not There is fault in the current Change the hall detection circuit. Change the main control panel The actual motor power sharply Set motor parameters correctly.

  • Page 212: Other States

    Goodrive35 Series Closed-loop Vector Control VFD Fault tracking 8.5.2 Other states Code State type Possible cause Solution System power off or bus PoFF System power off Check grid environment voltage is too low Communication between keypad Keypad connected Check the installation of...

  • Page 213: Motor Vibration

    Goodrive35 Series Closed-loop Vector Control VFD Fault tracking 8.6.2 Motor vibration Motor vibration or abnormal noise Please set right Check the motor parameter motor type and or motor type is right or not parameters Perform parameter Perform right autotune or not...

  • Page 214: Undervoltage Fault

    Goodrive35 Series Closed-loop Vector Control VFD Fault tracking 8.6.4 Undervoltage fault UV fault Ensure the power supply If the voltage of the power supply meet the need is in the standard range Check if the air switch and Switch on the air switch...

  • Page 215: Abnormal Heating Of The Motor

    Goodrive35 Series Closed-loop Vector Control VFD Fault tracking 8.6.5 Abnormal heating of the motor Check if there is abnormal heat to the motor Set right Check if the parameter motor is right or not parameters Parameter Check if it needs to carry...

  • Page 216: Overheat Of The Vfd

    Goodrive35 Series Closed-loop Vector Control VFD Fault tracking 8.6.6 Overheat of the VFD VFD overheating Check if the load is too heavy Decrease the load and Or the capacity of the VFD increase the capacity of is too low the VFD...

  • Page 217: Overcurrent

    Goodrive35 Series Closed-loop Vector Control VFD Fault tracking 8.6.8 Overcurrent Overcurrent Check if UVW is short circuited to the earth Settle the short circuit Remove the motor cable and problem and configure ensure if there is connected the motor cables rightly with the earth.

  • Page 218: Chapter 9 Routine Maintenance

    Goodrive35 Series Closed-loop Vector Control VFD Routine maintenance Chapter 9 Routine maintenance 9.1 What this chapter contains. The chapter contains preventive maintenance instructions of the VFD. 9.2 Maintenance intervals If installed in an appropriate environment, the VFD requires very little maintenance. The table lists the routine maintenance intervals recommended by INVT.
  • Page 219 Goodrive35 Series Closed-loop Vector Control VFD Routine maintenance Checking Item Method Criterion overheating. Ensure that there are no crackles or color-changing of Visual examination the protective layers. Terminals Ensure that there Visual examination seat damage Ensure that there weeping, color-changing,...

  • Page 220: Cooling Fan

    For more information about the maintenance, contact the local INVT office, or visit the website http://www.invt.com.cn of Shenzhen INVT Electric CO., Ltd., choosing Service and Support on the homepage to obtain the online service you need.

  • Page 221: Capacitors

    Goodrive35 Series Closed-loop Vector Control VFD Routine maintenance 4. Remove the fan. 5. Install the new fan in the VFD, put the fan cables in the clip and then fix the VFD well. Keep the wind direction of the fan consistent with that of the VFD as shown below: 6.

  • Page 222: Change Electrolytic Capacitors

    An electrolytic capacitor must be replaced if it has been used for more than 35,000 hours. For details about the replacement, contact the local INVT office, or our national service hotline (400-700-9997). 9.5 Power cable ...

  • Page 223: Chapter 10 Communication Protocol

    10.1 What this chapter contains This chapter describes the communication protocol of Goodrive35 series VFDs. The Goodrive35 series VFDs provide RS485 communication interface. It adopts international standard ModBus communication protocol to perform master-slave communication. The user can realize centralized control through PC/PLC, upper control PC, etc. (set the control command, running frequency of the VFD, modify relevant function codes, monitor and control the operating state and fault information of the VFD and so on) to adapt specific application requirements.
  • Page 224 Goodrive35 Series Closed-loop Vector Control VFD Communication protocol It is recommended to use shield cables and make the shield layer as the grounding wires during RS485 remote communication. In the cases with less devices and shorter distance, it is recommended to use 120Ω terminal resistor as the performance will be weakened if the distance increases even if the network can perform well without load resistor.
  • Page 225 Goodrive35 Series Closed-loop Vector Control VFD Communication protocol 120Ω 120Ω Figure 10-2 Chrysanthemum connection Master Figure 10-3 Chrysanthemum connection Shielded twist pairs 120Ωterminal resistor 485- 485 - 485- 485 + 485 + 485+ Earth Earth Earth RS232-485 Converter INVT INVT INVT Max.

  • Page 226: Rtu Mode

    Goodrive35 Series Closed-loop Vector Control VFD Communication protocol 10.3.2 RTU mode 10.3.2.1 RTU communication frame format If the controller is set to communicate by RTU mode in Modbus network every 8bit byte in the message includes two 4Bit hex characters. Compared with ACSII mode, this mode can send more data at the same baud rate.
  • Page 227 Goodrive35 Series Closed-loop Vector Control VFD Communication protocol The information of a frame must be transmitted in a continuous data flow. If there is an interval greater than the transmission time of 1.5 bytes before the transmission of the entire frame is complete, the receiving device deletes the incomplete information, and mistakes the subsequent byte for the address domain of a new frame.
  • Page 228 Goodrive35 Series Closed-loop Vector Control VFD Communication protocol and if it is even, the check bit is set to "1". For example, the data bits to be transmitted are "11001110", including five "1". If the even check is applied, the even check bit is set to "1"; and if the odd check is applied, the odd check bit is set to "0".

  • Page 229: Rtu Command Code And Communication Data Illustration

    Goodrive35 Series Closed-loop Vector Control VFD Communication protocol if(crc_value&0x0001) crc_value=(crc_value>>1)^0xa001; else crc_value=crc_value>>1; return(crc_value); In the ladder logic, CKSM uses the table look-up method to calculate the CRC value according to the content in the frame. The program of this method is simple, and the calculation is fast, but the ROM space occupied is large.
  • Page 230 Goodrive35 Series Closed-loop Vector Control VFD Communication protocol MSB of CRC T1-T2-T3-T4 (transmission time of 3.5 bytes) The value in START and END is "T1-T2-T3-T4 (transmission time of 3.5 bytes)", indicating that the RS485 needs to stay idle for at least the transmission time of 3.5 bytes. An idle time is required to distinguish on message from another to ensure that the two messages are not regarded as one.

  • Page 231: Command Code: 06H, Writing A Word

    Goodrive35 Series Closed-loop Vector Control VFD Communication protocol A piece of data is two bytes, with the MSB on the left and LSB on the right. From the response, we can see that the data in 0004H is 1388H, and that in 0005H is 0000H.

  • Page 232: Command Code: 10H, Continuous Writing

    Goodrive35 Series Closed-loop Vector Control VFD Communication protocol For example, to query about the circuit detection information about the VFD whose address is 01H, the query and return strings are the same, and the format is described in the following tables.

  • Page 233: The Definition Of Data Address

    Goodrive35 Series Closed-loop Vector Control VFD Communication protocol LSB of data quantity Number of bytes MSB of data to be written to 0004H LSB of data to be written to 0004H MSB of data to be written to 0005H LSB of data to be written to 0005H...
  • Page 234 Goodrive35 Series Closed-loop Vector Control VFD Communication protocol Note: The parameters in the P29 group are set by the manufacturer. They cannot be read or modified. Some parameters cannot be modified when the VFD is running; some cannot be modified regardless of the state of the VFD.
  • Page 235 Goodrive35 Series Closed-loop Vector Control VFD Communication protocol Function Address Data description 1000 corresponding to 100.0% of the rated current of the VFD) Upper limit of the brake torque (0–3000, 1000 2008H corresponding to 100.0% of the rated current of...
  • Page 236 Goodrive35 Series Closed-loop Vector Control VFD Communication protocol Function Address Data description Bit4: =0: No overload alarm =1: Overload alarm Bit5–Bit6: =00: Keypad-based control =01: Terminal-based control =10: Communication-based control VFD fault code 2102H See the description of fault types.

  • Page 237: Fieldbus Ratio Values

    Goodrive35 Series Closed-loop Vector Control VFD Communication protocol Note: Some parameters in the preceding table are valid only after they are enabled. Take the running and stop operations as examples, you need to set "Running command channel" (P00.01) to "Communication", and set "Communication running command channel" (P00.02) to the Modbus communication channel.

  • Page 238: Fault Message Response

    Goodrive35 Series Closed-loop Vector Control VFD Communication protocol After receiving the command, the VFD converts 50 into 5.0 based on the fieldbus scale, and then sets "Wake-up-from-sleep delay" to 5.0s. For another example, after the upper computer transmits the "Wake-up-from-sleep delay" parameter...
  • Page 239 Goodrive35 Series Closed-loop Vector Control VFD Communication protocol Code Name Definition Parameter The parameter to be modified in the write operation of the upper read-only computer is a read-only parameter. Parameter cannot be The parameter to be modified in the write operation of the upper modified in computer cannot be modified during the running of the VFD.

  • Page 240: Example Of Writing And Reading

    Goodrive35 Series Closed-loop Vector Control VFD Communication protocol The exception response 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...
  • Page 241 Goodrive35 Series Closed-loop Vector Control VFD Communication protocol Function Address Data description 0001H: Forward running 0002H: Reverse running 0003H: Forward jogging 0004H: Reverse jogging Communication-based 2000H control command 0005H: Stop 0006H: Coast to stop (emergency stop) 0007H: Fault reset 0008H: Jogging to stop...
  • Page 242 Goodrive35 Series Closed-loop Vector Control VFD Communication protocol Note: In the preceding command description, spaces are added to a command just for explanatory purposes. In practical applications, no space is required in the commands. 10.4.8.3 Example of continuous writing command10H Example 1: make the VFD whose address is 01H run forward at 10 Hz.
  • Page 243 Goodrive35 Series Closed-loop Vector Control VFD Communication protocol Function Default Name Detailed parameter description Modify code value Depend on P00.11 ACC time 1 ○ Setting range of P00.11 and P00.12: model 0.0–3600.0 s Depend on P00.12 DEC time 1 ○...

  • Page 244: Common Communication Fault

    Goodrive35 Series Closed-loop Vector Control VFD Communication protocol First, select COM1 for "serial port" and the baud rate should be set to the same value with P14.01. The data bit, check bit and stop bit must be consistent with the setup in P14.02. As RTU mode is used here, "HEX"...

  • Page 245: Appendix A Extension Card

    Extension card Appendix A Extension card A.1 What this chapter contains This chapter describes the extension cards used in Goodrive35 series VFDs. A.2 PROFIBUS extension card (1) PROFIBUS is an open international fieldbus standard that allows data exchange among various types of automation components.

  • Page 246: A.2.2 Ec-Tx-103 Communication Card

    Goodrive35 Series Closed-loop Vector Control VFD Extension card A.2.2 EC-TX-103 communication card EC-TX-103 communication card is an optional device to VFD which makes VFD connected to PROFIBUS network. In PROFIBUSN network, VFD is a subsidiary device. The following functions can be completed using EC-TX-103 communication card: ●...

  • Page 247: A.2.4 Compatible Motor Of Ec-Tx-103 Communication Card

    ● EC-TX-103 communication card ● Three screws (M3x10) ● User's manual Contact Shenzhen INVT Electric Co., Ltd. or suppliers if there is something missing. Notice will not be given for the reason of product upgrades. A.2.6 Installation of EC-TX-103 communication card A.2.6.1 Mechanical installation of EC-TX-103 communication card...
  • Page 248 Goodrive35 Series Closed-loop Vector Control VFD Extension card 700W/m , air pressure 70–106kPa ● Content of salt spray and corrosive gases: Pollution degree 2 ● Dust and solid particles content: Pollution degree 2 ● Vibration and shock: 5.9m/s (0.6g) on 9–200 Hz sinusoidal vibration 2.
  • Page 249 Goodrive35 Series Closed-loop Vector Control VFD Extension card A.2.6.3 Bus net connection of EC-TX-103 communication card 1. Bus communication interface Transformation by double-shielded twisted pair copper cable is the most common way in PROFIBUS (conform to RS-485standard). The basic characteristics of transformation technology: ●...
  • Page 250 Goodrive35 Series Closed-loop Vector Control VFD Extension card Available Not available (with interference to the keypad wiring) 2. Repeater Up to 32 stations can be connected to each segment (master stations or stations), they have to be used when stations are more than 32. The repeaters in serial connection should not exceed 3.

  • Page 251: A.2.7 System Configuration

    Goodrive35 Series Closed-loop Vector Control VFD Extension card Transmission line parameters: Transmission rate (kbps) A-wire (m) B-wire (m) Impedance (Ω) 135–165 100–130 Capacitance per unit length (pF/m) < 30 < 60 Loop Resistance (Ω/km) -------- Core wire diameter (mm) 0.64 >...
  • Page 252 GSD file which used to describe the characteristics of PROFIBUS-DP devices. The software we provided for the user includes VFD related GSD files (device data files) information, users can obtain type definition file (GSD) of master machines from local INVT agent. Configuration parameters of EC-TX-103 communication card:...

  • Page 253: A.2.8 Profibus-Dp Communication

    Goodrive35 Series Closed-loop Vector Control VFD Extension card In PROFIBUS network, each device corresponds to a unique node address, you can use the node address selection switch to define node address, but you cannot adjust the parameter by youself and the parameter is only used to display the node address.
  • Page 254 PKW3-parameter value 1 PKW4-parameter value 2 Process data: CW-Control word (from master to slave, see "Control word (CW) of Goodrive35 series") SW-state word (from slave to master, see "State word (SW) of Goodrive35 series") PZD-process data (decided by users) (From master to slave output 【given value】, from slave to master input【actual value】) PZD area (process data area) PZD area of communication message is designed for control and monitor VFD.
  • Page 255 Goodrive35 Series Closed-loop Vector Control VFD Extension card Name Value State/Description Coast to stop (Emergency stop) Fault reset Jogging stop WIRTE ENABLE Write enable (mainly is PKW1-PKW4 ) MOTOR GROUP 1 SELECTION MOTOR GROUP 2 SELECTION 9–10 MOTOR GROUP SELECTION...
  • Page 256 Goodrive35 Series Closed-loop Vector Control VFD Extension card Name Function selection corresponds to 100.0%of the rated current of the motor) 8: Brake torque upper limit (0–2000,1000 corresponds to 100.0% of the rated current of the motor) 9: Virtual input terminals command Range: 0x000–0x1FF...
  • Page 257 Goodrive35 Series Closed-loop Vector Control VFD Extension card Name Value State/Description Motor 3 feedback Motor 4 no feedback Synchronous motor MOTOR TYPE FEEDBACK Asynchronous motor Overload pre-alarm OVERLOAD ALARM Non-overload pre-alarm Keypad control Terminal control RUN/STOP MODE Communication control Reserved...
  • Page 258 Goodrive35 Series Closed-loop Vector Control VFD Extension card Name Function selection 21: MSB of position reference (signed digit) 22: LSB of position reference (unsigned digit) 23: MSB of position feedback (signed digit) 24: LSB of position feedback (unsigned digit) 25: State words PKW area (parameter identification marks PKW1-value area).
  • Page 259 Goodrive35 Series Closed-loop Vector Control VFD Extension card Request label (From master to slave) Response label Positive Negative Request Function confirmation confirmation No task － Request parameter value Modification parameter value (one word) 3 or 4 [only change RAM] Modification parameter value (double word)
  • Page 260 Goodrive35 Series Closed-loop Vector Control VFD Extension card PKW examples: Example 1: Read parameter value. Read keypad set frequency value (the address of keypad set frequency is 10) which can be achieved by setting PKW1 as 1, PKW2 as 10, return value is in PKW4.

  • Page 261: A.2.9 Fault Information

    Examples for PZD: Transmission of PZD area is achieved through VFD function code; please refer to Examples for PZD: Transmisssion of PZD area is achieved through VFD function code; please refer to relevant INVT VFD user manual to know relevant function code. Example 1: Read process data of the VFD.

  • Page 262: A.3 Canopen Optional Cards

    Goodrive35 Series Closed-loop Vector Control VFD Extension card LED No. Name Color Function parameter data sets is different from that of network configuration process during module initialization process. 2. Flicker frequency 2 Hz-user parameter data error: The length or content of user parameter data sets is different from that of network configuration process during module initialization process.

  • Page 263: Appendix B Technical Data

    Goodrive35 Series Closed-loop Vector Control VFD Technical data Appendix B Technical data B.1 What this chapter contains This chapter contains the technical specifications of the VFD, as well as provisions for fulfilling the requirements for CE and other marks. B.2 Ratings B.2.1 Capacity...

  • Page 264: B.3 Grid Specifications

    Goodrive35 Series Closed-loop Vector Control VFD Technical data Derating coefficient (%) Altitude (m) 1000 2000 3000 When the altitude exceeds 2000m, configure an isolation transformer on the input end of the VFD. When the altitude exceeds 3000m but is lower than 5000m, contact us for technical consultation. Do not use the VFD at an altitude higher than 5000m.

  • Page 265: B.5 Applicable Standards

    Goodrive35 Series Closed-loop Vector Control VFD Technical data Environment category II (C3) Environment category I (C2) You can learn the maximum length of the motor cable through the running parameters of the VFD. To understand the accurate maximum cable length for using an external EMC filter, contact the local INVT office.

  • Page 266: B.6.1 Category C2

    Goodrive35 Series Closed-loop Vector Control VFD Technical data to the civil power supply low-voltage grids without intermediate transformers Category II: All environments except those in Category I. VFD categories C1: Rated voltage lower than 1000 V, applied to environments of Category I.

  • Page 267: Appendix C Dimension Drawings

    Goodrive35 Series Closed-loop Vector Control VFD Dimension drawings Appendix C Dimension drawings C.1 What this chapter contains Dimension drawings of the Goodrive35 are shown below. The dimensions are given in millimeters and inches. C.2 Keypad structure C.2.1 Structure chart Hole dimension and diagram for keypad installation w ithout bracket C.2.2 Installation bracket...

  • Page 268: C.3 Vfd Structure

    Goodrive35 Series Closed-loop Vector Control VFD Dimension drawings 160.0 125.0 28.4 108.0 28.4 4-M4×15 (stud) 135.5 81.0 145.5 81.0 137.5 137.5 4- Φ 4.5 160.0 125.0 4-M4×15 (stud) 106.0 4-R12 4-R13 125.0 Keypad adapter bracket Customer installation dimension Figure C-2 Installation bracket of the keypad (380 V 37–315 kW; 660 V 22–630 kW) (standard)

  • Page 269: C.4 Dimensions For Vfds Of Ac 3Ph 380 V (-15%)–440 V (+10%)

    Goodrive35 Series Closed-loop Vector Control VFD Dimension drawings C.4 Dimensions for VFDs of AC 3PH 380 V (-15%)–440 V (+10%) C.4.1 Wall installation (unit: mm) Figure C-3 Wall installation of 380 V 1.5-30 kW VFDs Installation Weight Model hole (kg) 1.5 kW–2.2 kW...
  • Page 270 Goodrive35 Series Closed-loop Vector Control VFD Dimension drawings Figure C-5 Wall installation of 380 V 132-200 kW VFDs Installation Weight Model hole (kg) 132 kW–200 kW Figure C-6 Wall installation of 380 V 220-315 kW VFDs Installation Weight Model hole (kg) 220 kW–280 kW...

  • Page 271: C.4.2 Flange Installation

    Goodrive35 Series Closed-loop Vector Control VFD Dimension drawings C.4.2 Flange installation (unit: mm) Figure C-7 Flange installation of 380 V 1.5-30 kW VFDs Installation Weight Model W1 W2 W3 W4 hole (kg) 1.5 kW–2.2 kW 150 115 130 7.5 190 16.5 174.5 65.5 4 kW–5.5 kW 170 131 150 9.5...

  • Page 272: C.4.3 Floor Installation

    Goodrive35 Series Closed-loop Vector Control VFD Dimension drawings Installation Weight Model W1 W2 W3 W4 hole (kg) 37 kW–55 kW 270 130 261 65.5 555 75 kW–110 kW 325 200 317 58.5 680 Figure C-9 Flange installation of 380 V 132-200 kW VFDs...

  • Page 273: C.5 Dimensions For Vfds Of Ac 3Ph 520 V (-15%)–690 V (+10%)

    Goodrive35 Series Closed-loop Vector Control VFD Dimension drawings Installation Model Weight (kg) hole 220 kW–280 kW 750 680 1410 1390 380 13\12 315 kW 680 1410 1390 380 13\12 C.5 Dimensions for VFDs of AC 3PH 520 V (-15%)–690 V (+10%) C.5.1 Wall installation (unit: mm)

  • Page 274: C.5.2 Flange Installation

    Goodrive35 Series Closed-loop Vector Control VFD Dimension drawings Model Installation hole Weight (kg) 160 kW–220 kW Figure C-13 Wall installation of 660 V 250-350 kW VFDs Model Installation hole Weight (kg) 250 kW–350 kW C.5.2 Flange installation (unit: mm) Figure C-14 Flange installation of 660 V 22-132 kW VFDs...

  • Page 275: C.5.3 Floor Installation

    Goodrive35 Series Closed-loop Vector Control VFD Dimension drawings Figure C-15 Flange installation of 660 V 160-220 kW VFDs Installation Weight Model W1 W2 W3 W4 H1 H3 H4 D1 hole (kg) 160 kW–220 kW 500 180 480 60 870 850 796 37 358 178.5...
  • Page 276 Goodrive35 Series Closed-loop Vector Control VFD Dimension drawings Figure C-17 Floor installation of 660 V 400-630 kW VFDs Installation Weight Model hole (kg) 400 kW–630 kW 1700 1678 22\12...

  • Page 277: Appendix D Optional Peripheral Accessories

    Optional peripheral accessories Appendix D Optional peripheral accessories D.1 What this chapter contains This chapter describes how to select the options and parts of Goodrive35 series. D.2 Peripheral wiring Below is the peripheral wiring of Goodrive35 series VFDs. Upper PC...
  • Page 278 Optional peripheral accessories 3. P1 terminal is included for 660 V and above models, which can be connected to external DC reactor directly; 4. The brake units INVT's DBU series standard brake units. For details, see the DBU operation manual. Name...

  • Page 279: D.3 Power Supply

    Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories D.3 Power supply Please refer to Chapter 4 "Installation guide".  Check that the voltage degree of the VFD complies with that of the grid. D.4 Cables D.4.1 Power cables Dimension the input power and motor cables according to local regulations.

  • Page 280: D.4.2 Control Cables

    Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories Wire screen Insulation course Figure D-1 Cross-section of the cable D.4.2 Control cables All analog control cables and cables used for frequency input must be shielded cables. Analog signal cables need to be double-shielded twisted-pair cables (as shown in figure a). Use one separate shielded twisted pair for each signal.
  • Page 281 Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories D.4.2.1 The VFDs of AC 3PH 380 V (-15%)–440 V (+10%) Recommende d cable size Connecting cable size (mm Termi Tightenin Model g torque screw (Nm) P1, (+) (+), (-) GD35-1R5G-4-C1/D1/H1 2.5–6...
  • Page 282 Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories Recommende d cable size Connecting cable size (mm Termi Tightenin Model g torque screw (Nm) P1, (+) (+), (-) 95*4P 95*4P 95*4P 95*2P GD35-250G-4-C1/D1/H1 95*4P 95*2P – – – – 150*2P...

  • Page 283: D.4.3 Routing The Cables

    Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories Recommended Connecting cable size (mm Tightening cable size (mm Terminal Model torque screw PB (+), (Nm) P1, (+) GD35-280G-6-C1/D1/H1 240–300 240–300 70–300 120–240 95*2P 95*2P 95*2P GD35-315G-6-C1/D1/H1 95*2P 120–300 –150*2P –150*2P –150*2P...

  • Page 284: D.4.4 Insulation Checking

    Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories Motor cable Min. 300mm Power cable Input power cable Motor cable 90° Min. 500mm Min. 200mm Control cable Control cable Figure D-3 Wiring layout distances D.4.4 Insulation checking Check the motor and the insulation conditions of the motor cable before running the motor.

  • Page 285: D.5.2 Ac 3Ph 520 V (-15%)–690 V (+10%)

    Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories The rated working current Model Breaker (A) Fuse (A) of the contactor (A) GD35-5R5G-4-C1/D1/H1/H2 GD35-7R5G-4- C1/D1/H1/H2 GD35-011G-4- C1/D1/H1/H2 GD35-015G-4-C1/D1/H1/H2 GD35-018G-4-C1/D1/H1/H2 GD35-022G-4-C1/D1/H1/H2 GD35-030G-4-C1/D1/H1/H2 GD35-037G-4-C1/D1/H1 GD35-045G-4-C1/D1/H1 GD35-055G-4-C1/D1/H1 GD35-075G-4-C1/D1/H1 GD35-090G-4-C1/D1/H1 GD35-110G-4-C1/D1/H1 GD35-132G-4-C1/D1/H1 GD35-160G-4-C1/D1/H1 GD35-185G-4-C1/D1/H1...

  • Page 286: D.6 Reactors

    VFD. If the distance between the VFD and motor is 50 m to 100 m, select the reactor according to the following table. If the distance is longer than 100 m, contact INVT's technical support technicians.

  • Page 287: D.6.1 Reactors For Ac 3Ph 380 V (-15%)–440 V (+10%)

    Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories Input reactors DC reactors Output reactors D.6.1 Reactors for AC 3PH 380 V (-15%)–440 V (+10%) Model Input reactor DC reactor Output reactor GD35-1R5-4-C1/D1/H1 ACL2-1R5-4 DCL2-2R2-4 OCL2-1R5-4 GD35-2R2-4-C1/D1/H1 ACL2-2R2-4 DCL2-2R2-4 OCL2-2R2-4...

  • Page 288: D.6.2 Reactors For Ac 3Ph 520 V (-15%)–690 V (+10%)

    Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories reactor is configured. 3. The rated output voltage drop of output reactors is 1%± 15%. 4. The preceding table describes external accessories. You need to specify the ones you choose when purchasing accessories.

  • Page 289: D.7.1 Filter Model Instruction

    Noise filters on the output side can decrease the radio noise caused by the cables between VFDs and motors and the leakage current of conducting wires. INVT provides some of the filters for users to choose. D.7.1 Filter model instruction...

  • Page 290: D.7.2 Filters For Ac 3Ph 380 V (-15%)–440 V (+10%)

    Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories Field identifier Detailed instruction L: General H: High-performance Filter application environment A: Environment Category I, C1 (EN 61800-3:2004) B: Environment Category I, C2 (EN 61800-3:2004) C: Environment Category II, C3 (EN 61800-3:2004) D.7.2 Filters for AC 3PH 380 V (-15%)–440 V (+10%)

  • Page 291: D.7.3 Filters For Ac 3Ph 520 V (-15%)–690 V (+10%)

    Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories D.7.3 Filters for AC 3PH 520 V (-15%)–690 V (+10%) Model Input filter Output filter GD35-022G-6-C1/D1/H1 GD35-030G-6-C1/D1/H1 FLT-P06050H-B FLT-L06050H-B GD35-037G-6-C1/D1/H1 GD35-045G-6-C1/D1/H1 GD35-055G-6-C1/D1/H1 FLT-P06100H-B FLT-L06100H-B GD35-075G-6-C1/D1/H1 GD35-090G-6-C1/D1/H1 GD35-110G-6-C1/D1/H1 GD35-132G-6-C1/D1/H1 FLT-P06200H-B FLT-L06200H-B GD35-160G-6-C1/D1/H1...
  • Page 292 Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories  Only qualified electricians are allowed to perform the wiring. Otherwise, damage to the VFD or brake components may be caused.  Read the brake resistor or unit instructions carefully before connecting them to the VFD.
  • Page 293 Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories Brake resistor Dissipation Dissipated Dissipated value power of power of power of matched brake brake brake allowed Brake unit Model with resistor resistor resistor brake model 100% (kW) (kW) (kW) resistor...
  • Page 294 Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories Brake resistor Dissipation Dissipated Dissipated value power of power of power of matched brake brake brake allowed Brake unit Model with resistor resistor resistor brake model 100% (kW) (kW) (kW) resistor...

  • Page 295: D.8.2 Selecting The Brake Resistor Cables

    Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories  Do not use brake resistors whose resistance is lower than the specified minimum resistance. VFDs do not provide protection against overcurrent caused by resistors with low resistance.  In scenarios where brake is frequently implemented, that is, the brake usage is greater than 10%, you need to select a brake resistor with higher power as required by the operation conditions according to the preceding table.
  • Page 296 Goodrive35 Series Closed-loop Vector Control VFD Optional peripheral accessories DBU brake Goodrive35 unit BR1 BR2 + + + + + External brake resistor RB...

  • Page 297: Appendix E Further Information

    Should you have any queries about the product, contact the local INVT office. Provide the model and serial number of the product you query about. You can visit www.invt.com to find a list of INVT offices. E.2 Feedback on INVT VFD manuals Your comments on our manuals are welcome.
  • Page 298 6 6 0 0 1 - 0 0 0 9 7 1 1 0 0 1 - 0 0 7 7 9 201908 (V3.6)

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