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HD2 IP55 High-ingress Protection Series Inverter
Function
code
P20.15
Speed measurement mode
P18.00
Commissioning procedures for closed-loop control, position control
5.5.18
and spindle positioning
1. Commissioning procedures for closed-loop vector control of asynchronous motor
Step 1: Restore to default value via keypad
Step 2: Set P00.03, P00.04 and P02 group motor nameplate parameters
Step 3: Motor parameter autotuning
Carry out rotary parameter autotuning or static parameter autotuning via keypad, if the motor
can be disconnected from load, then it is users can carry out rotary parameter autotuning;
otherwise, carry out static parameter autotuning, the parameter obtained from autotuning will
be saved in P02 motor parameter group automatically.
Step 4: Verify whether the encoder is installed and set properly
a) Confirm the encoder direction and parameter setup
Set P20.01 (encoder pulse-per-revolution), set P00.00=2 and P00.10=20Hz, and run the
inverter, at this point, the motor rotates at 20Hz, observe whether the speed measurement value
of P18.00 is correct, if the value is negative, it indicates the encoder direction is reversed, under
such situation, set P20.02 to 1; if the speed measurement value deviates greatly, it indicates
P20.01 is set improperly. Observe whether P18.02 (encoder Z pulse count value) fluctuates, if
yes, it indicates the encoder suffers interference or P20.01 is set improperly, requiring users to
check the wiring and the shielding layer.
b) Determine Z pulse direction
Set P00.10=20Hz, and set P00.13 (running direction) to forward and reverse direction
respectively to observe whether the difference value of P18.02 is less than 5, if the difference
value remains to be larger than 5 after setting Z pulse reversal function of P20.02, power off
and exchange phase A and phase B of the encoder, and then observe the difference between
the value of P18.02 during forward and reverse rotation. Z pulse direction only affects the
forward/reverse positioning precision of the spindle positioning carried out with Z pulse.
Step 5: Closed-loop vector pilot-run
Set P00.00=3, and carry out closed-loop vector control, adjust P00.10 and speed loop and
current loop PI parameter in P03 group to make it run stably in the whole range.
Step 6: Flux-weakening control
Set flux-weakening regulator gain P03.26=0–8000, and observe the flux-weakening control
effect. P03.22–P03.24 can be adjusted as needed.
2. Commissioning procedures for closed-loop vector control of synchronous motor
Step 1: Set P00.18=1, restore to default value
Name
Actual frequency of
encoder
Description
0: PG card
1: local; realized by HDIA and HDIB;
supports incremental 24V encoder only
-999.9–3276.7Hz
-104
Basic Operation Instructions
Default
value
0.0Hz
0
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