INVT Goodrive350-19 Series Operation Manual page 206

Goodrive350-19 series VFD for crane Basic operation guidelines
to 1; if the speed measurement value deviates greatly, it indicates P20.01 is set improperly. Check
whether P18.02 (encoder Z pulse count value) fluctuates. If yes, it indicates the encoder suffers
interference or P20.01 is set improperly. Then check the wiring and the shield layer.
b) Determine the Z pulse direction.
Set P00.10=20Hz, and set P00.13 (running direction) to forward and reverse in turn to check whether
the difference in P18.02 is less than 5. If the difference remains greater than 5 after reversing the Z
pulse direction through P20.02, power off and swap phase A and phase B of the encoder. Then check
the difference in P18.02 between forward rotation and reverse rotation. The Z pulse direction only
affects the forward/reverse positioning precision of the spindle positioning carried out with Z pulses.
(5) Perform closed-loop vector pilot-run.
Set P00.00=3, and perform closed-loop vector control, and adjust P00.10 and speed loop and current
loop PI parameters in group P03 to implement stable run in the entire range.
(6) Perform flux-weakening control.
Set the flux-weakening regulator gain P03.26 to a value ranging from 0 to 8000, and check the
flux-weakening control effect. You can adjust P03.22–P03.24 as needed.
2. Commissioning procedure for closed-loop vector control on SMs
(1) Set P00.18=1 to restore to default settings.
(2) Set P00.00=3 (closed-loop vector control), set P00.03, P00.04, and motor nameplate parameters
in group P02.
(3) Set the encoder parameters P20.00 and P20.01.
When the encoder is a resolver-type encoder, set the encoder pulse count value to (resolver pole pair
count x 1024). For example, if the pole pair count is 4, set P20.01 to 4096.
(4) Verify whether the encoder is installed and set properly.
When the motor stops, check whether P18.21 (resolver angle) fluctuates. If it fluctuates sharply,
check the wiring and grounding. Rotate the motor slowly, and check whether P18.21 changes
accordingly. If yes, it indicates that the motor is connected correctly; if the value of P18.02 remains
unchanged as a non-zero value after multiple turns of rotation, it indicates that the encoder Z signal is
correct.
(5) Autotune the initial position of magnetic pole.
Set P20.11 to 2 (static autotuning) or 3 (rotary autotuning), and press the RUN key to run the VFD.
a) Rotary autotuning (P20.11=3)
Detect the present magnetic pole position when autotuning starts, and then accelerate to 10Hz to
autotune the magnetic pole position of encoder Z pulses, and then decelerate to stop.
During running, if the ENC1O or ENC1D fault occurs, set P20.02=1 and carry out autotuning again.
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