INVT Goodrive350 Series Operation Manual page 128

Goodrive350 IP55 High-ingress Protection Series VFD
then decelerate to stop.
During running, if the ENC1o or ENC1d fault occurs, set P20.02=1 and carry out
autotuning again.
After autotuning is completed, the angle obtained from autotuning is saved to
P20.09 and P20.10 automatically.
b) Static autotuning
In the scenarios where the load can be disconnected, you are recommended to
adopt rotary autotuning (P20.11=3) for high angle precision. If the load cannot be
disconnected, you can adopt static autotuning (P20.11=2). The magnetic pole
position obtained from autotuning is saved to P20.09 and P20.10 automatically.
(6) Perform closed-loop vector pilot-run.
Adjust P00.10 and speed loop and current loop PI parameters in group P03 to implement
stable run in the entire range. If oscillation occurs, reduce the value of P03.00, P03.03,
P03.09 and P03.10. If current oscillation noise occurs during low speed running, adjust
P20.05.
Note: You must re-determine P20.02 (encoder direction) and perform magnetic pole position
autotuning again if the motor or encoder wires are swapped.
3. Commissioning procedure for pulse train 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.
(1) Restore to default values through the keypad.
(2) Set P00.03, P00.04 and motor nameplate parameters in group P02.
(3) Motor parameter autotuning: rotary parameter autotuning or static parameter autotuning.
(4) Verify whether the encoder is installed and set properly. Set P00.00=3 and
P00.10=20.00Hz to run the system, and check the control effect and performance of the
system.
(5) Set P21.00=0001 to set positioning mode to position control, namely pulse-train control.
There are four kinds of pulse command modes, which can be set by P21.01 (pulse
command mode).
In position control mode, you can check the high bit and low bit of position reference and
feedback, P18.02 (Encoder Z pulse count value), P18.00 (Actual frequency of encoder),
P18.17 (Pulse command frequency), and P18.19 (Position regulator output), through
which you can figure out the relation between P18.08 (Pulse command feedforward) and
P18.02 (Encoder Z pulse count value), and between P18.17 (Pulse command frequency),
P18.18 (Pulse command feedforward) and P18.19 (Position regulator output).
(6) The position regulator has two gains, namely P21.02 and P21.03, and they can be
switched by speed command, torque command and terminals.
(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 train acts as frequency source, P21.13 (Position
feedforward gain) should be set to 100%, and the speed acceleration/deceleration time is
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Basic operation guidelines