INVT Goodrive 35 Series Operation Manual page 239

inverters Basic operation instruction
Goodrive35
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=20Hz. Start the inverter 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 Z pulse
Set P00.10=20Hz and P00.13 and observe the offset of P18.02 to ensure the value is less than 5.
If the reverse function of Z pulse 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 Z pulse only impacts the
positioning accuracy of forward/reverse rotating if Z pulse is applied in the spindle positioning.
(5)Trial running of the close loop vector
Set P00.00=3, carry out close loop vector control and adjust P00.10 and the speed loop and
current loop PI parameters.
(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. Close 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
Set P20.11=1 or 2 (1 is the rotating autotuning and 2 is the static autotuning) and press "RUN".
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