INVT Goodrive35 Series Operation Manual 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.
If ENC1O or ENC1D occurs during the operation, please set P20.02=1 and then re-autotune. If
ENC1Z occurs, check the connection of pulse Z.
The result will be saved in P20.09 and P20.10 after autotuning.
b) Static autotuning
It is recommended to apply rotating autotuning P20.11=1 to get higher autotuning precision if the load
can be de-coupled. The other autotuning mode is also available if the load cannot de-couple. The
pole position after autotuning is saved in P20.09 and P20.10.
(6) Trial running of the closed-loop vector
Adjust P0.10 and the ASR and ACR PI parameters in P3 group to ensure the smooth running. If
fluctuation occurs, reduce the value of P03.00 and P03.03, and P03.09 and P03.10. If the current
fluctuates at low speed, adjust P20.05.
Note: Reset P20.02 after change the motor or encoder wiring and re-autotune the angle of pulse Z.
3. Debugging steps of pulse string control
Pulse input is based on closed-loop vector control and speed detection is applied in the subsequent
steps.
(1) Set P00.18=1 and restore to the factory settings.
(2) Set P00.03 and P0.04 and the parameters in P02 group.
(3) Motor autotuning: rotating autotuning and static autotuning.
(4) Check the encoder is installed and correctly set. Set P00.00=3 and P00.10=20 Hz and operate.
Check the control and performance of the system.
(5)Set P21.00=0001 and select the position control as the position mode. There are 4 pulse
command modes which can be selected by P21.01.
In the position mode, the user can select the high/LSB of the reference and feedback value, P18.02,
P18.00, P18.17, P18.19 and the relationship between P18.08 and P18.02, P18.17, P18.18 and
P18.19.
(6) P21.02 and P21.03 can be shifted through speed command, torque command and terminal
operation.
(7) If set P21.08 to 0, the position control is invalid, the pulse train is the frequency source and P21.13
is 100%. The deceleration and acceleration time are determined by the deceleration and acceleration
time of the pulse train, but the deceleration and acceleration time of the pulse train in the system can
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