INVT Goodrive35 Series Operation 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.
(4) Check the encoder is installed and correctly set
a) Ensure the encoder direction and parameters setting
Set P20.01 and set P00.00=2, P00.10=20 Hz. Start the VFD and watch the value of P18.00. If the
value is negative, the direction of the encoder is reversed and it is necessary to set P20.02=1, if a
huge bias exists, then the set value of P20.01 is wrong. Check if the fluctuation of P18.02 exists, then
the set value of P20.01 is wrong and check the wiring and the shield layer.
b) Ensure the direction of pulse Z
Set P00.10=20 Hz and P00.13 and observe the offset of P18.02 to ensure the value is less than 5. If
the reverse function of pulse Z are not available after setting P20.02, then exchange A and B phase of
the encoder after power off. And then observe the rotating value of P18.02 to ensure how far the
forward value derivate from the reverse value. The direction of pulse Z only impacts the positioning
accuracy of forward/reverse rotating if pulse Z is applied in the spindle positioning.
(5) Trial running of the closed-loop vector
Set P00.00=3 to carry out closed-loop vector control. Adjust P00.10 and the ASR and ACR PI
parameters in the P03 group to ensure the smooth running.
(6) The weak magnetism control
Set P03.26=0–2000 and observe the weak magnetism control. Adjust P03.22–P03.24 according the
actual need.
2. Closed-loop vector debugging of SM
(1) Set P00.18=1 and restore to the factory settings.
(2) Set P00.03=3, P00.03, P00.04 and the parameters in P02 group.
(3) Set P20.00 and P20.01.
If rotary transformer encoder is selected, please set the pulse pair of the encoder (the number of pole
pair*1024), if the pole pair is 4, please set P20.01=4096.
(4) Check the encoder is installed and correctly set.
Observe the value of P18.21 after motor stopping to ensure the value has no fluctuations or small
fluctuations. But check the wiring and grounding if the fluctuation is huge. Rotate the motor slowly and
the value of P18.21 may change slowly, too. If the value of P18.02 does not change and not equal to
0 after several cycles, then the signal of encoder Z is correct.
(5) Autotuning of the pole initial angle
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