Kruger Ecowatt K320 Series Operation Manual page 131

Ecowatt Drive K320 series Basic operation guidelines
®
Adjust P00.10 and speed loop and current loop PI parameter in P03 group to make it run stably
in the whole range. If oscillation occurred, reduce the value of P03.00, P03.03, P03.09 and
P03.10. If current oscillation noise occurred during low speed, adjust P20.05.
Note: It is necessary to re-determine P20.02 (encoder direction) and carry out magnetic pole
position autotuning again if the wiring of motor or encoder is changed.
3. Commissioning procedures for pulse string control
Pulse input is operated based on closed-loop vector control; speed detection is needed in the
subsequent spindle positioning, zeroing operation and division operation.
Step 1: Restore to default value by keypad
Step 2: Set P00.03, P00.04 and motor nameplate parameters in P02 group
Step 3: Motor parameter autotuning: rotary parameter autotuning or static parameter
autotuning
Step 4: Verity the installation and settings of encoder. Set P00.00=3 and P00.10=20Hz to run the
system, and check the control effect and performance of the system.
Step 5: Set P21.00=0001 to set positioning mode to position control, namely pulse-string control.
There are four kinds of pulse command modes, which can be set by P21.01 (pulse command
mode).
Under position control mode, you can check high-order bit and low-order bit of position
reference and feedback, P18.02 (count value of Z pulse), P18.00 (actual frequency of encoder),
P18.17 (pulse command frequency) and P18.19 (position regulator output) via P18, through
which users can figure out the relation between P18.08 (position of position reference point)
and P18.02, pulse command frequency P18.17, feedforward P18.18 and position regulator output
P18.19.
Step 6: The position regulator has two gains, namelyP21.02 and P21.03, and they can be
switched by speed command, torque command and terminals.
Step 7: When P21.08 (output limit of position controller) is set to 0, the position control will be
invalid, and at this point, the pulse string acts as frequency source, P21.13 (position
feedforward gain) should be set to 100%, and the speed acceleration/deceleration time is
determined by the acceleration /deceleration time of pulse string, the pulse string
acceleration/deceleration time of the system can be adjusted. If the pulse string acts as the
frequency source in speed control, users can also set P21.00 to 0000, and set the frequency
source reference P00.06 or P00.07 to 12 (set by pulse string AB), at this point, the
acceleration/deceleration time is determined by the acceleration/deceleration time of the VFD,
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