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INVT Goodrive350-19 Series Operation Manual
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INVT Goodrive350-19 Series Operation Manual

INVT Goodrive350-19 Series Operation Manual

Vfd for crane
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Goodrive350-19
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VFD for Crane

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Summary of Contents for INVT Goodrive350-19 Series

  • Page 1 Goodrive350-19 Series VFD for Crane...
  • Page 2 Goodrive350-19 Series VFD for Crane Change history Change description Version Release date First release. V1.0 March 2020 • Added section 5.2.5 Switching from lifting in closed-loop vector control to open-loop vector control. • Added section 5.5 Tower crane rotating without using an eddy current controller in space voltage vector control.
  • Page 3 Goodrive350-19 Series VFD for Crane Change history Change description Version Release date • Added section A.5.8 216 communication card and updated parameters in P87 accordingly. • Added sections A.5.9 Modbus TCP communication card, A.7.1 4G communication card, and A.8.1 24V power supply card.
  • Page 4 If not otherwise specified in this manual, the VFD always indicates Goodrive350-19 series VFD, which is a new generation of VFD that INVT develops for cranes by using advanced control technologies based on more than ten-year accumulative hoisting-industry experience. The VFD...
  • Page 5 Goodrive350-19 Series VFD for Crane Contents Contents 1 Safety precautions ......................... 1 1.1 What this chapter contains ..................... 1 1.2 Safety definition ........................1 1.3 Warning symbols ........................1 1.4 Safety guidelines ........................2 1.4.1 Delivery and installation ....................2 1.4.2 Commissioning and running ..................
  • Page 6 Goodrive350-19 Series VFD for Crane Contents 4.3.3 Wiring procedure for main circuit terminals ..............33 4.4 Standard wiring of the control circuit ..................34 4.4.1 Wiring diagram of basic control circuit ................ 34 4.4.2 Input/output signal connection diagram ..............36 4.4.3 Control circuit wiring of I/O expansion card 2 .............
  • Page 7 Goodrive350-19 Series VFD for Crane Contents 5.6.1 Function description ....................124 5.6.2 Description about switching from motor 2 to motor 3 ..........125 5.6.3 Motor and macro switchover parameters ..............125 5.6.4 Terminal-based motor and macro switchover flowchart ..........127 5.6.5 Shortcut multi-motor speed control mode switchover ..........
  • Page 8 Goodrive350-19 Series VFD for Crane Contents 7.1 What this chapter contains ....................146 7.2 Function parameter list ....................... 146 Group P00—Basic functions ..................... 147 Group P01—Start and stop control ................... 151 Group P02—Parameters of motor 1 .................. 158 Group P03––Vector control of motor 1 ................161 Group P04—V/F control ....................
  • Page 9 Goodrive350-19 Series VFD for Crane Contents 8.2 Indications of alarms and faults ..................348 8.3 Fault reset .......................... 348 8.4 Fault history ........................348 8.5 Faults and solutions ......................348 8.5.1 Faults and solutions ....................348 8.5.2 Alarms and solutions ....................359 8.5.3 Other status ......................
  • Page 10 Goodrive350-19 Series VFD for Crane Contents 10.4.4 Data address definition ................... 390 10.4.5 Fieldbus scale ......................394 10.4.6 Error message response ..................395 10.4.7 Read/Write operation examples ................397 10.4.8 Common communication faults ................401 11 Short description of communication PZD ................402 11.1 Dedicated CW (P16.72 ones place=1 or 3) ..............
  • Page 11 Goodrive350-19 Series VFD for Crane Contents B.2.1 Capacity ........................461 B.2.2 Derating ........................461 B.3 Grid specifications ......................462 B.4 Motor connection data ....................... 462 B.5 Application standards ......................462 B.5.1 CE marking ......................463 B.5.2 EMC compliance declaration ................... 463 B.6 EMC regulations ........................
  • Page 12 E.2 STO channel delay description ..................518 E.3 STO function installation checklist ..................519 Appendix F Further information ....................520 F.1 Product and service queries ....................520 F.2 Feedback on INVT VFD manuals ..................520 F.3 Documents on the Internet ....................520 -ix-...
  • Page 13 Goodrive350-19 Series VFD for Crane Safety precautions 1 Safety precautions 1.1 What this chapter contains Read this manual carefully and follow all safety precautions before moving, installing, operating and servicing the product. Otherwise, equipment damage or physical injury or death may be caused.
  • Page 14 Goodrive350-19 Series VFD for Crane Safety precautions Symbol Name Description Abbreviation Steps to take for ensuring the proper Note Note Note running of the product. 1.4 Safety guidelines  Only trained and qualified professionals are allowed to carry out related operations.
  • Page 15 Goodrive350-19 Series VFD for Crane Safety precautions measures like wearing safety shoes and working uniforms.  Protect the VFD against physical shock or vibration during the delivery and installation.  Do not carry the VFD only by its front cover as the cover may fall off.
  • Page 16 Goodrive350-19 Series VFD for Crane Safety precautions d) During operation, it is a must to ensure the permanent-magnet SM cannot run again by the action of external load; it is recommended to install an effective external braking device or cut off the direct electrical connection between the permanent-magnet SM and the VFD.
  • Page 17 Whether the product nameplate is consistent with the model identifier on the exterior surface of the packing box. If any problems are found, contact the local INVT dealer or office. Whether the accessories (including the manual, keypad, and expansion card) inside the packing box are complete.
  • Page 18 Goodrive350-19 Series VFD for Crane Quick startup Note: When the VFD is built in a cabinet, the ambient temperature is the temperature of air in the cabinet. Whether the altitude of the application site exceeds 1000m. When the installation site altitude exceeds 1000 m, derate 1% for every increase of 100m.
  • Page 19 Goodrive350-19 Series VFD for Crane Quick startup static autotuning. Adjust the ACC/DEC time according to the actual work condition of the load. Perform device commissioning by means of jogging and check whether the motor rotational direction is correct. If not, change the rotation direction by swapping any two phase wires of the motor.
  • Page 20 Goodrive350-19 Series VFD for Crane Product overview 3 Product overview 3.1 What this chapter contains This chapter mainly introduces the operation principles, product features, layouts, nameplates and model designation rules. 3.2 Basic principles The VFD is used to control asynchronous AC induction motors and permanent-magnet synchronous motors.
  • Page 21 Goodrive350-19 Series VFD for Crane Product overview （+） （-） Figure 3-3 Main circuit diagram for 380V 30kW–75kW VFD models （+） DC reactor （-） Figure 3-4 Main circuit diagram for 380V 132kW–315kW VFD models （+） DC reactor （-） Figure 3-5 Main circuit diagram for 380V 355kW and higher VFD models...
  • Page 22 Goodrive350-19 Series VFD for Crane Product overview （+） DC reactor （-） Figure 3-6 Main circuit diagram for all 660V VFD models Note:  The 132kW and higher VFD models can be connected to external DC reactors. Before connection, remove the copper bar between P1 and (+). The 132kW and higher VFD models can be connected to external braking unit.
  • Page 23 Goodrive350-19 Series VFD for Crane Product overview Function description Specifications (kW) Output frequency 0–150Hz (Hz) Space voltage vector control mode Control mode Sensorless vector control (SVC) mode Feedback vector control (FVC) mode Asynchronous motor (AM) and permanent magnetic Motor type...
  • Page 24 Goodrive350-19 Series VFD for Crane Product overview Function description Specifications During startup, the magnetic flow is increased to release the Conical motor brake. During stop, the magnetic flow is decreased to close the control brake. In closed-loop mode, the speed can be boosted and limited at constant power status, and the speed is limited in stepped way.
  • Page 25 Goodrive350-19 Series VFD for Crane Product overview Function description Specifications In closed-loop mode, an encoder is used to obtain load position Load position information. Master/slave Including power balance and speed synchronization between the control master and slave. Hoisting Including lifting, horizontal moving, construction elevator, tower application macro crane slewing, moving, and user-defined application macros.
  • Page 26 Goodrive350-19 Series VFD for Crane Product overview Function description Specifications start, run, and stop at the preset running frequency and time according to the settings. During the process, the brake can be normally opened or closed under the control of VFD, ensuring the stability without hook slip or exception when the crane starts or stops.
  • Page 27 Goodrive350-19 Series VFD for Crane Product overview Function description Specifications  The 1.5–5.5kW VFD models support two expansion cards at most at the same time.  The 7.5kW and higher VFD models support three expansion cards at most at the same time.
  • Page 28 Goodrive350-19 Series VFD for Crane Product overview Function description Specifications requirements. Table 3-2 Specialized functions Function Control mode Mode V/F SVC FVC √ √ √ Brake control in speed mode √ √ √ Restart after braking √ √ √ Brake feedback √...
  • Page 29 Goodrive350-19 Series VFD for Crane Product overview Function Control mode √ √ Reverse braking √ √ FWD/REV switchover √ √ Wind resistance √ √ Jogging hook following √ √ √ Open/closed switchover √ √ √ Motor parameter switchover Simultaneous motor and master/slave √...
  • Page 30 Goodrive350-19 Series VFD for Crane Product overview Field Field description Content ① Product series abbreviation GD350-19: Goodrive350-19 series VFD for crane 037: 37kW ② Power range + Load type G: Constant torque load 4: AC 3PH 380V(-15%)–440V(+10%) ③ Voltage class 6: AC 3PH 520V(-15%)–690V(+10%)
  • Page 31 Goodrive350-19 Series VFD for Crane Product overview VFD model Output power (kW) Input current (A) Output current (A) GD350-19-400G-4 GD350-19-450G-4 GD350-19-500G-4 Note:  The input current of the 1.5–500kW VFD models is measured in cases where the input voltage is 380V without additional reactors.
  • Page 32 Goodrive350-19 Series VFD for Crane Product overview  The input current of the 22–350kW VFD models is measured in cases where the input voltage is 660V without DC reactors and input/output reactors.  The input current of the 400–630kW VFD models is measured in cases where the input voltage is 660V and there are input reactors.
  • Page 33 Goodrive350-19 Series VFD for Crane Product overview 3.7 Structure The VFD structure is shown in the following figure (taking the 380V 30kW VFD model as an example). Figure 3-8 Product structure Name Description Upper cover Protects internal components and parts.
  • Page 34 INVT does not assume any liability whatsoever for any VFD installation which breaches local laws or regulations. If recommendations given by INVT are not followed, the VFD may experience problems that the warranty does not cover. 4.2 Mechanical installation 4.2.1 Installation environment...
  • Page 35  Lower than 1000 meters  When the altitude exceeds 1000m, derate by 1% for every increase of 100m. Altitude  When the installation site altitude exceeds 3000m, consult the local INVT dealer or office. Vibration The max. amplitude of vibration cannot exceed 5.8m/s (0.6g).
  • Page 36 Goodrive350-19 Series VFD for Crane Installation guidelines a. Vertical installation b. Horizontal installation c. Lateral installation Figure 4-1 Installation direction 4.2.3 Installation method There are three kinds of installation modes based on different VFD dimensions.  Wall mounting: applicable to 380V 315kW and lower models, and 660V 355kW and lower models ...
  • Page 37 Goodrive350-19 Series VFD for Crane Installation guidelines 22–220kW VFD models.  For a VFD without the need to use a flange mounting plate, you only need to remove the upper and lower mounting beams from the VFD back, and then move them to the VFD middle position as shown in the preceding figure.
  • Page 38 Goodrive350-19 Series VFD for Crane Installation guidelines 4.2.6 Vertical installation Windshield Cold Cold Windshield Figure 4-5 Vertical installation Note: During vertical installation, you must install windshield, otherwise, the VFD will experience mutual interference, and the heat dissipation effect will be degraded.
  • Page 39 Goodrive350-19 Series VFD for Crane Installation guidelines 4.2.7 Tilted installation Cold Cold Cold Figure 4-6 Tilted installation Note: During tilted installation, it is a must to ensure the air inlet duct and air outlet duct are separated from each other to avoid mutual interference.
  • Page 40 Goodrive350-19 Series VFD for Crane Installation guidelines 4.3 Standard wiring of the main circuit 4.3.1 Main circuit wiring diagram Braking resistor （+） （-） Output reactor Input VFD models of 110kW and reactor 3PH power Output 380V± 15% lower filter Input...
  • Page 41 Goodrive350-19 Series VFD for Crane Installation guidelines Note:  The fuse, DC reactor, braking resistor, input reactor, input filter, output reactor and output filter are optional parts. For details, see Appendix D Optional peripheral accessories.  P1 and (+) have been short connected by default. If you need to connect an external DC reactor, remove the jumper between P1 and (+).
  • Page 42 Goodrive350-19 Series VFD for Crane Installation guidelines Figure 4-12 Main circuit terminal diagram for 660V 22–45kW Figure 4-13 Main circuit terminal diagram for 660V 55–132kW -30-...
  • Page 43 Goodrive350-19 Series VFD for Crane Installation guidelines Figure 4-14 Main circuit terminal diagram for 380V 132–200kW (without A1 or A2) and 660V 160–220kW Figure 4-15 Main circuit terminal diagram for 380V 220–315kW (without A1 or A2) and 660V 250–355kW -31-...
  • Page 44 Goodrive350-19 Series VFD for Crane Installation guidelines Figure 4-16 Main circuit terminal diagram for 380V 355–500kW (without A1 or A2) and 660V 400–630kW Terminal name Terminal 380V 132kW and Function description symbol 380V 110kW and lower higher 660V 3PH AC input terminals,...
  • Page 45 Goodrive350-19 Series VFD for Crane Installation guidelines Terminal name Terminal 380V 132kW and Function description symbol 380V 110kW and lower higher 660V Braking resistor terminal PB and (+) connect to external Not available braking resistor terminal Grounding terminal for safe Safety protection grounding terminal (grounding protection;...
  • Page 46 Goodrive350-19 Series VFD for Crane Installation guidelines 4.4 Standard wiring of the control circuit 4.4.1 Wiring diagram of basic control circuit FWD run Analog output REV run 0-10V/0-20mA Fault reset output HDIA HDIB High-speed pulse output and open collector output are available to choose.
  • Page 47 Goodrive350-19 Series VFD for Crane Installation guidelines Terminal Description name Input impedance: 20kΩ for voltage input or 250Ω for current input Whether voltage or current is used for input of AI1 is set through P05.50. Resolution: 5mV when 10V corresponds to 50Hz Deviation: ±0.5% at 25°...
  • Page 48 Goodrive350-19 Series VFD for Crane Installation guidelines Terminal Description name Supporting quadrature encoder input; with the speed measurement function +24V—H1 STO input 1 1、 Safe torque off (STO) redundant input, connected to the external NC contact. When the contact opens, STO acts and the VFD stops output.
  • Page 49 Goodrive350-19 Series VFD for Crane Installation guidelines + 24V +24V + 24V + 24V + 24V Internal power（NPN mode） External power（NPN mode） Figure 4-20 NPN mode If the input signal comes from the PNP transistor, set the U-shaped jumper between COM and PW based on the power used according to Figure 4-21 PNP mode.
  • Page 50 Goodrive350-19 Series VFD for Crane Installation guidelines 4.4.3 Control circuit wiring of I/O expansion card 2 Goodrive350-19 series expansion card Expansion terminal Expansion terminal Expansion terminal Expansion terminal +24V RO3A Relay 3 output PT1+ RO3C Temperature input PT2+ RO4A Relay 4 output...
  • Page 51 Goodrive350-19 Series VFD for Crane Installation guidelines Terminal Description name Independent PT100 and PT1000 inputs: PT1+ connects to PT100, while PT2+ PT1+ connects to PT1000. 1、 Resolution: 1° C 2、 Range: -20° C–150° C PT2+ 3、 Detection precision: 3° C 4、...
  • Page 52 Goodrive350-19 Series VFD for Crane Installation guidelines 4.5 Wiring protection 4.5.1 Protecting the VFD and input power cable in case of short circuit The VFD and input power cable can be protected in case of short circuit, avoiding thermal overload.
  • Page 53 Goodrive350-19 Series VFD for Crane Commissioning guidelines 5 Commissioning guidelines 5.1 Lifting In lifting mechanical equipment, mechanical braking is generally involved, which means that a motor can quickly stop rotation after the power supply to the motor is disconnected through the mechanical device.
  • Page 54 Goodrive350-19 Series VFD for Crane Commissioning guidelines holding brake closing (T4), and delay after reverse holding brake closing (T8). Note: If delay before reverse holding brake release (T5), delay after reverse holding brake release (T6), delay before reverse holding brake closing (T7), and delay after reverse holding brake closing (T8) are set to 0, the delay parameters for forwarding running are used.
  • Page 55 Goodrive350-19 Series VFD for Crane Commissioning guidelines Perform trial run and check whether the holding brake timing is correct. FWD/REV running command frequency T3/T7 T4/T8 FWD/REV T1/T5 T2/T6 brake close FWD/REV frequency P90.16/ brake P90.18/ P90.17 Output release P90.19 frequency...
  • Page 56 Goodrive350-19 Series VFD for Crane Commissioning guidelines Torque (%) Torque verification delay 60ms Torque verification time P90.30 Frequency (Hz) In closed-loop mode, if the holding brake slip fault delay P93.01 is greater than 0, the holding brake slip detection function is enabled. During torque verification, if the motor (encoder) speed is close to the holding brake release frequency and the situation duration exceeds P93.01, the holding brake...
  • Page 57 Goodrive350-19 Series VFD for Crane Commissioning guidelines condition is holding brake in speed mode. The main relevant parameters are listed in the following. Function Name Description Default code 0–1 0: The brake is controlled by an P90.04 Enabling brake-oriented logic external controller.
  • Page 58 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Default code frequency Delay before forward brake P90.20 0.000–5.000s 0.300s release 0.000–5.000s Delay before reverse brake P90.21 The value 0 indicates the delay before 0.000s release forward brake release is used.
  • Page 59 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Default code 1: Enable (The brake feedback alarm is also reported.) Speed reference under brake P90.35 0.00–50.00Hz 5.00Hz status error Brake selection for 0–1 P90.37 forward/reverse 0: No switchover switchover 1: Switchover 0.000–5.000s...
  • Page 60 Goodrive350-19 Series VFD for Crane Commissioning guidelines Brake closing timing for stop: The VFD automatically switches from the torque mode to the speed mode and then decelerates to stop. Then the holding brake logic can directly use the brake closing logic in the speed mode.
  • Page 61 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code delay time before brake release, after brake release, before brake closing, or after brake closing. 0.0–200.0% During running, when the torque feedback value is greater than or equal to P90.42, it Torque setting for brake P90.42...
  • Page 62 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code P01.01 Starting frequency of direct start 0.00–50.00Hz 0.00Hz P01.15 Stop speed 0.00–100.00Hz 0.00Hz P01.24 Stop speed delay 0.0–600.0s 0.3s Ones place: Control mode selection 0: Speed control 1: Position control...
  • Page 63 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code 0: PROFIBUS/CANopen/EtherCAT communication (when P21.17=0) or P21.17 (P21.17≠0); 1: Reserved bit10: Reserved bit11: Indicates whether to save incremental position during power outage 0: Don not save; 1: Save Bit 12–Bit 13: Positioning curve...
  • Page 64 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code P90.00 Logic special for holding brake 0–1 Forward brake closing P90.18 0.00–20.00Hz 0.00Hz frequency Reverse brake closing P90.19 0.00–20.00Hz 0.00Hz frequency Delay after forward brake P90.22 0.000–5.000s 0.300s...
  • Page 65 Goodrive350-19 Series VFD for Crane Commissioning guidelines activated (P90.04=1 for the master, and P90.04=0 for the slave). Brake Brake Reduction Reduction Lifting motor Lifting motor gear box gear box Master/slave holding brake synchronization control requires the following additional function codes to be set.
  • Page 66 Goodrive350-19 Series VFD for Crane Commissioning guidelines 5.1.2 Commissioning steel wire rope (such as in a tower crane) lifting applications 5.1.2.1 Common wiring Braking resistor Lifting PGND Lowering Multi-step speed reference terminal 3 Fault reset +24V Closed- PG card loop...
  • Page 67 Goodrive350-19 Series VFD for Crane Commissioning guidelines Set P90.00=2 to select the closed-loop vector hoist lifting application macro. Perform low-speed trial run. 5.1.2.3 Macro parameters (P90.00=2) Function Name Setting Remarks code P00.00 Speed control mode Closed-loop vector control mode P00.01...
  • Page 68 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Setting Remarks code P11.14 Speed deviation detection value 20.0% Enabling PI parameter P23.15 switchover for start/stop in vector Enable mode P25.01 Function of S5 Brake feedback signal P25.02 Function of S6 Multi-step speed 1 P25.03...
  • Page 69 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Setting Remarks code running Load limit T1 in stepped speed P91.26 50.0% limit downward running Load limit T2 in stepped speed P91.28 45.0% limit downward running Restricted frequency f2 in P91.29 stepped speed limit downward 70.00Hz...
  • Page 70 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Setting Remarks code mode 1 P01.01 Starting frequency of direct start 1.00Hz P01.15 Stop speed 1.50 Hz P10.02 Multi-step speed 0 0.0% P10.14 Multi-step speed 6 0.0% P10.16 Multi-step speed 7 0.0%...
  • Page 71 Goodrive350-19 Series VFD for Crane Commissioning guidelines Set P90.00=2 (Lifting in closed-loop vector control), and set P90.01=1 (Lifting in open-loop vector control). Set P90.03=5 (Switch to SVC1 control). Select S terminal function 62 (Switch to to SVC1 control). When the S terminal is invalid, the motor uses P90.00=2; when the S terminal is valid, the motor uses P90.01=1.
  • Page 72 Goodrive350-19 Series VFD for Crane Commissioning guidelines Note: If delay before reverse brake release (T5), delay after reverse brake release (T6), delay before reverse brake closing (T7), and delay after reverse brake closing (T8) are set to 0, the delay parameters for forwarding running are used.
  • Page 73 Goodrive350-19 Series VFD for Crane Commissioning guidelines Adjust braking comfort, which can be implemented by using the following methods. A. In I/F mode, you can decrease the brake release frequency and brake closing frequency and adjust the T1–T8 delay parameters in the timing sequence so that the impact is reduced. Note that the brake release frequency and brake closing frequency are greater than P01.01 (Starting frequency)
  • Page 74 Goodrive350-19 Series VFD for Crane Commissioning guidelines C. During the stop process, you can enable the maintenance frequency so that the device runs at a low speed within a small period of time before the stop, since impact may be caused if the device directly stops at a high speed.
  • Page 75 Goodrive350-19 Series VFD for Crane Commissioning guidelines Frequency Frequency of grade 1 or 2 P08.19 P00.11 P08.00 P08.01 P00.12 P00.11: ACC time 1 P00.12: DEC time 1 P08.00: ACC time 2 P08.01: DEC time 2 P08.19: ACC/DEC time switchover frequency point 5.1.3.4 Space voltage vector control parameters...
  • Page 76 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Setting Remarks code P90.19 Reverse brake closing frequency 1.50Hz 5.1.4 Commissioning lifting applications in mine hoists, winches, and drawworks 5.1.4.1 Common wiring Braking resistor Lifting Lowering PGND PGND Upper limit Fault reset...
  • Page 77 Goodrive350-19 Series VFD for Crane Commissioning guidelines Braking resistor Lifting Lowering PGND PGND Upper limit Fault reset +24V Closed-loop PG card PG card vector +10V RO1A Brake output RO1B Externally RO1C connected -10V RO2A VFD fault RO2B output RO2C Figure 5-3 Wiring for applications in mining hoists, winches, and drawworks (using analog reference -10V–10V)
  • Page 78 Goodrive350-19 Series VFD for Crane Commissioning guidelines 5.1.4.3 Closed-loop vector controlled winch application macro parameters (P90.00=11) Table 5-1 Parameter settings for the closed-loop vector controlled winch application macro (recommended analog reference 0V–10V) Function Name Setting Remarks code P00.00 Speed control mode...
  • Page 79 Goodrive350-19 Series VFD for Crane Commissioning guidelines Table 5-2 Frequency giving parameters when using analog reference -10V–10V Function Name Setting Remarks code Setting channel of A P00.06 frequency command P05.29 AI2 lower limit -10.00V -10.00V–P05.31 Corresponding setting of P05.30 100.0% -300.0%–300.0%...
  • Page 80 Goodrive350-19 Series VFD for Crane Commissioning guidelines Table 5-3 Parameter settings for the open-loop vector controlled winch application macro (recommended analog reference 0V–10V) Function Name Setting Remarks code Sensorless vector control (SVC) mode P00.00 Speed control mode P01.15 Stop speed 0.50 Hz...
  • Page 81 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Setting Remarks code Channel of running P00.01 Terminal commands Setting channel of A P00.06 frequency command P00.11 ACC time 1 18.0s P00.12 DEC time 1 12.0s Starting frequency of P01.01 0.50Hz...
  • Page 82 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Setting Remarks code Forward brake release You can increase it properly if sliding P90.16 0.70Hz frequency may occur at half the ramp. Reverse brake release You can increase it properly if sliding P90.17...
  • Page 83 Goodrive350-19 Series VFD for Crane Commissioning guidelines Stop Stop detection pulses > P93.05? Fault? Fault reset Overvoltage? Voltage recovered? Hardware fault? Zero-servo run Run or jog command? P93.07 tens Down command? place=1? Exit zero-servo run Stop Note:  At certain faults that cannot be reset, such as VFD internal hardware damaged, zero servo cannot be entered.
  • Page 84 Goodrive350-19 Series VFD for Crane Commissioning guidelines Fault code Fault type Fault code Fault type Exception occurred to safe circuit Phase loss on input side STL2 of channel 2 Exception occurred to channel 1 Phase loss on output side STL3...
  • Page 85 Goodrive350-19 Series VFD for Crane Commissioning guidelines VFD brake failure output Mechanical brake failure Load height h P93.06 Initial height P93.05 P93.04 3*P93.05 P93.06 P93.05 P93.04 3*P93.05 Time t Action 1 Action 2 Ground Motor frequency Time t P93.03 5.1.5.2 Zero servo function codes...
  • Page 86 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code Slow lowering Setting range: P90.17 (Reverse brake release P93.03 frequency at zero 4.00Hz frequency)–8.00Hz servo Slow lowering hold P93.04 Setting range: 0.0s–30.0s 2.0s time at zero servo Zero servo P93.05...
  • Page 87 Goodrive350-19 Series VFD for Crane Commissioning guidelines Winding turns of outermost layer Full layer winding turns P93.14 P93.13 P93.09 Encoder P93.15 Lifting motor Upward limit position P93.12 Rope droop length P94.05 P93.11 P93.17 P93.18 Downward limit position Ground Figure 5-6 Internal measuring (motor encoder), without pulleys...
  • Page 88 Goodrive350-19 Series VFD for Crane Commissioning guidelines Braking resistor Lifting Lowering PGND Graded reference terminal 1 Graded reference terminal 2 HDIA Graded reference terminal 3 HDIB Graded reference terminal 4 Fault reset Brake feedback Upward limit position Downward limit position...
  • Page 89 Goodrive350-19 Series VFD for Crane Commissioning guidelines used as for upper limit input. Enable forward running (upward) and stop when the upward limit position is reached. Then perform calibration. Record the values of P93.14 (Initial turns of drum winding) and P93.13 (Per-layer turns of drum winding), and clear the settings of P94.05, P94.06, and P94.07 to 0.
  • Page 90 Goodrive350-19 Series VFD for Crane Commissioning guidelines External measuring (HDI) Braking resistor Lifting Lowering Graded reference terminal 1 +24V Graded reference terminal 2 Encoder Graded reference terminal 3 HDIA Graded reference terminal 4 HDIB Upward limit position Downward limit position...
  • Page 91 Goodrive350-19 Series VFD for Crane Commissioning guidelines Braking resistor Lifting PGND Lowing Graded reference terminal 1 Graded reference terminal 2 Graded reference terminal 3 Graded reference terminal 4 Upward limit position Downward limit position RO1A Brake +24V output RO1B RO1C...
  • Page 92 Goodrive350-19 Series VFD for Crane Commissioning guidelines Pulley diameter Upward limit P93.15 position Encoder mounted on pulley shaft Rope droop P93.09=1 length P93.12 P94.05 Lifting motor P93.17 P93.11 P93.18 Downward limit position Ground Figure 5-10 External measuring (HDI) You need to set P05.38=2 and P05.44=2 to connect the encoder to HDIA and HDIB. In open/closed-loop mode, the encoder measures the encoder pulse count at the pulley side to calculate the actual cable running distance of pulley.
  • Page 93 Goodrive350-19 Series VFD for Crane Commissioning guidelines height is positive when it is above the downward limit position, the height is negative when it is under the downward limit position), and P94.05 displays the height using the upward limit position as the reference point (the height is 0 at the upward limit position, and only downward running is allowed when the upward limit position is reached, and P94.05 indicates the rope droop length...
  • Page 94 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code Mechanical P93.09 0.01–300.00 10.00 transmission ratio P93.10 Suspension ratio 1–4 Rope length P93.11 0.00–50.00m 0.00m compensation P93.12 Cable diameter 0.1–100.0m 10.0mm Per-layer turns of P93.13 1–200 drum winding Initial turns of drum P93.14...
  • Page 95 Goodrive350-19 Series VFD for Crane Commissioning guidelines Table 5-6 Parameters about external measuring (HDI) Function Name Description Setting code 0: SVC 0 1: SVC 1 2: Space voltage vector control mode P00.00 Speed control mode 3: Closed-loop vector control mode...
  • Page 96 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code the height.) Mechanical P93.09 0.01–300.00 1.00 transmission ratio P93.10 Suspension ratio 1–4 Rope length P93.11 0.00–50.00m 0.00m compensation P93.12 Cable diameter 0.1–100.0m 10.0mm P93.15 Pulley diameter 100.0–2000.0mm 600.0mm...
  • Page 97 Goodrive350-19 Series VFD for Crane Commissioning guidelines 5.1.7 Commissioning the conical motor function 5.1.7.1 Wiring Braking resistor FWD run RO1A REV run RO1B VFD fault output Multi-step speed giving terminal 1 RO1C Coasting to stop HDIA Fault reset +24V Figure 5-11 Wiring for the conical motor Note: If the wiring is performed according to Figure 5-11 Wiring for the conical motor, most VFD parameters need no adjustment.
  • Page 98 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Setting Remarks code P01.01 Starting frequency of direct start 2.00Hz 2.00Hz P05.00 HDI input type 0x01 HDIA is digital input. P05.03 Function of S3 Multi-step speed terminal 1 P05.04 Function of S4 Coast to stop P05.05...
  • Page 99 Goodrive350-19 Series VFD for Crane Commissioning guidelines 5.2 Commissioning horizontal moving 5.2.1 Wiring Braking resistor RO1A FWD run RO1B REV run VFD fault output RO1C Fault reset RO2A RO2B Brake output +24V RO2C Multi-step speed giving terminal 1 Multi-step speed giving terminal 2...
  • Page 100 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function code Name Setting Remarks P00.03 Max. output frequency 100.00Hz Upper limit of running P00.04 60.00Hz frequency Setting channel of A P00.06 Multi-step speed running frequency command P00.11 ACC time 1 5.0s P00.12 DEC time 1 4.0s...
  • Page 101 Goodrive350-19 Series VFD for Crane Commissioning guidelines and set P90.12 and P90.13 to 0 to prevent the torque verification fault reporting caused by empty load.  During onsite commissioning, if the VFD terminal signal upward/downward running command is inconsistent with the hook lifting/lowering, swap any two phase wires of VFD output terminals U, V, and W.
  • Page 102 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code Note: When P93.08=2, P20.15=0 indicates HDI measuring the height. Mechanical P93.09 0.01–300.00 10.00 transmission ratio P93.10 Suspension ratio 1–4 Rope length P93.11 0.00–50.00m 0.00m compensation P93.12 Cable diameter 0.1–100.0m...
  • Page 103 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code 2: AI2 3: HDIA 4: HDIB 5: Max(AI1, HDIA) 6: Max(AI2, HDIB) P85.03 Keypad set rope length 0.00–100.00m 0.00m P85.04 Max. rope length 5.00–150.00m 40.00m Rope length P85.05 0.00–150.00m...
  • Page 104 Goodrive350-19 Series VFD for Crane Commissioning guidelines 5.2.5.2 Commissioning procedure of anti-sway for factory/port cranes (with one hook) Long travel mechanism GD350-19 Lifting mechanism GD350-19 Cross travel mechanism GD350-19 Application to a factory/port crane (with one hook) Set lifting and cross travel mechanism VFD parameters, which are the same as section 5.2.5.1 Commissioning procedure of the anti-sway function for tower cranes.
  • Page 105 Goodrive350-19 Series VFD for Crane Commissioning guidelines height), and the auxiliary VFD P06.14=35 (AO1 outputs hook rope height). The long and cross travel mechanism VFDs use AI1 and HDIA or AI2 and HDIB to receive the rope heights transmitted by the main and auxiliary hook VFDs, and the rope height source P85.02 is set to 5 or 6.
  • Page 106 Goodrive350-19 Series VFD for Crane Commissioning guidelines When P85.01=2 (S curve anti-sway mode), related parameters are listed in the following. Function Name Description Setting code P01.05 ACC/DEC mode 1: S curve Time of starting segment of DEC S P01.06 0.0–50.0s 0.5s...
  • Page 107 Goodrive350-19 Series VFD for Crane Commissioning guidelines 5.3 Commissioning tower crane slewing 5.3.1 Wiring Braking resistor FWD run REV run PGND PGND Fault reset +24V Multi-step speed giving terminal 1 Multi-step speed giving terminal 2 PG card PG card Closed-loop...
  • Page 108 Goodrive350-19 Series VFD for Crane Commissioning guidelines autotuning. Set the encoder type parameter P20.00, set the pulse per resolution (PPR) parameter P20.01. Perform low-speed upward running. Check the value of P18.00. If the value is negative, the encoder direction is reversed. Then you only need to set P20.02=0x001.
  • Page 109 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Setting Remarks code frequency, gear-2 speed Corresponding to the max. P10.08 Multi-step speed 3 50.0% frequency, gear-3 speed Corresponding to the max. P10.10 Multi-step speed 4 70.0% frequency, gear-4 speed Corresponding to the max.
  • Page 110 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Setting Remarks code maintenance point Hold time 1 of direction P86.16 change switchover 1.500s frequency Enabling tower crane Enable tower crane deformation P86.39 deformation compensation compensation Note: The macro parameter table does not contain some parameters that are factory default parameters.
  • Page 111 Goodrive350-19 Series VFD for Crane Commissioning guidelines  If you perform empty-load commissioning, set P90.00= 14 (Closed-loop vector control) or 15 (Space voltage vector control) to select the application macro for tower crane slewing without using an eddy current controller.
  • Page 112 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Setting Remarks code ACC/DEC time P08.19, switch to ACC/DEC time 2. P10.04 Multi-step speed 1 16.0% Corresponding to the max. frequency P10.06 Multi-step speed 2 32.0% Corresponding to the max. frequency P10.08...
  • Page 113 Goodrive350-19 Series VFD for Crane Commissioning guidelines 5.3.3.4 Controlling the eddy current control module through the HDO terminal Braking resistor Eddy current control module Figure 5-14 Connecting the HDO terminal to the eddy current control module Commissioning procedure: Connect the HDO terminal to the eddy current control module according to Figure 5-14 Connecting the HDO terminal to the eddy current control module.
  • Page 114 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Setting Value code Enabling HDO based eddy 1: HDO is used as PWM signal for P91.37 current control for tower voltage adjustment output. crane slewing P91.38 Frequency f0 P91.38 setting range: P91.40–P00.03 50.00Hz...
  • Page 115 Goodrive350-19 Series VFD for Crane Commissioning guidelines 5.3.3.5 Controlling the eddy current control module through the AO terminal Braking resistor Eddy current Eddy current control module control module Figure 5-15 Connecting the AO terminal to the eddy current control module Note: Turn SW2 on the control board to "V"...
  • Page 116 Goodrive350-19 Series VFD for Crane Commissioning guidelines AO voltage P06.20 P06.18 Frequency P06.19 P06.17 P00.03 Vortex voltage AO voltage P06.18 P06.20 The relationship between the motor running frequency, AO voltage, and eddy current voltage is as follows: Running frequency < 8Hz...
  • Page 117 Goodrive350-19 Series VFD for Crane Commissioning guidelines Set motor parameters in P02. Set P05.01=10 and P05.02=11 to specify the UP/DOWN terminals. Set P08.44 to set terminal control validity, and set P08.45 and P08.46 to set the increase/decrease change rate of the UP/DOWN terminal frequency.
  • Page 118 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Setting Remarks code P00.07 = 0 1: Valid for all frequency setting methods 2: Invalid for multi-step speed running when multi-step speed running has the priority Hundreds place: Action selection for stop 0: Setting is valid.
  • Page 119 Goodrive350-19 Series VFD for Crane Commissioning guidelines High-speed brake Lifting motor 1 Lifting motor 2 Low-speed Low-speed brake brake Figure 5-18 Mechanical structure 1 In general, if multiple VFDs control multiple motors through belt connection, it is considered as flexible connection (or soft connection).
  • Page 120 Goodrive350-19 Series VFD for Crane Commissioning guidelines Low-speed brake High-speed High-speed brake brake Lifting motor 1 Lifting motor 2 Figure 5-19 Mechanical structure 2 Since master/slave speed synchronization requires speed consistency, the VFD must use the closed-loop mode. Therefore, only master/slave mode 4 in the CAN communication master/slave mode can be used.
  • Page 121 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code HDO high-speed pulse P06.16 2: Ramp reference frequency output P06.27 HDO output lower limit -300.0%–P06.29 0.00% HDO output P06.28 corresponding to lower 0.00–50.00kHz 0.00kHz limit P06.29 HDO output upper limit P06.27–300.0% 100.0%...
  • Page 122 Goodrive350-19 Series VFD for Crane Commissioning guidelines 2. Terminal master/slave mode b The master adopts the speed control mode and sends the torque current to the slave HDIA terminal through the HDO terminal. The slave adopts the torque control mode and the torque reference is set by the HDIA terminal.
  • Page 123 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code P06.14 AO1 output selection 2: Ramp reference frequency P06.17 AO1 output lower limit 0.0% AO1 output P06.18 corresponding to lower 0.00V P06.17 setting range: -300.0%–P06.19 limit P06.18 setting range: 0.00V–10.00V P06.19...
  • Page 124 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code corresponding to lower P06.19 setting range: P06.17–300.0% limit P06.20 setting range: 0.00V–10.00V P06.21 setting range: 0.000s–10.000s P06.19 AO1 output upper limit 100.0% AO1 output P06.20 corresponding to upper 10.00V...
  • Page 125 Goodrive350-19 Series VFD for Crane Commissioning guidelines 1. Master/slave mode 0 (P28.02 ones place=0) Basic principle: Both the master and slave adopt the speed control mode, and the power balance is achieved by the droop control. Commissioning method: Set P28.00 to 1 for the master, set P28.00 to 2 for the slave, set the ones place of P28.02 to 0 both for the master and slave to select master/slave mode 0, and adjust P28.03...
  • Page 126 Goodrive350-19 Series VFD for Crane Commissioning guidelines torque as the reference torque. Commissioning method: Set P28.00 to 1 for the master, set P28.00 to 2 for the slave, set the ones place of P28.02 to 5 both for the master and slave, select master/slave mode 1, and adjust P28.04 to adjust the slave speed.
  • Page 127 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Default code 1: Determined by P00.01 Hundreds place: Whether to enable master/slave to send/receive data 0: Enable 1: Disable It is a percentage of the master ramp frequency. When the master and slave are different in the P28.03...
  • Page 128 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Default code window lower limit, the speed has to be adjusted. Slave rotation speed 0–50000 P28.10 regulation coefficient Applicable only in master/slave mode 4, for slave rotation speed regulation CAN slave torque P28.13...
  • Page 129 Goodrive350-19 Series VFD for Crane Commissioning guidelines 5.5.4 Master/slave switchover 1. Normal master/slave switchover work conditions Application description: Both the master VFD and slave VFD drive a motor, but in certain cases, the master and slave must be switched over.
  • Page 130 Goodrive350-19 Series VFD for Crane Commissioning guidelines drives lifting motor 2. After completing the lifting job, VFD 2 needs to drive the cross travel mechanism motor independently. To do this, VFD 2 needs to: (1) Disable the master/slave mode and run independently.
  • Page 131 Goodrive350-19 Series VFD for Crane Commissioning guidelines Cross VFD 2 Lifting Lifting Motor run travel VFD 1 VFD 2 KM1 KM2 Terminal motor motor status mechanis m motor mechanis is valid, valid, A82.24=0 switch m run P28.00=0 (P28.00=0), you through...
  • Page 132 Goodrive350-19 Series VFD for Crane Commissioning guidelines When P90.02=1, you will automatically enter A81.00–A81.46 to set related function codes. When P90.02=2, you will automatically enter A82.00–A82.46 to set related function codes. When P90.02=3, you will automatically enter A83.00–A83.46 to set related function codes.
  • Page 133 Goodrive350-19 Series VFD for Crane Commissioning guidelines Related User-defined Setting function Name Description Default function range code 2: Run reversely 3–95: See the function parameter chapter. Y1 output 0: Invalid A81.13 P06.01 0–71 selection 1: Running RO1 output 2: Running forward A81.14...
  • Page 134 Goodrive350-19 Series VFD for Crane Commissioning guidelines Related User-defined Setting function Name Description Default function range code 1: Enable (The reverse-running start direction is always the forward-running direction.) Tens place: indicates whether to enable forward torque for reverse-running stop 0: Disable (The...
  • Page 135 Goodrive350-19 Series VFD for Crane Commissioning guidelines Related User-defined Setting function Name Description Default function range code release frequency Forward brake A81.38 P90.18 0.00–20.00Hz 0.00–20.00 3.00Hz closing frequency Reverse brake A81.39 P90.19 0.00–20.00Hz 0.00–20.00 3.00Hz closing frequency Delay before 0.000–...
  • Page 136 Goodrive350-19 Series VFD for Crane Commissioning guidelines 5.6 Motor and macro switchover 5.6.1 Function description The VFD supports the switchover between parameters of up to three motors. You can switch between motors through terminals. The method is as follows: Set the ones place of P08.31 to 0 (using terminal control to switch between motors).
  • Page 137 Goodrive350-19 Series VFD for Crane Commissioning guidelines  If P90.03=1, motor 1 and motor 3 have the same control parameters, but motor 2 has the independent running parameters.  If P90.03=2, motor 1 and motor 2 have the same control parameters, but motor 3 has the independent running parameters.
  • Page 138 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Default code 1: Enable 0–15 Setting of hoisting P90.00 0: Common application mode application macro 1 1: Lifting mode 1 (in open-loop vector control) 2: Lifting mode 2 (in closed-loop vector control)
  • Page 139 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Default code control 1) Present application P94.39 0–18 macro 5.6.4 Terminal-based motor and macro switchover flowchart Start Set P08.31 (Channel for switchover between motor 1 and motor 3) P08.31=0 Switch through other...
  • Page 140 Goodrive350-19 Series VFD for Crane Commissioning guidelines 5.6.5 Shortcut multi-motor speed control mode switchover If you need to only switch over motor parameters and the control mode but not setting function parameters again during motor switchover, you do not need to switch the speed control mode through the application macro.
  • Page 141 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Default code 3: Ethernet communication (same as the above) 4: EtherCAT/PROFINET/EtherNet IP communication 5: Reserved LED tens place: indicates whether to enable switchover during running 0: Disable 1: Enable 0: No switchover, which indicates keeping Speed control consistent with P00.00 of motor 1...
  • Page 142 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code to group P20 1: Position closed-loop PG card, corresponding to group P24 Hundreds place: Speed closed-loop selection 0: Disable 1: Position closed-loop PG card, as the speed closed-loop for switching to motor 2...
  • Page 143 Goodrive350-19 Series VFD for Crane Commissioning guidelines digital) are correct. Function parameter settings Function Name Description Setting code Ones place: PT100 temperature detection 0: Disable PT100/PT1000 0x01 or 1: Enable P92.12 temperature Tens place: PT1000 temperature detection 0x10 detection enabling...
  • Page 144 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code temperature 2: PT100 upper limit digital calibration autotuning 3: PT1000 lower limit digital calibration autotuning 4: PT1000 upper limit digital calibration autotuning After autotuning is completed, the function code is automatically cleared, and the calibration value is automatically saved to the I/O card.
  • Page 145 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code pre-alarm threshold alarm is reported, but the VFD still runs. AI detected motor P94.20 -20.0–200.0° C 0.0° C temperature 5.7.2 Using KTY84 Through an AI terminal KTY 84 Figure 5-22 Wiring between analog terminals and KTY84 Note: Turn SW2 on the control board to "I"...
  • Page 146 Goodrive350-19 Series VFD for Crane Commissioning guidelines Function Name Description Setting code AI detected motor P94.20 -20.0–200.0° C 0.0° C temperature 5.7.3 Using PTC (1) Through an expansion card （1） You can connect external PTC signal to terminal S8 through the expansion card EC-IO502-00, and set the terminal function to 86 (PTC overtemperature signal is valid).
  • Page 147 Goodrive350-19 Series VFD for Crane Commissioning guidelines 1. Connect the PTC according to Figure 5-23 Wiring between PTC and analog terminals. 2. Set P92.22=4 to set the temperature sensor type to PTC. 3. Set P06.23 (often using the default value).
  • Page 148 Goodrive350-19 Series VFD for Crane Basic operation guidelines 6 Basic operation guidelines 6.1 What this chapter contains This chapter instructs you how to use the VFD LED keypad that is a standard configuration and commission the VFD common functions. 6.2 LED keypad introduction The keypad is used to control the VFD, read status data, and set parameters.
  • Page 149 Goodrive350-19 Series VFD for Crane Basic operation guidelines Name Description Blinking: controlled through terminals. On: The VFD is controlled remotely. Fault indicator Off: The VFD is in normal state. TRIP Blinking: The VFD is in pre-alarm state. On: The VFD is in fault state.
  • Page 150 Goodrive350-19 Series VFD for Crane Basic operation guidelines Name Description running state or to select digits to change during parameter setting. Press it to run the product when using the Run key keypad for control. Press it to stop the VFD that is running. The Stop/Reset function of this key is restricted by P07.04.
  • Page 151 Goodrive350-19 Series VFD for Crane Basic operation guidelines DATA DATA DATA QUICK QUICK QUICK SHIFT SHIFT SHIFT STOP STOP STOP Parameters displayed in stopped Parameters displayed in running state Information displayed in faulty state state Figure 6-2 Status display 6.4 Operating the VFD through the LED keypad You can operate the VFD by using the keypad.
  • Page 152 Goodrive350-19 Series VFD for Crane Basic operation guidelines DATA All digits are blinking. The units place is blinking. The units place is blinking. The units place is blinking. DATA DATA The units place is blinking. » Note: When setting the value, you can press to modify the value.
  • Page 153 Goodrive350-19 Series VFD for Crane Basic operation guidelines 6.4.3 Viewing VFD status The VFD provides group P17 for status viewing. You can enter group P17 for viewing. All digits are blinking. The units place is blinking. The units place is blinking.
  • Page 154 Goodrive350-19 Series VFD for Crane Basic operation guidelines 6.5.14 Multi-step speed running Set the parameters used in multi-step speed running. The VFD can set 16-step speeds, which are selectable by multi-step speed terminals 1–4, corresponding to multi-step speed 0 to multi-step speed P10.02 multi-step speed 0...
  • Page 155 Goodrive350-19 Series VFD for Crane Basic operation guidelines Function code Name Description Default P10.06 Multi-step speed 2 -100.0–100.0% 0.0% P10.07 Running time of step 2 0.0–6553.5s (min) 0.0s P10.08 Multi-step speed 3 -100.0–100.0% 0.0% P10.09 Running time of step 3 0.0–6553.5s (min)
  • Page 156 Goodrive350-19 Series VFD for Crane Basic operation guidelines Function code Name Description Default Simple PLC and actual step P17.27 0–15 of multi-step speed 6.5.15 Graded multi-step speed reference Graded reference is a speed reference method for hoisting applications. Graded reference supports the graded operating lever mode and graded remote-control mode.
  • Page 157 Goodrive350-19 Series VFD for Crane Basic operation guidelines Note: The multi-step settings of a higher grade can be closed only after the multi-step settings of all lower grades are closed. 6.5.16 Local encoder input 6.5.17 Position control 6.5.18 Fault handling For details about sections 6.5.16 Local encoder input to 6.5.18 Fault handling, see the Goodrive350...
  • Page 158 Goodrive350-19 Series VFD for Crane Function parameters 7 Function parameters 7.1 What this chapter contains This chapter lists all the function codes and corresponding description of each function code. 7.2 Function parameter list The function parameters of the VFD are divided into groups by function. Among the function parameter groups, groups P85–P94 are hoisting function groups, P98 is the analog input and output...
  • Page 159 Goodrive350-19 Series VFD for Crane Function parameters correct factory password to enter the interface. (You are not advised to modify the factory parameters. Incorrect parameter setting may cause operation exceptions or even damage to the VFD.) If password protection is not in locked state, you can change the password any time. You can set P07.00 to 0 to cancel the user password.
  • Page 160 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code The upper limit of the running frequency is the upper limit of the output frequency of the VFD, which is lower than or equal to the max. output frequency.
  • Page 161 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Reference object of 0: Max. output frequency ○ P00.08 B frequency 1: A frequency command command 0: A 1: B Combination mode 2: (A+B) ○ P00.09 of setting source...
  • Page 162 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Mapping between models carrier frequencies: Default carrier Model frequency 0.4–11kW 4kHz 15kW and 380V 1.5kHz higher 22–55kW 4kHz 75kW and 660V 2kHz higher Advantage of high carrier frequency: ideal current waveform, little current harmonic wave and motor noise.
  • Page 163 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code load. 3: Static autotuning 2 (partial autotuning); when the present motor is motor 1, only P02.06, P02.07, and P02.08 are autotuned; when the present motor is motor 2, only P12.06, P12.07, and P12.08 are autotuned.
  • Page 164 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 1 indicating special functions are enabled. The function code indicates the initial frequency Starting frequency during VFD start. See P01.02 (Starting ◎ P01.01 0.50Hz of direct start frequency hold time) for detailed information.
  • Page 165 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code or decreases linearly. Output frequency f fmax Time t 1: S curve. The output frequency increases or decreases according to the S curve. The S curve is generally applied to elevators, conveyors, and other application scenarios where smoother start or stop is required.
  • Page 166 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code inertia. Starting frequency Starting frequency of DC braking for stop: ○ P01.09 of DC braking for During the deceleration to stop, the VFD starts 0.00Hz stop DC braking for stop when running frequency...
  • Page 167 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Output frequency f Forward Switch over after starting frequency Starting Switch over after frequency zero frequency Time t Deadzone Reverse time Setting range: 0.0–3600.0s 0: Switch at zero frequency...
  • Page 168 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Note: Exercise caution before using this function. Otherwise, serious result may follow. The function code determines the running state of the VFD when the set frequency is lower than the lower-limit one.
  • Page 169 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code P01.19 ones place= 2) The function code indicates whether the VFD automatically runs after re-power on. Restart after power 0: Disable ○ P01.21 1: Enable. If the restart condition is met, the VFD will run automatically after waiting the time defined by P01.22.
  • Page 170 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Hold time of to enter short-circuit braking. ○ P01.30 short-circuit braking During stop, if the running frequency of VFD is 0.00s for start lower than the starting frequency of brake for stop (P01.09), set P01.31 to a non-zero value...
  • Page 171 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Leakage inductance Model ○ P02.08 0.1–6553.5mH of AM 1 depended Mutual inductance Model ○ P02.09 0.1–6553.5mH of AM 1 depended No-load current of Model ○ P02.10 0.1–6553.5A...
  • Page 172 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code of SM 1 Identification ● P02.25 0%–50% (of the motor rated current) current of SM 1 0: No protection 1: Common motor protection (with low-speed compensation). As the cooling effect of a...
  • Page 173 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code calibration power display value of motor 1. However, it coefficient of motor does not affect the control performance of the VFD. Setting range: 0.00–3.00 0: Display by motor type. In this mode, only...
  • Page 174 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code proportional gain or reducing integral time can accelerate dynamic response of speed loop; however, if the proportional gain is too large or integral time is too small, system oscillation and overshoot may occur;...
  • Page 175 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code method 2: AI1 3: AI2 4: AI3 5: Pulse frequency HDIA 6: Multi-step torque 7: Modbus/Modbus TCP communication 8: PROFIBUS/CANopen/DeviceNet communication 9: Ethernet communication 10: Pulse frequency HDIB...
  • Page 176 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code upper-limit frequency in torque control Forward rotation frequency upper Used to set the frequency upper limits. 100% ○ limit set through P03.16 50.00Hz corresponds to the max. frequency. P03.16...
  • Page 177 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code coefficient in constant power zone Flux-weakening coefficient of motor Min. flux-weakening limit of motor The function codes P03.22 and P03.23 are valid at constant power. The motor enters the...
  • Page 178 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code frequency point of static friction High speed friction ○ P03.30 compensation 0.0–100.0% 0.0% coefficient Corresponding frequency of high ○ P03.31 P03.29–400.00Hz 50.00Hz speed friction torque Enabling torque 0: Disable ◎...
  • Page 179 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code speed-loop integral separation 0: Disable 1: Enable Thousands place: Reserved Speed-loop ○ P03.36 0.00–10.00s 0.00s differential gain High-frequency closed-loop vector control mode current-loop (P00.00=3), when the frequency is lower than ○...
  • Page 180 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code coefficient after autotuning Current-loop ○ P03.46 integral coefficient 0–65535 after autotuning Group P04—V/F control Function Name Description Default Modify code This group of function code defines the V/F curve of motor 1 to meet the needs of different loads.
  • Page 181 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code motor 1 torque characteristics, you can make some boost compensation for the output voltage. P04.01 is relative to the max. output voltage V P04.02 defines the percentage of cut-off...
  • Page 182 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code V/F frequency point Output voltage ○ P04.07 0.00Hz 100.0% 3 of motor 1 Output frequency(Hz) f2 f3 Setting range of P04.03: 0.00Hz–P04.05 Setting range of P04.04: 0.0%–110.0% (of the...
  • Page 183 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code factor of motor 1 adjust the two function codes properly to eliminate such phenomenon. Setting range of P04.10: 0–100 Oscillation control ○ P04.12 Setting range of P04.11: 0–100 30.00Hz...
  • Page 184 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code the rigidity of the mechanical characteristics of the motor. You need to calculate the rated slip frequency of the motor as follows: △f=f -n*p/60 Of which, f is the rated frequency of the motor 2, corresponding to function code P12.02.
  • Page 185 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 8: PROFIBUS/CANopen/DeviceNet communication 9: Ethernet communication 10: HDIB 11: EtherCAT/PROFINET/EtherNet IP communication 12: Programmable expansion card 13: Reserved The function code is the voltage digital setting Voltage set through when "keypad"...
  • Page 186 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code than the frequency specified by P04.36. Setting range: -100.0%–100.0% (of the motor rated current) When the SM VF control mode is enabled, the function code is used to set the reactive current...
  • Page 187 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code When I/F control is adopted for AM 1, this Forward current parameter is used to set the output current. The ○ P04.41 setting in I/F mode value is a percentage in relative to the rated 120.0%...
  • Page 188 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Note: The I/F mode is not applicable to conical motors. When I/F control is adopted for AM 2, this Forward current parameter is used to set the output current. The ○...
  • Page 189 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code setting in I/F mode for AM 2 Group P05—Input terminal functions Function Name Description Default Modify code 0x00–0x11 Ones place: HDIA input type 0: HDIA is high-speed pulse input ◎...
  • Page 190 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 22: ACC/DEC time selection 2 23: Simple PLC stop reset 24: Pause simple PLC 25: Pause PID control 26: Pause wobbling frequency 27: Reset wobbling frequency 28: Counter reset...
  • Page 191 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 56: Emergency stop 57: Motor overtemperature fault input 58: Enable rigid tapping 59: Switch to V/F control 60: Switch to FVC control 61: Switch PID polarities 62: Switch to SVC1 control (open-loop vector...
  • Page 192 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code master/slave mode 92: Reserved 93: Foot braking 94: Top-hitting prevention 95: Slewing jog ● P05.07 Reserved 0–65535 The function code is used to set the polarity of input terminals.
  • Page 193 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Running command Stop Forward running Reverse running Hold 1: Two-wire control 2, the enabling separated from the direction. In this mode, FWD is the enabling terminal. The direction depends on the defined REV state.
  • Page 194 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Previous Present direction direction FWD run REV run OFF→ON REV run FWD run REV run FWD run ON→OFF FWD run REV run ON→OFF Stop : Three-wire control; FWD: Forward running;...
  • Page 195 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code VFD stops due to a stop command given by another source, the VFD does not run again after the stop command disappears even if the control terminal FWD/REV is still valid.
  • Page 196 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code limit The following figure illustrates the cases of ○ several settings: P05.31 AI2 middle value 1 0.00V Corresponding Corresponding setting 100% ○ P05.32 setting of AI2 0.0% middle value 1 ○...
  • Page 197 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code lower limit Corresponding setting of HDIA ○ P05.40 -300.0%–300.0% 0.0% frequency lower limit HDIA frequency 50.000 ○ P05.41 P05.39–50.000kHz upper limit Corresponding setting of HDIA ○ P05.42 -300.0%–300.0%...
  • Page 198 Goodrive350-19 Series VFD for Crane Function parameters Group P06—Output terminal functions Function Name Description Default Modify code 0: Open collector high-speed pulse output. The max. frequency of pulse is 50.00kHz. For details about the related functions, see ◎ P06.00 HDO output type P06.27–P06.31.
  • Page 199 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 28: Superposing pulses 29: STO action 30: Positioning completed 31: Spindle zeroing completed 32: Spindle scale division completed 33: In speed limit 34: EtherCAT/PROFINET communication virtual terminal output (RO2/RO1/HDO/Y1)
  • Page 200 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 55: Overload protection 56: Brake detection reminding 57: Brake failure alarm 58: Input phase loss alarm 59: Loose rope status (Loose rope fault in REV lowering) 60: In motor 1 state...
  • Page 201 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code AO1 output 0: Running frequency (0–Max. output ○ P06.14 selection frequency) 1: Set frequency (0–Max. output frequency) 2: Ramp reference frequency (0–Max. output frequency) 3: Rotational speed (0–Speed corresponding to max.
  • Page 202 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code EtherCAT/PROFINET/EtherNet IP communication (0–1000) 22: Torque current (bipolar, 0–Triple the motor rated current) 23: Exciting current (bipolar, 0–Triple the motor rated current) 24: Set frequency (bipolar, 0–Max. output frequency) 25: Ramp reference frequency (bipolar, 0–Max.
  • Page 203 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code time 10V (20mA) 0.0% 100.0% P06.17 setting range: -300.0%–P06.19 P06.18 setting range: 0.00V–10.00V P06.19 setting range: P06.17–300.0% P06.20 setting range: 0.00V–10.00V P06.21 setting range: 0.000s–10.000s AO1 output current Applicable to P92.22=4 (using PTC for...
  • Page 204 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code frequency being reached Frequency reaching ○ P06.34 0–3600.0s 0.5s detection time Group P07—Human-machine interface Function Name Description Default Modify code 0–65535 When you set the function code to a non-zero number, password protection is enabled.
  • Page 205 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 0: No function 1: Jog 2: Reserved 3: Switch between forward and reverse rotating 4: Clear the UP/DOWN setting 5: Coast to stop 6: Switch command channels in sequence...
  • Page 206 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code coefficient Display frequency = Running frequency * P07.08 0.1–999.9% Rotational speed Mechanical rotation speed = 120 × (Displayed ○ P07.09 100.0% display coefficient running frequency) × P07.09/(Number of motor pole pairs) 0.1–999.9%...
  • Page 207 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code ● P07.24 Factory bar code 4 0x0000–0xFFFF ● P07.25 Factory bar code 3 0x0000–0xFFFF ● P07.26 Factory bar code 4 0x0000–0xFFFF 0: No fault Type of present ●...
  • Page 208 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 34: Speed deviation fault (dEu) 35: Mal-adjustment fault (STo) 36: Underload fault (LL) 37: Encoder disconnection fault (ENC1O) 38: Encoder direction reversal fault (ENC1D) Encoder Z-pulse disconnection...
  • Page 209 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 60: Failure to identify the card at slot 1 (F1-Er) 61: Failure to identify the card at slot 2 (F2-Er) 62: Failure to identify the card at slot 3 (F3-Er)
  • Page 210 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 93: AI2 disconnection fault (E-AI2) 94: AI3 disconnection fault (E-AI3) 95: EtherNet IP communication timeout fault (E-EIP) 96: No upgrade bootload (E-PAO) 97: Second channel encoder disconnection...
  • Page 211 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Bus voltage at last ● P07.45 0.0–2000.0V 0.0V fault Temperature at last ● P07.46 -20.0–120.0° C 0.0° C fault Input terminal ● P07.47 0x0000–0xFFFF 0x0000 status at last fault Output terminal ●...
  • Page 212 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Model ○ P08.04 ACC time 4 depended Model ○ P08.05 DEC time 4 depended The function code is used to define the Running frequency reference frequency during jogging.
  • Page 213 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Rise time of ○ P08.17 0.1–3600.0s 5.0s wobbling frequency Fall time of ○ P08.18 0.1–3600.0s 5.0s wobbling frequency 0.00–P00.03 (Max. output frequency) Switching 0.00Hz: No switchover. If the running frequency ○...
  • Page 214 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Setting range of P08.28: 0–10 Setting range of P08.29: 0.1–3600.0s The output frequency of the VFD changes as Frequency the load changes. The function code is mainly ○...
  • Page 215 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Setting range of P08.33: 0.0–100.0% (FDT1 electrical level) Setting range of P08.34: 0.00Hz–P00.03 (Max. output frequency) Setting range of P08.35: 0.0–100.0% (FDT2 electrical level) When the output frequency is within the detection range, the multifunction digital output terminal outputs the signal of "Frequency...
  • Page 216 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code minute after the VFD stops. cooling fan 1: Permanent running after power-on 2. Run mode 2. In addition to the running requirements in run mode 0, run mode 2 has the feature that the fan still runs even when the ramp frequency is greater than 0.
  • Page 217 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 0: No 1: Yes 0x000–0x1223 Ones place: Frequency adjustment selection 0: Both the ∧/∨ key and digital potentiometer can be used for the control. 1: Only the ∧/∨ key can be used for the control.
  • Page 218 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 1: Valid for all frequency setting methods 2: Invalid for multi-step speed running when multi-step speed running has the priority Hundreds place: Action selection for stop 0: Setting is valid.
  • Page 219 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code The VFD can quickly slow down the motor by increasing the magnetic flux. The energy generated by the motor during braking can be transformed into heat energy by increasing the magnetic flux.
  • Page 220 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 0: Disable 1: Enable Note: Automatic carrier frequency reduction indicates that the VFD automatically Enabling auto reduces the carrier frequency when ○ P08.55 carrier frequency detecting the heat sink temperature exceeds the rated temperature.
  • Page 221 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code selection during 2: Power-on static autotuning 1 (Complete power-on autotuning) 3: Power-on static autotuning 2 (Partial autotuning) 4: Power-on dynamic autotuning 2 (valid only for AMs) 5: Power-on partial parameter static autotuning...
  • Page 222 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code signal of the controlled system. The system always performs calculation by using a relative value (0–100.0%). The function code is mandatory when P09.00=0. The base value of The function code ○...
  • Page 223 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code difference between the PID feedback value and given value is 100%, the range within which the PID regulator can regulate the output frequency command is the max. frequency (ignoring integral function and differential function).
  • Page 224 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Positive deviation Feedback limit (P09.08) Reference Negative deviation limit (-P09.08) Time t Output frequency f Time t Setting range: 0.0–100.0% The function codes are used to set the upper PID output upper ○...
  • Page 225 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 1: Contrary to the main reference direction Hundreds place: 0: Limit as per the max. frequency 1: Limit as per A frequency Thousands place: 0: A+B frequency. ACC/DEC of main reference A frequency source buffering is invalid.
  • Page 226 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code one cycle, and it can be started only after receiving the running command. 1: Keep running with the final value after running once The VFD keeps the running frequency and direction of the last section after a single cycle.
  • Page 227 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Running time of terminals 1–4 set by S terminals, corresponding ○ P10.21 0.0s(min) step 9 function code P05.01–P05.06) ○ correspond to multi-step speed 0 to multi-step P10.22 Multi-step speed 10 0.0%...
  • Page 228 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code BIT7 BIT6 BIT9 BIT8 BIT11 BIT10 BIT13 BIT12 BIT15 BIT14 BIT1 BIT0 BIT3 BIT2 BIT5 BIT4 BIT7 BIT6 P10.35 BIT9 BIT8 BIT11 BIT10 BIT13 BIT12 BIT15 BIT14...
  • Page 229 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code counted in minutes. Group P11—Protection parameters Function Name Description Default Modify code 0x000–0x1111 Ones place: Reserved Tens place: 0: Disable output phase loss protection. 1: Enable output phase loss protection.
  • Page 230 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code protection voltage 120–150% (standard bus voltage) (220V) 120% During accelerated running, as the load is too large, the actual acceleration rate of motor is lower than that of output frequency, if no measures are taken, the VFD may trip due to overcurrent during acceleration.
  • Page 231 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code If the VFD or motor output current is larger than VFD/motor OL/UL ○ P11.08 0x0000 the overload pre-alarm detection level (P11.09), pre-alarm selection duration exceeds overload Overload pre-alarm pre-alarm detection time (P11.10), overload...
  • Page 232 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 0: Related to current calibration coefficient 1: Unrelated to current calibration coefficient P11.09 setting range: P11.11–200% (relative value determined by the ones place of P11.08) Setting range of P11.10: 0.01–3600.0s...
  • Page 233 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Speed Actual detection value Set detection value Time t Running Fault output t1<t2, so the VFD continues running t2=P11.15 Setting range: 0.0–10.0s 0–1 0: Invalid 1: Valid...
  • Page 234 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code of current regulator current regulator during undervoltage stall. during Setting range: 0–2000 undervoltage stall Proportional coefficient of Used to set the proportional coefficient of the ○ P11.21 voltage regulator bus voltage regulator during overvoltage stall.
  • Page 235 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Overload time 60min 30min 10min 5min VFD rated current % 114% 123% 132% 141% 150% 159% 168% 177% 186% 195% 204% Overload start 1 Overload end 1...
  • Page 236 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code therefore cannot be modified. When this parameter is set to 1, special function codes can be modified and used normally. Special function 2 includes: When it is set to 0, the function is invalid.
  • Page 237 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code The first 10 faults are not grouped by severity, Fault severity group ○ P11.36 0x0000 but each four of the subsequent faults are grouped by severity in ascending order from Fault severity group ○...
  • Page 238 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Group 20: Faults 87–90 (E-OvL, E-OS, E-dS, Fault severity group ○ P11.54 0x0000 Reserved) Group 21: Faults 91–94 (Reserved, E-AI1, E-AI2, E-AI3) Group 22: Faults 95–98 (E-EIP, E-PAO, EnC2O, EnCPI) Group 23: Faults 99–102 (E-PuP, E-Pdn, E-CL,...
  • Page 239 Goodrive350-19 Series VFD for Crane Function parameters Group P12––Parameters of motor 2 Function Name Description Default Modify code 0: Asynchronous motor (AM) ◎ P12.00 Type of motor 2 1: Synchronous motor (SM) Rated power of AM Model ◎ P12.01 0.1–3000.0kW...
  • Page 240 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Rated frequency of ◎ P12.16 0.01Hz–P00.03 (Max. output frequency) 50.00Hz SM 2 Number of pole ◎ P12.17 1–128 pairs of SM 2 Rated voltage of Model ◎...
  • Page 241 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Time t 1min Motor overload multiples 116 % 200 % Setting range: 20.0%–150.0% Power display calibration ○ P12.28 0.00–3.00 1.00 coefficient of motor 0: Display by motor type...
  • Page 242 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 2: Pulse superposition Pull-in current is the pole position orientation current; pull-in current 1 is valid within the lower limit of pull-in current switch-over frequency threshold. If you need to increase the start ○...
  • Page 243 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code the phase-locked loop is enabled. Setting range: 0–655.35 Initial ○ P13.10 compensation 0.0–359.9 angle of SM Used to adjust the responsiveness of anti-maladjustment function. If the load inertia is...
  • Page 244 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 1: 2400 bps 2: 4800 bps 3: 9600 bps 4: 19200 bps 5: 38400 bps 6: 57600 bps 7: 115200 bps Note: The baud rate set on the VFD must be consistent with that on the upper computer.
  • Page 245 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code communication fault" (CE) if the communication interval exceeds the value. In general, the function code is set to 0.0. When continuous communication is required, you can set the function code to monitor communication status.
  • Page 246 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code upgrade program 0: Disable 1: Enable Bootload software ● P14.11 0.00–655.35 0.00 version Display of no 0–1 ○ P14.12 upgrade bootload 0: Display 1: Do not display...
  • Page 247 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Mapped function 0x0000–0xFFFF ○ P14.54 code of received 0x0000 PZD7 Mapped function 0x0000–0xFFFF ○ P14.55 code of received 0x0000 PZD8 Mapped function 0x0000–0xFFFF ○ P14.56 code of received...
  • Page 248 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code code of sent PZD11 Mapped function ○ 0x0000–0xFFFF P14.70 code of sent 0x0000 PZD12 Group P15––Communication expansion card 1 functions Function Name Description Default Modify code ◎...
  • Page 249 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 1000 corresponds to 100.0%) 13: AO2 output setting 2 (-1000–1000, in which 1000 corresponds to 100.0%) 14: High bit of position reference (signed) 15: Low bit of position reference (unsigned)
  • Page 250 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 12: AI1 (×100, V) 13: AI2 (×100, V) 14: AI3 input (x100, V) 15: HDIA frequency value (×100, kHz) 16: Terminal input status 17: Terminal output status 18: PID reference (×100, %)
  • Page 251 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code (PZD2–PZD12 correspond to P14.60–P14.70) DP communication ○ P15.25 0.0–60.0s 1.0s timeout period CANopen ○ P15.26 communication 0.0–60.0s 1.0s timeout period 0–7 0: 1000K bps 1: 800K bps...
  • Page 252 Default Modify code output 24: INVT basic speed control output 25: INVT extended speed control output 26: INVT speed and torque control output 27: INVT extended speed and torque control output 69–77 69: INVT VFD input 70: ODVA basic speed control input...
  • Page 253 Function Name Description Default Modify code 74: INVT basic speed control input 75: INVT extended speed control input 76: INVT speed and torque control input 77: INVT extended speed and torque control input Output length of ○ P15.39 8–32 component 19 Input length of ○...
  • Page 254 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code card gateway 1 Ethernet monitoring ◎ P16.11 0–255 card gateway 2 Ethernet monitoring ◎ P16.12 0–255 card gateway 3 Ethernet monitoring ◎ P16.13 0–255 card gateway 4 Ethernet card ○...
  • Page 255 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code BACnet "I-Am" 0: Send at power-on ○ P16.22 service selection 1: Send constantly (reserved) BACnet communication ○ P16.23 0.0 (invalid)–60.0s 5.0s timeout period (reserved) Time to identify 0.0–600.0s...
  • Page 256 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code ○ 2: PID reference (-1000–1000, in which 1000 P16.35 Received PZD5 corresponds to 100.0%) ○ P16.36 Received PZD6 3: PID feedback (-1000–1000, in which 1000 ○ P16.37 Received PZD7 corresponds to 100.0%)
  • Page 257 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 22: Pre torque setting (-3000–+3000, in which 1000 corresponds to 100.0% of the motor rated current) 23–25: Reserved 26: Encoder high bit 27: Encoder low bit 28–46: Reserved 47: ACC time (0–1000 corresponds to...
  • Page 258 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 25: Status word 2 26: HDIB frequency value (×100, kHz) 27: PG card pulse feedback count high bit 28: PG card pulse feedback count low bit 29: Brake status...
  • Page 259 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code communication card IP address 1 Industrial Ethernet ◎ P16.59 communication 0–255 card IP address 2 Industrial Ethernet ◎ P16.60 communication 0–255 card IP address 3 Industrial Ethernet ◎...
  • Page 260 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 2: Ethernet card Note: If the parameter setting is changed, the change takes effect only after the VFD is restarted. When the two-in-one communication card working mode is 0, in the CAN data frame sending/receiving cycle, the time unit is 0.25ms.
  • Page 261 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code and other control 0: Input rotation speed unit is RPM selection 1: Input rotation speed unit is plus/s Tens place: P-channel pulse position value source 0: First channel PG card...
  • Page 262 Goodrive350-19 Series VFD for Crane Function parameters Group P17—Status viewing Function Name Description Default Modify code Displays the present set frequency of the VFD. ● P17.00 Set frequency 50.00Hz Range: 0.00Hz–P00.03 Displays the present output frequency of the ● P17.01 Output frequency VFD.
  • Page 263 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Displays the estimated motor rotor frequency Estimated motor ● under the open-loop vector condition. P17.10 0.00Hz frequency Range: 0.00–P00.03 Displays the present DC bus voltage of the ●...
  • Page 264 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Displays the PID feedback value. ● P17.24 PID feedback value 0.0% Range: -100.0–100.0% Displays the power factor of the present motor. ● P17.25 Motor power factor 1.00 Range: -1.00–1.00...
  • Page 265 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code indicates it is in the generating state while a negative value indicates it is in the motoring state. Range: -3000.0Nm–3000.0Nm Motor overload ● P17.37 0–65535 count value ●...
  • Page 266 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Friction ● compensation P17.46 -100.0%–100.0% 0.0% torque ● P17.47 Motor pole pairs 0–65535 VFD overload ● P17.48 0–65535 count value Frequency set by A 0.00Hz–P00.03 ● P17.49 0.00Hz...
  • Page 267 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code SSI locating initial 0–65535 ● P17.64 Displays ten times the present feedback value. position SSI locating 0–65535 ● P17.65 communication Displays ten times the communication giving reference position value.
  • Page 268 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Present position Present position when spindle stops accurately ● P18.10 when spindle stops Range: 0–65535 accurately Z pulse direction display. When the spindle stops accurately, there may be a couple of pulses’...
  • Page 269 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code resolver Range: 0–65535 Pole position angle read by the resolver-type ● P18.21 Resolver angle 0.00 encoder. Setting range: 0.00–359.99 Closed-loop SM Present pole position. ● P18.22 0.00 pole angle Setting range: 0.00–359.99...
  • Page 270 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 2nd PG card ● P18.36 feedback pulse low 0–65535 2nd PG card ● P18.37 P-channel Z-pulse 0–65535 position 2nd PG card P-channel position ● P18.38 0–65535 accumulative pulse...
  • Page 271 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 20: I/O card 2 for hoisting 21: EtherNet IP card 22: MECHATROLINK communication card 23: Reserved 24: CAN-NET two-in-one communication card 25: Reserved 26: PN-NET two-in-one communication card 27–31: Reserved...
  • Page 272 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code variable 2 Ethernet monitoring 0–65535 (Fixed to the speed loop rotation ● P19.19 reference variable) variable 3 Ethernet monitoring 0–65535 (Fixed to the speed loop rotation ●...
  • Page 273 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Setting range: 0x00–0x99 Ones place: Low-speed filter time, Filter times of ○ P20.05 corresponding to 2^(0–9)×125μs 0x33 encoder detection Tens place: High-speed filter times, corresponding to 2^(0–9)×125μs...
  • Page 274 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Range: 0–3 1: Rotary autotuning (DC braking) 2: Static autotuning (suitable for resolver-type encoder, sin/cos with CD signal feedback) Initial pole angle 3: Rotary autotuning (initial angle identification) ◎...
  • Page 275 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code coefficient When the function parameter is set to 0 or 1, frequency division of 1:1 is implemented. 0x0000–0xFFFF Bit 0: Enable encoder input filter 0: Do not filter...
  • Page 276 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code compensation Frequency point of speed 0–630.00Hz ○ P20.22 1.00Hz measurement Note: Valid only when P20.12=0. mode switchover Angle ○ P20.23 compensation -200.0–200.0% 100.0% coefficient Motor pole pairs in ◎...
  • Page 277 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 1: Position control Tens place: Position command source 0: Pulse train. The pulse giving signals from PG card terminals A2 and B2 are used for position control.
  • Page 278 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code the edge counts down. 2: A: Positive pulse. Channel A is positive pulse, and channel B needs no wiring. 3: A/B dual-channel pulse. Channel A pulse edge counts up, but channel B pulse edge counts down.
  • Page 279 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code P21.06. 0: No switchover 1: Torque command 2: Speed command 3–5: Reserved Position gain switchover ○ P21.05 0.0–100.0% (of the motor rated torque) 10.0% threshold in torque...
  • Page 280 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code feedforward gain For pulse string reference only (position control) Position 0.0–3200.0ms ○ P21.14 feedforward filter 3.0ms For pulse string reference only (position control) time constant Position feedforward filter time constant during Position command ◎...
  • Page 281 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Bit 6: Positioning completion signal setting. You can set the positioning completion signal in the pulse or electrical level form. The positioning completion signal is valid in the positioning completion signal holding time set in P21.25.
  • Page 282 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Bit 12–Bit 13: Positioning curve selection 0: Straight line 1: S curve 2–3: Reserved Bit 14: Indicates whether to keep 0Hz output within the time specified by P21.25 after positioning completes.
  • Page 283 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Origin searching ○ P21.23 0.00–50.00Hz 2.00Hz speed ○ P21.24 Origin bias 0–65535 Time for holding the positioning completion Positioning signal. This parameter is also valid for the ○...
  • Page 284 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 4. Output terminal function 28 (during pulse superposition) During the pulse superposition, the output terminal is valid. After the pulse superposition is completed, the output terminal is invalid.
  • Page 285 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 2: Position closed-loop SSI PG card, using incremental signal as the speed closed-loop selection 3: SSI absolute position as the speed closed-loop (at this time, you need to set...
  • Page 286 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 1: Filter Thousands place: SSI sensor sampling cycle 0–F: 1–15ms 0–60000 (SSI pulses) When the feedforward frequency is greater than 0.8Hz, filter out the pulse fluctuations greater than P20.30.
  • Page 287 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code proportional gain 2 parameters. See the following figure: Speed-loop integral PI parameters ○ P23.04 0.200s time 2 (P23.00,P23.01) (P23.03,P23.04) Output frequency f P23.02 P23.05 speed loop dynamic...
  • Page 288 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Note: Current loop  ○ The two function codes impact the dynamic P23.09 proportional 1000 response speed and control accuracy of coefficient P the system. Generally, you do not need to modify the two function codes.
  • Page 289 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code number revolves for one turn. Setting range: 0–16000 Ones place: AB direction 0: Forward 1: Reverse Tens place: Z pulse direction (reserved) ◎ P24.02 Encoder direction 0: Forward...
  • Page 290 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code optimization Bit 12: Clear the Z pulse arrival signal after stop bit14: Detect Z pulse after one rotation 0x00–0x11 Ones place: Z pulse detection 0: No detection Enable Z pulse ○...
  • Page 291 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 0: By PG card 1: Locally measured through HDIA and HDIB. Speed Only the 24V incremental encoders are ◎ supported. P24.15 measurement Note: HDI height measuring is implemented...
  • Page 292 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code or 1 indicates 0.25μs. 0–63 Pulse reference The filter time is P24.19×0.25μs. The value 0 ○ P24.19 filter width or 1 indicates 0.25μs. F-channel pulse ◎ P24.20 0–16000...
  • Page 293 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code ◎ P25.09 Function of HDI3 0x000–0x1FF BIT8 Expansion card HDI3 ○ P25.10 input terminal BIT7 BIT6 BIT5 BIT4 0x000 polarity BIT3 BIT2 BIT1 BIT0 0x000–0x1FF (0: Disable. 1: Enable)
  • Page 294 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code delay S11 switch-off ○ P25.27 0.000s delay S12 switch-on ○ P25.28 0.000s delay S12 switch-off ○ P25.29 0.000s delay Used to define the relationship between the ○...
  • Page 295 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code P25.32/P25.37 setting range: P25.30/P25.35–10.00V P25.33/P25.38 setting range: -300.0%–300.0% P25.34/P25.39 setting range: 0.000s–10.000s HDI3 high-speed 0–1 ◎ P25.40 pulse input function 0: Input set through frequency selection 1: Counting HDI3 lower limit ○...
  • Page 296 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code ○ P26.03 Y3 output selection RO3 output ○ P26.04 selection RO4 output ○ P26.05 selection RO5 output ○ P26.06 selection RO6 output ○ P26.07 selection RO7 output ○...
  • Page 297 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code RO5 switch-off ○ P26.24 0.000s delay RO6 switch-on ○ P26.25 0.000s delay RO6 switch-off ○ P26.26 0.000s delay RO7 switch-on ○ P26.27 0.000s delay RO7 switch-off ○...
  • Page 298 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 10V (20mA) AO3 output ○ P26.44 corresponding to 0.00V lower limit AO3 output upper ○ P26.45 100.0% limit AO3 output 0.0% 100.0% Setting range of P26.38: -300.0%–P26.40 ○...
  • Page 299 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Note: Used to write a value to WrP6 of the programmable card. 0–65535 ○ P27.07 C_WrP7 Note: Used to write a value to WrP7 of the programmable card.
  • Page 300 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Note: Used to monitor/view the MoP8 value of the programmable card. -9999–32767 ● P27.20 C_MoP9 Note: Used to monitor/view the MoP9 value of the programmable card. -9999–32767 ●...
  • Page 301 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 7: 84+24+36 8: 96+96+96 Tens place: Card that communicates with the programmable card through PZD (valid only when the ones place of P27.26 is 5) 0: DP card...
  • Page 302 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code master and slave adopt speed control, and the slave performs power balance depending on the speed loop integral result of the master.) 4: Closed-loop master/slave mode 4 (Both the...
  • Page 303 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code can be enabled. 0.00–50.00Hz Slave positive When the actual speed is higher than the ○ reference speed, if the actual speed is higher P28.08 speed deviation 5.00Hz than (Reference speed + P28.08) and exceeds...
  • Page 304 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code direction in torque 0: Common mode mode 1: Forced to follow the master torque direction Group P85––Anti-sway control Function Name Description Default Modify code 0–1 0: Invalid 1: Enable ◎...
  • Page 305 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 0–100 Residual sway ○ Applicable to P85.01=1 Anti-sway without rope P85.10 percentage length. 0.00–10.00s Anti-sway ○ P85.11 Applicable to P85.01=1 Anti-sway without rope 6.00s ACC/DEC time length.
  • Page 306 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code curves 1: Discontinuous Low-speed ◎ P86.07 segment curve 0–100 coefficient Gear switchover ○ P86.08 0.0–30.0s 10.0s ACC curve time ACC curve entrance frequency ◎ P86.09 0–100.0% (of the set frequency)
  • Page 307 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code switchover If the running frequency just after entering the comparison direction change switchover is lower than frequency P86.18, P86.17 is used. 0–1 Enable 5-gear ◎ P86.19 0: Disable...
  • Page 308 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Droop value ○ change rate at ACC 0.00–20.00Hz/s P86.29 1.00 Hz/s phase Droop value ○ P86.30 change rate at DEC 0.00–20.00Hz/s 1.00 Hz/s phase 0–1 Slewing jog stop ○...
  • Page 309 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code compensation filter times Group P89––Parameters of motor 3 Function Name Description Default Modify code 0: Asynchronous motor (AM) ◎ P89.00 Type of motor 3 1: Synchronous motor (SM)
  • Page 310 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code coefficient 4 of iron core of AM 3 Rated power of SM Model ◎ P89.15 0.1–3000.0kW depended Rated frequency of ◎ P89.16 0.01Hz–P00.03 (Max. output frequency) 50.00Hz...
  • Page 311 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 0–1 Parameter display ○ P89.29 0: Display by motor type of motor 3 1: Display all System inertia of ○ P89.30 0–30.000kgm 0.000 motor 3 0–3 0: No switchover, which indicates keeping Speed control consistent with P00.00 of motor 1...
  • Page 312 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 14: Tower crane slewing without using an eddy current controller in closed-loop vector control 15: Tower crane slewing without using an eddy current controller in space voltage vector control 16–40: Reserved...
  • Page 313 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code automatically performed. 5: Switch to SVC1 control (open-loop vector control 1) When P90.03=5, P90.00 must be 2, while P90.01 must be 1; alternatively, P90.00 must be 11, while P90.01 must be 12. Only control mode can be switched, and the S terminal selects function 62 and takes effect.
  • Page 314 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code REV stop REV stop Start FWD torque enabling FWD torque disabling Stop Stop command command Output Output frequency frequency When reverse startup or forward torque for stop...
  • Page 315 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code grade can be closed only after the multi-step settings of all lower grades are closed. Forward brake The brake timing diagram in V/F mode is as ○...
  • Page 316 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Stop: To prevent hook slip, sufficient output brake closing torque must be ensured before brake is closed. Retaining ○ P90.28 5.00Hz After receiving the stop command, the VFD frequency for stop decelerates to P90.28 with a maintenance...
  • Page 317 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code be reported directly after P90.32 brake feedback abnormal delay if the brake feedback is abnormal. When running, the current will be monitored after the P90.32 brake feedback abnormal delay if the brake feedback is abnormal.
  • Page 318 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Frequency reference Fault Not open the brake Output Time current % P90.33 Time P90.32 Start/stop command Brake feedback signal Brake Brake action feedback exception Brake exception Fault...
  • Page 319 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Output frequency P08.06 P90.18 P90.16 Time Close Release brake Brake brake status command Same as jog frequency: Output frequency P08.06 Time Close Close Release brake Brake status...
  • Page 320 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Output frequency P90.39 FWD/REV command Restart selection Setting range of P90.38: 0–1 ◎ P90.38 during braking 0: No restart during braking P 90.39 Wait time of Output...
  • Page 321 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code mode is automatically used. 3: Torque/speed switchover mode 2 (horizontal moving) Since brake involved, torque/speed switchover is set through P90.44. The set frequency needs to be greater than P90.44.
  • Page 322 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code brake release. During stop, quick process voltage demagnetizing needs to be implemented to coefficient K1 prevent slip in case of overdue brake closing. Conical motor Setting range of P91.00: 0–1 constant process ○...
  • Page 323 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Output frequency Rated frequency P04.07 P04.05 P04.03 Time t Output Output voltage V voltage V P91.01 P91.02 P91.01*P04.08 P91.03 P91.01*P04.06 P91.03*P04.08 P91.03*P04.06 P91.01*P04.04 P91.03*P04.04 Torque boost voltage (%)
  • Page 324 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code signal detection takes effect, if both the zero position signal and running command signal are detected, the operating lever zero position fault STC is reported. If the running command is given during zero position detection, the VFD does not respond.
  • Page 325 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Stop running status Enabling zero Enable position detection With zero position signal input S terminal zero position input signal Zero position is valid Zero position detection P91.07 Analog AI2 1.00V...
  • Page 326 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code value success Output frequency P00.10 No light load speed Motor rated frequency boost due to current P91.10 verification failure P91.11 Time No light load speed Output boost due to current...
  • Page 327 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Note: Light load speed boost mode 1 is applicable to the open-loop mode. Output Heavy-load frequency ○ P91.14 speed-limit 40.00Hz Set frequency or speed limit detection frequency frequency P91.14...
  • Page 328 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code by using algorithms (using P91.16, P91.17, and P94.01 for reference). 1. When P91.08=1, in constant power speed boost mode, if the constant power speed limit frequency is lower than or equal to the frequency upper limit P00.04, the VFD runs at...
  • Page 329 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code frequency is limited to 75Hz. If P91.08=1, the frequency 75Hz is used for running. If P91.08=2, the max. running frequency is 75Hz, and the set frequency is used for running.
  • Page 330 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code frequency f3 in P91.21. stepped speed limit The detected load values in open/closed loop upward running state have deviation. During the open/closed loop switchover process, the load limit value Load limit adjusted can be adjusted through P91.24.
  • Page 331 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Bus voltage decrease with Standard bus voltage voltage (P91.33*537 +20)V P91.33*537V Time t Output frequency Target frequency Time t following assumes that target frequency is set as the rated frequency.
  • Page 332 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Upward limit position Upward slow speed area Upward DEC position Load position measuring Downward DEC position Downward slow speed area Downward limit position Single direction limit: When the upward DEC limit position is reached, the upward slow speed area is entered, the system runs at P91.35 and...
  • Page 333 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code output frequency) Duty ratio Setting range of P91.40: P91.42–P91.38 ○ P91.39 corresponding to 100.0% Setting range of P91.42: P91.44–P91.40 frequency f0 Setting range of P91.44: P91.46–P91.42 ○...
  • Page 334 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code  If the given pre-torque changes during operation, actual pre-torque compensation value is the difference between the present given value and the last pre-torque given value. A negative change value indicates negative torque compensation.
  • Page 335 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Pre torque keypad ○ P91.55 0.0–300.0% 0.0% setting value Enabling rope P91.55: 0–1 ○ P91.56 tracking P91.56: 0.00–50.00Hz P91.57: 0.000–10.000s Rope-tracking ○ P91.58: 0.00–120.0% P91.57 speed boost 25.00Hz...
  • Page 336 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code voltage protection. input power loss Tens place: Power-on brake detection enabling detection 0: Disable 1: Enable Used together with P92.08–P92.11 to perform power-on brake detection in closed-loop vector mode.
  • Page 337 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Low-speed run protection is applied to devices to which long-time low speed running is not applicable, preventing overheating caused by late dissipation. Low-speed run ◎ P92.02 0.000s...
  • Page 338 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Output frequency P90.16+2Hz P90.16 P92.05 Torque current P92.04 Relay Normal A-OL output Setting range of P92.04: 0.0–150.0% (relative to the motor rated torque in closed-loop state; relative to the motor rated current in open-loop state;...
  • Page 339 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Situation 2: When the braking force detection (closed-loop) terminal enabling signal is valid (terminal function 85 is selected), the VFD keeps the brake closed and enters the brake timing.
  • Page 340 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Tens place: PT1000 temperature detection 0: Disable 1: Enable 0x00–0x11 Ones place: PT100 disconnection detection Enabling 0: Disable PT100/PT1000 ◎ P92.13 1: Enable 0x00 disconnection Tens place: PT1000 disconnection detection...
  • Page 341 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 4: PT1000 upper limit digital calibration autotuning After autotuning is completed, the function code is automatically cleared, and the calibration value is automatically saved to the I/O card.
  • Page 342 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code P92.28 Output frequency Anti-snag ○ P92.27 protection braking 0.0% P92.29 torque S-terminal anti-snag protection Braking torque command ○ P92.28 0.200s Output ACC/DEC time torque P92.27 Anti-snag indicates that the VFD outputs...
  • Page 343 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Set frequency fault ◎ P92.31 protection 0.00–10.00Hz 2.00Hz threshold 0.0–5.5 When the value is not zero, current imbalance Current imbalance ◎ P92.32 detection is enabled. When the 3PH current multiple max.
  • Page 344 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code stalling occurs, and then it reports the fault and stops running. Output frequency Set frequency 0.5Hz P92.37 Output current P92.36 Fault state E-ds 0–2 0: Disable 1: Torque overload, determined by P92.04 and ○...
  • Page 345 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code the weight to P92.41 and set P92.39=2, the LED keypad displays "LoAd2". After pressing "Run", the autotuning starts, and the obtained torque value is automatically saved to P92.43.
  • Page 346 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Output Output frequency frequency Set frequency Set frequency Output Output torque torque Weight Weight P92.46 P92.46 P92.45 P92.45 A-OL Alarm state Fault state E-OvL 0.00–5.00s Power-off detection ○...
  • Page 347 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code detected. If the encoder feedback frequency is close to the brake release frequency, which lasts the time specified by P93.01, the brake failure fault (bE) is reported.
  • Page 348 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code than P93.05. If yes, the VFD reports the holding Slow lowering hold ○ P93.04 2.0s brake failure alarm A-bS, and the alarm can be time at zero servo configured with relay action output.
  • Page 349 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code reduction ratio between the encoder mounting shaft and pulley shaft. If the encoder is mounted on the pulley, set P93.09=1. For example, for gear speed reduction, Mechanical transmission ratio = (Number of...
  • Page 350 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Before first running, the upward limit position Initial turns of drum ○ P93.14 must be calibrated. The procedure for first winding running is as follows: Step 1 Set the upward limit position terminal, for example, P05.05=64.
  • Page 351 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code the top, the upward limit position is reached, P94.05=0 (droop height); when the hook reaches a certain distance from the ground, P93.18=0 (distance from downward limit position); P93.17 displays the distance between the upward and downward limit positions.
  • Page 352 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Step 1 Put the hook on the ground and loosen load torque the rope. Step 2 Set P93.19=1 (or P93.19 for downward running). Step 3 Push the operating lever to gear 2...
  • Page 353 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Smooth lifting ○ P93.33 0.0–20.0s 2.0s window time When P93.20=1, indicating stable lifting Smooth lifting ○ protection is enabled to attenuate the shock P93.34 protection 10.00Hz caused by violent jitter up and down when the...
  • Page 354 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Output frequency Speed of gear 2 Speed of gear 1 P93.34 Time Load change rate P93.35 P93.37 Time Start/stop Start command Setting range of P93.34: 5.00–50.00Hz Setting range of P93.35: 0.0–150.0%/s Setting range of P93.36: 0.0–150.0%/s...
  • Page 355 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code function is invalid within 1 minute; 1 minute later, the function takes effect, and it is automatically reset to 3. 0–65535 Upward limit Unit: x100 ○ P93.42...
  • Page 356 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code 15: Weighing alarm (A-OvL) Alarm slave brake feedback master/slave control (A-SLO) 17: Alarm of automatic brake detection at power-on (A-bEt) 18: Alarm indicating the set frequency is less...
  • Page 357 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code EC PT100 detected temperature ● P94.09 -20.0–150.0° C 0.0° C calibration lower limit Digital of PT100 calibrated ● 0–4096 P94.10 temperature upper limit Digital of PT100 calibrated ●...
  • Page 358 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code ● P94.22 Brake slip pulses 0–65535 0–3 0: Normal Light-load speed ● P94.23 1: Forward speed boost with light load boost status 2: Reverse speed boost with light load...
  • Page 359 Goodrive350-19 Series VFD for Crane Function parameters Function Name Description Default Modify code Present counting pulse low value of ● 0–65535 P94.40 top-hitting prevention Present counting pulse high value of ● 0–65535 P94.41 top-hitting prevention 0–1 Top-hitting ● 0: Invalid P94.42...
  • Page 360 When a fault occurred, handle the fault as follows: 1. Check whether there is any exception on the keypad. If yes, contact the local INVT office. 2. If no, check function code group P07 for the corresponding fault record parameters to determine the real state when the fault occurred.
  • Page 361 Goodrive350-19 Series VFD for Crane Troubleshooting Fault Fault type Possible cause Solution code Misoperation caused by Check drive wires. [2] Inverter unit OUt2 interference. Check whether there is strong V-phase protection Drive wires poorly interference surrounding the connected. peripheral device.
  • Page 362 Goodrive350-19 Series VFD for Crane Troubleshooting Fault Fault type Possible cause Solution code Power is too small. Phase loss or violent [13] Phase loss on Check the input power. fluctuation occurred on Check the installation wiring. input side inputs R, S, and T.
  • Page 363 Goodrive350-19 Series VFD for Crane Troubleshooting Fault Fault type Possible cause Solution code Autotuning timeout. Control parameter [21] EEPROM Press STOP/RST to reset. reading/writing error. operation fault Replace the main control board. EEPROM damaged. PID feedback offline. Check PID feedback signal...
  • Page 364 Goodrive350-19 Series VFD for Crane Troubleshooting Fault Fault type Possible cause Solution code keypad. No data transmission [29] PROFIBUS card Check whether the between the communication communication card wiring is E-DP communication card and the host controller loose or dropped.
  • Page 365 Goodrive350-19 Series VFD for Crane Troubleshooting Fault Fault type Possible cause Solution code pre-alarm according to the pre-alarm threshold. underload fault setting. Encoder line sequence is [37] Encoder ENC1O incorrect, or signal wires are Check the encoder wiring. disconnection fault poorly connected.
  • Page 366 Goodrive350-19 Series VFD for Crane Troubleshooting Fault Fault type Possible cause Solution code [56] Encoder UVW No electric level variation Check the wiring of UVW; ENCUV loss occurred to UVW signal Encoder is damaged. No data transmission [57] PROFINET card...
  • Page 367 Goodrive350-19 Series VFD for Crane Troubleshooting Fault Fault type Possible cause Solution code check whether the fault persists at next power-on. Check whether the insertion port is damaged. If yes, replace the insertion port after power-off. Confirm whether the expansion card inserted can be supported.
  • Page 368 Goodrive350-19 Series VFD for Crane Troubleshooting Fault Fault type Possible cause Solution code (or PLC). No data transmission [68] DeviceNet card Check whether the between the communication communication card wiring is E-DEV communication card and the host controller loose or dropped.
  • Page 369 Goodrive350-19 Series VFD for Crane Troubleshooting Fault Fault type Possible cause Solution code Check whether P01.18 is set to enable the VFD reports a fault [77] Power-on terminal The terminal command is when a terminal command is detected at power-on.
  • Page 370 Goodrive350-19 Series VFD for Crane Troubleshooting Fault Fault type Possible cause Solution code Check the load wiring with UVW. [85] Output current 3PH output current Check whether the value of imbalance. imbalance P92.32 is too small. [86] PTC Ambient temperature too PtcE Check the ambient temperature.
  • Page 371 Goodrive350-19 Series VFD for Crane Troubleshooting Fault Fault type Possible cause Solution code software limit position settings P11.63 and P11.64 are proper. Check whether the feedback The position feedback from from the position sensor is [100] position the position sensor has proper.
  • Page 372 Goodrive350-19 Series VFD for Crane Troubleshooting Alarm Alarm type Possible cause Solution code parameters are set improperly. Check whether the overload protection point is set too low. Check whether the brake is normal. The brake force is insufficient. Check whether the encoder [6] Brake failure Abnormal encoder.
  • Page 373 Goodrive350-19 Series VFD for Crane Troubleshooting Alarm Alarm type Possible cause Solution code overtemperature too high. wiring circuit. alarm Temperature sensor detection Check whether P92.24 is too circuit exception. small. Improper OH protection setting. Check whether P92.04 is to A-OvL [15] Weighing alarm Motor overloaded.
  • Page 374 Goodrive350-19 Series VFD for Crane Troubleshooting 8.6 Analysis on common faults 8.6.1 Motor fails to work Motor fails to work Whether the POWER Whether the air switch indicator is on? Close the air and EM contactor on the Whether the keypad...
  • Page 375 Goodrive350-19 Series VFD for Crane Troubleshooting 8.6.2 Motor vibrates Motor vibrates or emits an unusual sound Whether the motor Set the motor type parameters and motor type and parameters are set correctly ? correctly Whether autotuning is Perform autotuning performed?
  • Page 376 Goodrive350-19 Series VFD for Crane Troubleshooting 8.6.3 Overvoltage Overvoltage fault Whether the voltage of the Ensure the power supply power supply is within the meets the requirement standard range? Whether UVW on the output side of the VFD is short to...
  • Page 377 Goodrive350-19 Series VFD for Crane Troubleshooting 8.6.5 Motor overheating Unusual heating of the motor Set the motor Whether the motor parameters parameters are set correctly? correctly Whether parameter Parameter autotuning is autotune performed? Whether the VFD runs at a low speed all the time?
  • Page 378 Goodrive350-19 Series VFD for Crane Troubleshooting 8.6.6 VFD overheating VFD overheating Whether the load is too Reduce the load and heavy or the capacity of increase the capacity the VFD is too small? of the VFD Whether the ambient Add a cooling device...
  • Page 379 Goodrive350-19 Series VFD for Crane Troubleshooting 8.6.7 Motor stalls during ACC Motor stalls during Whether the ACC Increase the ACC time is too short? time Check the voltage of the Use larger cables, shorten the terminals of the motor with a wiring distance, adjust the voltage multimeter.
  • Page 380 Goodrive350-19 Series VFD for Crane Troubleshooting 8.6.8 Overcurrent Overcurrent Rectify the short-to- Is UVW on the output side of the ground fault VFD shorted to ground? Remove the motor cable to see if Configure the motor there is a connection with the...
  • Page 381 Goodrive350-19 Series VFD for Crane Troubleshooting 8.7 Countermeasures on common interference 8.7.1 Interference on meter switches and sensors Interference phenomenon Pressure, temperature, displacement, and other signals of a sensor are collected and displayed by a human-machine interaction device. The values are incorrectly displayed as follows after the VFD is started: The upper or lower limit is wrongly displayed, for example, 999 or -999.
  • Page 382 Goodrive350-19 Series VFD for Crane Troubleshooting sensor. For example, if a thermocouple is to transmit signals of 0 to 20 mA to a temperature meter, the capacitor needs to be added on the terminal of the temperature meter; if an electronic ruler is to transmit signals of 0 to 30 V to a PLC signal terminal, the capacitor needs to be added on the terminal of the PLC.
  • Page 383 Goodrive350-19 Series VFD for Crane Troubleshooting Try to short the signal reference ground terminal (GND) of the VFD with that of the upper computer controller to ensure that ground potential of the communication chip on the control board of the VFD is consistent with that of the communication chip of the upper computer.
  • Page 384 Goodrive350-19 Series VFD for Crane Troubleshooting (1) VFD systems are special. In these systems, it is required that the rated residual current of common RCDs at all levels is larger than 200 mA, and the VFDs are grounded reliably. (2) For RCDs, the time limit of an action needs to be longer than that of a next action, and the time difference between two actions need to be longer than 20ms, for example, 1s, 0.5s, or 0.2s.
  • Page 385 Goodrive350-19 Series VFD for Crane Troubleshooting 2. If there is no grounding on the site, you need to connect the motor chassis to the ground terminal PE of the VFD, and ensure that the jumper at "EMC/J10" on the middle casing of the VFD is shorted.
  • Page 386 9.2 Periodical inspection Little maintenance is required when the VFD is installed in an environment that meets requirements. The following table describes the routine maintenance periods recommended by INVT. The following table describes the routine maintenance periods recommended by INVT.
  • Page 387 Goodrive350-19 Series VFD for Crane Maintenance Check scope Item Method Criterion work properly. Check whether conductors are No exception deformed or color change for Visual inspection occurs. Conductor and overheat. wire Check whether the wire No exception sheaths are cracked or their Visual inspection occurs.
  • Page 388 The increase of the bearing noise indicates a fan fault. If the VFD is applied in a key position, replace the fan once the fan starts to generate unusual noise. You can purchase spares of fans from INVT. Cooling fan replacement: Read chapter 1 Safety precautions carefully and follow the instructions to perform operations.
  • Page 389 Goodrive350-19 Series VFD for Crane Maintenance Stop the VFD, disconnect the AC power supply, and wait for a time no shorter than the waiting time designated on the VFD. Open the cable clamp to loosen the fan cable (for the 380V 1.5–30 kW VFD models, the middle casing needs to be removed).
  • Page 390 Ignoring these safety precautions may lead to physical injury or death, or device damage. The electrolytic capacitor of a VFD must be replaced if it has been used for more than 35,000 hours. For details about the replacement, contact the local INVT office. -378-...
  • Page 391 Goodrive350-19 Series VFD for Crane Maintenance 9.5 Power cable Read chapter 1 Safety precautions carefully and follow the instructions to perform operations. Ignoring these safety precautions may lead to physical injury or death, or device damage. Stop the VFD, disconnect the power supply, and wait for a time no shorter than the waiting time designated on the VFD.
  • Page 392 Goodrive350-19 Series VFD for Crane Communication protocol 10 Communication protocol 10.1 What this chapter contains This chapter describes the communication of the VFD. The VFD provides RS485 communication interfaces and adopts the communication based on the international standard Modbus communication protocol. You can implement centralized control...
  • Page 393 Goodrive350-19 Series VFD for Crane Communication protocol Max. transmission Max. transmission Baud rate Baud rate distance distance 2400bps 1800m 9600bps 800m 4800bps 1200m 19200bps 600m In long-distance RS485 communication, it is recommended that you use shielded cables, and use the shielding layer as the ground wire.
  • Page 394 Goodrive350-19 Series VFD for Crane Communication protocol According to the requirements of the RS485 industrial bus standards, all the devices need to be connected in chrysanthemum mode with one 120 Ω terminal resistor at the first and last ends, as shown in Figure 10-2.
  • Page 395 Goodrive350-19 Series VFD for Crane Communication protocol Figure 10-5 Star connection Use shielded cables, if possible, in multi-device connection. The baud rates, data bit check settings, and other basic parameters of all the devices on the RS485 line must be set consistently, and addresses cannot be repeated.
  • Page 396 Goodrive350-19 Series VFD for Crane Communication protocol of 3.5 bytes). On a network where the transmission rate is calculated based on the baud rate, the transmission time of 3.5 bytes can be easily obtained. After the idle time ends, the data domains are transmitted in the following sequence: slave address, operation command code, data, and CRC check character.
  • Page 397 Goodrive350-19 Series VFD for Crane Communication protocol The check is implemented as follows: The transmitter calculates the to-be-transmitted data based on a specific algorithm to obtain a result, adds the result to the rear of the message, and transmits them together.
  • Page 398 Goodrive350-19 Series VFD for Crane Communication protocol current content in the register. The final values in the register are the CRC values obtained after operations are performed on all the bytes in the frame. The calculation adopts the international standard CRC check rule. You can refer to the related standard CRC algorithm to compile the CRC calculation program as required.
  • Page 399 Goodrive350-19 Series VFD for Crane Communication protocol addresses 0004 H and 0005 H) from the VFD whose address is 01H, the command frame structure is described in the following. RTU master command (from the master to the VFD) is as follows: START T1-T2-T3-T4 (transmission time of 3.5 bytes)
  • Page 400 Goodrive350-19 Series VFD for Crane Communication protocol CRC MSB T1-T2-T3-T4 (transmission time of 3.5 bytes) The definition of the response information is described as follows: "ADDR" is "01H", indicating that the command is sent from the VFD whose address is 01H. "ADDR"...
  • Page 401 Goodrive350-19 Series VFD for Crane Communication protocol LSB of data writing address MSB of data content LSB of data content CRC LSB CRC MSB T1-T2-T3-T4 (transmission time of 3.5 bytes) Note: The sections 10.4.1 Command code 03H, reading N words (continuously up to 16 words) and 10.4.2 Command code 06H, writing a word mainly describe the command formats.
  • Page 402 Goodrive350-19 Series VFD for Crane Communication protocol Data count MSB Data count LSB CRC LSB CRC MSB T1-T2-T3-T4 (transmission time of 3.5 bytes) 10.4.4 Data address definition This section describes the address definition of communication data. The addresses are used for controlling the running, obtaining the state information, and setting related function parameters of the VFD.
  • Page 403 Goodrive350-19 Series VFD for Crane Communication protocol value of the RAM, that is, set the address to 8007H. The address can be used only for writing data to the on-chip RAM, and it is invalid when used for reading data.
  • Page 404 Goodrive350-19 Series VFD for Crane Communication protocol Address Function Data description Definition Virtual input terminal command. Range: 0x000–0x3FF 200AH (corresponding to S8/S7/S6/S5/HDIB/HDIA/S4/S3/S2/S1 in sequence) Virtual output terminal command. Range: 0x00–0x0F 200BH (corresponding to local RO2/RO1/HDO/Y1) Voltage setting (special for V/F separation) 200CH (0–1000, in which 1000 corresponds to 100% of the motor...
  • Page 405 Goodrive350-19 Series VFD for Crane Communication protocol Address Function Data description Definition code Running frequency 3000H 0–Fmax (Unit: 0.01Hz) Set frequency 3001H 0–Fmax (Unit: 0.01Hz) Bus voltage 3002H 0.0–2000.0V (Unit: 0.1V) Output voltage 3003H 0–1200V (Unit: 1V) Output current 3004H 0.0–3000.0A (Unit: 0.1A)
  • Page 406 Goodrive350-19 Series VFD for Crane Communication protocol For example, "Communication-based control command" can be written, and therefore the command code 06H is used to control the VFD. The R characteristic indicates that a function parameter can only be read, and W indicates that a function parameter can only be written.
  • Page 407 Goodrive350-19 Series VFD for Crane Communication protocol 01 14 00 32 49 E7 Parameter Parameter Write address command address data After receiving the command, the VFD converts 50 into 5.0 based on the fieldbus scale, and then sets "Wake-up-from-sleep delay" to 5.0s.
  • Page 408 Goodrive350-19 Series VFD for Crane Communication protocol Code Name Definition Parameter The parameter to be modified in the write operation of the host controller is read-only a read-only parameter. Parameter The parameter to be modified in the write operation of the host controller...
  • Page 409 Goodrive350-19 Series VFD for Crane Communication protocol 10.4.7 Read/Write operation examples For the read/write command formats, see 10.4.1 Command code 03H, reading N words (continuously up to 16 words) and 10.4.2 Command code 06H, writing a word. 10.4.7.1 Example of reading command 03H Example 1: Read SW 1 of the VFD whose address is 01H.
  • Page 410 Goodrive350-19 Series VFD for Crane Communication protocol Function Address Data description 0004: Reverse jogging 0005H: Stop 0006H: Coast to stop 0007H: Fault reset 0008H: Jogging stop The command sent from the master is as follows: 20 00 00 01 42 28...
  • Page 411 Goodrive350-19 Series VFD for Crane Communication protocol form. Function Address Data description 0001H: Forward running 0002H: Reverse running 0003H: Forward jogging Communication-based 0004: Reverse jogging 2000H 0005H: Stop control command 0006H: Coast to stop 0007H: Fault reset 0008H: Jogging stop Communication-based frequency setting (0–Fmax...
  • Page 412 Goodrive350-19 Series VFD for Crane Communication protocol 00 0B 00 02 30 0A Parameter Continuous Parameter address write address quantity command Note: In the preceding command description, spaces are added to a command just for explanatory purposes. In practical applications, no space is required in the commands.
  • Page 413 Goodrive350-19 Series VFD for Crane Communication protocol channel of running commands" (P00.02) to the Modbus channel.  Click Send. If the line configuration and settings are correct, a response transmitted by the VFD is received as follows: 10.4.8 Common communication faults Common communication faults include the following: ...
  • Page 414 In many crane applications, CANopen, PROFIBUS, PROFINET, and EtherNet IP communication control words (CWs) and status words (SWs) are controlled by bit. INVT CWs and SWs are expressed in format of number. You can choose to use the CWs and SWs special for port crane applications or INVT standard CWs and SWs by setting P16.72.
  • Page 415 Goodrive350-19 Series VFD for Crane Short description of communication PZD Name Value State/Description When P16.72 ones place=1, bit 14 is defined as follows: Disable torque limit value setting Torque limit value setting (Reserved) Enable torque limit value setting When P16.72 ones place=3, bit 14 is defined as follows:...
  • Page 416 Goodrive350-19 Series VFD for Crane Short description of communication PZD 11.3 Short description of CANopen/PROFIBUS DP communication PZD Received parameters: Function Name Description code P15.02 Received PZD2 0: Invalid P15.03 Received PZD3 1: Set frequency (-Fmax–Fmax, unit: 0.01Hz) P15.04 Received PZD4 …...
  • Page 417 Goodrive350-19 Series VFD for Crane Short description of communication PZD Function Name Description Setting code 0x00–0x12 Ones place: Channel for mapping function codes to PZDs Channel selection for 0: Reserved P14.48 mapping between PZDs 1: Group P15 0x11 and function codes...
  • Page 418 Goodrive350-19 Series VFD for Crane Short description of communication PZD Sent parameters Function Name Description code P15.13 Sent PZD2 Sent PZD3 P15.14 Sent PZD4 P15.15 0: Invalid P15.16 Sent PZD5 … P15.17 Sent PZD6 25: Status word 2 Sent PZD7 P15.18...
  • Page 419 Goodrive350-19 Series VFD for Crane Short description of communication PZD Name Value State/Description Space voltage vector control Brake closed Brake status (when P90.04=1) Brake released Positioning not reached Positioning reached Positioning reached When "67: Function parameter mapping" is used, it must be used together with P14.48, and P14.60–P14.70.
  • Page 420 Goodrive350-19 Series VFD for Crane Short description of communication PZD Function Setting Name Description code sent PZD10 Mapped function code of 0x0000 P14.69 0x0000–0xFFFF sent PZD11 Mapped function code of 0x0000–0xFFFF P14.70 0x0000 sent PZD12 11.4 Short description of PROFINET/EtherNet IP communication PZD...
  • Page 421 Goodrive350-19 Series VFD for Crane Short description of communication PZD usage method is similar to that in the short description of CANopen/PROFIBUS DP communication PZD. Sent parameters Function Name Description code P16.43 Sent PZD2 P16.44 Sent PZD3 P16.45 Sent PZD4 0: Invalid P16.46...
  • Page 422 Goodrive350-19 Series VFD for Crane Expansion card Appendix A Expansion card A.1 Model definition EC-PG 5 02-05 B ⑤ ⑥ ① ② ③ ④ Field Symbol Example description Product ① EC: Expansion card category IC: IoT card IO: IO expansion card Board card ②...
  • Page 423 Goodrive350-19 Series VFD for Crane Expansion card EC-TX 5 02 B ① ② ③ ④ ⑤ Field Symbol Example description Product ① EC: Expansion card category IC: IoT card IO: IO expansion card Board card ② PG: PG card category...
  • Page 424 Goodrive350-19 Series VFD for Crane Expansion card Field Symbol Example description category IO: IO expansion card PG: PG card PS: Power supply card TX: communication expansion card Indicates the generation of a technical version by using odd Technology ③ numbers, for example, 1, 3, 5, and 7 indicate the 1st, 2nd, 3rd version and 4th generations of the technical version.
  • Page 425 Goodrive350-19 Series VFD for Crane Expansion card Field Symbol Example description 2: External EC-PS 5 01-24 ① ② ③ ④ ⑤ Field Symbol Example description Product ① EC: Expansion card category IC: IoT card IO: IO expansion card Board card ②...
  • Page 426 2 Note: The card is standard configuration only for 7.5kW and higher models. ● Meeting requirements of IEEE802.11b/g/n ● With INVT's mobile phone APP, you can monitor the VFD locally or remotely through WIFI ● The maximum communication distance in...
  • Page 427 EC-TX510 11023–00107 supporting 10/100M half/full duplex on card operating ● Supporting Ethernet communication with INVT's internal protocol CAN-NET ● Can be used in combination with INVT's two-in-one EC-TX511B host controller monitoring software INVT 11023–00124 communicati Workshop on card ● Based on the CAN2.0A physical layer;...
  • Page 428 Goodrive350-19 Series VFD for Crane Expansion card Name Model Specifications Order No. of A, B, and Z ● Supporting pulse train reference input ● Applicable to resolver encoders ● Supporting frequency-divided output of Resolver PG EC-PG504-00 11023–00086 card resolver-simulated A, B, and Z ●...
  • Page 429 Goodrive350-19 Series VFD for Crane Expansion card WIFI communication PROFIBUS-DP I/O expansion card 1 I/O expansion card 2 card communication card EC-IO501-00 EC-IO502-00 EC-TX502 EC-TX503D CANopen/CAN Ethernet PROFINET CAN-NET two-in-one master/slave control communication card communication card communication card communication card...
  • Page 430 Goodrive350-19 Series VFD for Crane Expansion card EtherCAT EtherNet IP/Modbus Incremental PG card with Sin/Cos PG card communication card TCP communication EC-PG502 EC-TX508 card EC-TX510/515 EC-PG503-05 Multifunction Simplified incremental 24V simplified Resolver PG card incremental PG card PG card incremental PG card...
  • Page 431 Goodrive350-19 Series VFD for Crane Expansion card 24V power supply SSI card 4G expansion card expansion card EC-PG508-05B EC-IC502-2 EC-PS501-24 A.2 Dimensions and installation All expansion cards are of the same dimensions (108x39mm) and can be installed in the same way.
  • Page 432 Goodrive350-19 Series VFD for Crane Expansion card The following figure shows the installation diagram and a VFD with expansion cards installed. EC 1 EC 1 EC 2 EC 2 EC 3 EC 3 EC installation diagram Diagram of ECs installed Figure A-1 VFD of 7.5 kW or higher with expansion cards installed...
  • Page 433 Goodrive350-19 Series VFD for Crane Expansion card Expansion card installation procedure: STEP2 Re m ove th e scr ew s an d the l ow er co ver . STEP1 STEP4 STEP3 Ta ke o ut the ke yp ad , a nd rem o ve the up pe r cove r.
  • Page 434 Goodrive350-19 Series VFD for Crane Expansion card Grounding position of the shielded cable Grounding position of the shielded cable Figure A-4 Expansion card grounding A.4 IO card (EC-IO501-00) The terminals are arranged as follows: CME and COM are shorted through J3 before delivery, and J5 is the jumper for selecting the output type (voltage or current) of AO2.
  • Page 435 Goodrive350-19 Series VFD for Crane Expansion card Indicator Definition Function control board. EC-IO501-00 can be applied to scenarios where the I/O interface of VFD is not sufficient to meet the demand. It can provide four digital inputs, one digital output, one analog input, one analog output, and two relay outputs.
  • Page 436 Goodrive350-19 Series VFD for Crane Expansion card Terminal Category Terminal name Description symbol S8 supports PTC input, while PTC acts at 2.5kΩ. It supports internal pull-up of +24V, S8—COM Digital input 4 and it supports the input of only dry contacts sharing COM.
  • Page 437 Place the antenna base on the chassis and expose the upper part. Try to keep it unblocked. The wireless communication card must be used with the INVT VFD APP. For details, refer to the wireless communication card manual provided with the extension card. The main interface is shown as follows.
  • Page 438 Goodrive350-19 Series VFD for Crane Expansion card A.5.2 PROFIBUS-DP communication card (EC-TX503D) CN1 is a 9-pin D-type connector, as shown in the following figure. Connector pin Description Unused Unused B-Line Data+ (twisted pair 1) Request sending GND_BUS Isolation ground -426-...
  • Page 439 Goodrive350-19 Series VFD for Crane Expansion card Connector pin Description +5V BUS Isolated power supply of 5 V DC Unused A-Line Data- (twisted pair 2) Unused Housing SHLD PROFIBUS cable shielding line +5V and GND_BUS are bus terminators. Some devices, such as the optical transceiver (RS485), may need to obtain power through these pins.
  • Page 440 Goodrive350-19 Series VFD for Crane Expansion card A.5.3 Ethernet communication card (EC-TX504) EC-TX504 uses standard RJ45 terminals. Indicator definition: Indicator Definition Function On: The expansion card is connecting with the control board. Blinks periodically (cycle: 1s; on: 0.5s; off: 0.5s): The expansion card...
  • Page 441 Goodrive350-19 Series VFD for Crane Expansion card Symbol Name Description input CAN negative CANL CAN bus low level signal input No terminal resistor is connected between 485+ and 485-. RS485 terminal A 120 Ω terminal resistor is connected between 485+ and 485-.
  • Page 442 Goodrive350-19 Series VFD for Crane Expansion card A.5.5 PROFINET communication card (EC-TX509C) The terminal CN2 adopts standard RJ45 interfaces, which are in the dual design, and the two RJ45 interfaces are not distinguished from each other and can be interchangeably inserted. They are...
  • Page 443 Goodrive350-19 Series VFD for Crane Expansion card Indicator Color Function LED5 Manufacturer-specific, depending on the characteristics of (Maintenance Green the device status indicator) On: The PROFINET communication card and PC/PLC have LED6/7 been connected through a network cable. (Network port...
  • Page 444 Goodrive350-19 Series VFD for Crane Expansion card A.5.6 EtherNet IP communication card (EC-TX510) The communication port adopts standard dual RJ45 interfaces, and the two RJ45 interfaces are not distinguished from each other and can be interchangeably inserted. Interface functions Function...
  • Page 445 Goodrive350-19 Series VFD for Crane Expansion card Indicator Color Function Off: No fault LED4 3.3V power indicator Net port On: Ethernet connection is successful. indicator Yellow Off: Ethernet connection is not established. (Link indicator) Net port On: Data exchange is ongoing.
  • Page 446 Goodrive350-19 Series VFD for Crane Expansion card Indicator definition: Indicator Definition Function On: The expansion card is connecting with the control board. Blinks periodically (cycle: 1s; on: 0.5s; off: 0.5s): The LED1 Status indicator expansion card is connected with the control board.
  • Page 447 Goodrive350-19 Series VFD for Crane Expansion card Interface functions Function Description Transmit Data+ Transmit Data- Receive Data+ Not connected Not connected Receive Data- Not connected Not connected The communication card provides four LED indicators and four net port indicators to indicate its states.
  • Page 448 Goodrive350-19 Series VFD for Crane Expansion card 1. Supported functions  EtherCAT COE 402 protocol Automatic network address configuration  Automatic network address configuration 2. Supported services  PDO service  SDO service  Manufacturer-defined object dictionary  Use of SDO to read VFD function codes 3.
  • Page 449 Goodrive350-19 Series VFD for Crane Expansion card The EtherCAT communication card provides five LED indicators and four net port indicators to indicate its states. Indicator Color Function Steady on: OP state Blinking periodically (off for 0.2s; on for 0.2s): Pre-OP state Green Blinking periodically (off for 1s;...
  • Page 450 Goodrive350-19 Series VFD for Crane Expansion card  Set frequency: 0x60FF, set rotation speed value, 32-bit data, unit: 1RPM Note: You need to set P16.79 ones place to 1, and set P00.06=13. Parameters when the standard positioning mode (1 is written to 0x6060) is used: ...
  • Page 451 Goodrive350-19 Series VFD for Crane Expansion card A.6 PG expansion cards A.6.1 Sin/Cos PG card (EC-PG502) The terminals are arranged as follows: Indicator definition: Indicator Definition Function On: Encoder signals are normal. Disconnection LED1 Blinking: C1 or D1 of the encoder is disconnected.
  • Page 452 Goodrive350-19 Series VFD for Crane Expansion card Signal Port Description 1. Supporting 5V differential signal Pulse reference 2. Response frequency: 200 kHz 1. Differential output of 5V Frequency-divided 2. Supporting frequency division of 2 , which can be set output through P20.16 or P24.16 Max.
  • Page 453 Goodrive350-19 Series VFD for Crane Expansion card FWD run FWD jog Fault reset HDIA HDIB +24V pulse A pulse B Host controller A.6.2 UVW incremental PG card (EC-PG503-05) The terminals are arranged as follows: PGND Indicator definition: Indicator Definition Function...
  • Page 454 Goodrive350-19 Series VFD for Crane Expansion card Indicator Definition Function Off: The expansion card is disconnected from the control board. This indicator is on after the control board feeds power to the LED3 Power indicator expansion card. The EC-PG503-05 expansion card supports the input of absolute position signals, integrating the advantages of absolute and incremental encoders and adopts spring-loaded terminals for easy use.
  • Page 455 Goodrive350-19 Series VFD for Crane Expansion card Signal Port Description 1. Absolute position (UVW information) of the hybrid encoder, differential input of 5 V UVW encoder interface 2. Response frequency: 40 kHz The following figure shows the external wiring when EC-PG503-05 is used.
  • Page 456 Goodrive350-19 Series VFD for Crane Expansion card A.6.3 Resolver PG card (EC-PG504-00) The terminals are arranged as follows: Indicator definition: Indicator Definition Function On: The expansion card is connecting with the control board. Blinks periodically (cycle: 1s; on: 0.5s; off: 0.5s): The...
  • Page 457 Goodrive350-19 Series VFD for Crane Expansion card Signal Port Description Encoder excitation 1. Factory setting of excitation: 10kHz signal 2. Supporting resolvers with an excitation voltage of 7Vrms 1. Differential input of 5V Pulse reference 2. Response frequency: 200 kHz...
  • Page 458 Goodrive350-19 Series VFD for Crane Expansion card A.6.4 Multi-function incremental PG card (EC-PG505-12) The terminals are arranged as follows: The SW1 switch is used to set the voltage class (5V or 12V) of the power supply of the encoder. The switch can be operated with an auxiliary tool.
  • Page 459 Goodrive350-19 Series VFD for Crane Expansion card Signal Port Description 1. Applicable to 5V/12V push-pull encoders 2. Applicable to 5V/12V OC encoders Encoder interface 3. Applicable to 5V differential encoders 4. Response frequency: 200 kHz 1. Supporting the same signal types as the encoder signal types Pulse reference 2.
  • Page 460 Goodrive350-19 Series VFD for Crane Expansion card PGND The following figure shows the external wiring when the expansion card is used in combination with a push-pull encoder. FWD run FWD jog PGND Fault reset HDIA HDIB +24V pulse A pulse B...
  • Page 461 Goodrive350-19 Series VFD for Crane Expansion card PGND The following figure shows the external wiring when the expansion card is used in combination with a differential encoder. FWD run FWD jog PGND Fault reset HDIA HDIB +24V pulse A pulse B...
  • Page 462 Goodrive350-19 Series VFD for Crane Expansion card Use the shielded cable Differential output card PGND Differential encoder A.6.5 Simplified incremental PG card (EC-PG507-12B) The terminals are arranged as follows: The SW1 switch is used to set the voltage class (5V or 12V) of the power supply of the encoder. The switch can be operated with an auxiliary tool.
  • Page 463 Goodrive350-19 Series VFD for Crane Expansion card terminal function description: Signal Port Description Grounding Connected to the ground to enhance the anti-interference terminal performance Voltage: 5V/12V ± 5% Max. output: 150 mA Encoder power Select the voltage class through SW1 based on the voltage class PGND of the used encoder.
  • Page 464 Goodrive350-19 Series VFD for Crane Expansion card The EC-PG507-24 extension card can be used in combination with multiple types of incremental encoders through different modes of wiring. It is user-friendly, adopting 5.08mm pitch terminals. EC-PG507-24 terminal function description: Signal Port...
  • Page 465 Goodrive350-19 Series VFD for Crane Expansion card Use shield cable Open collector output card PGND Open collector encoder The following figure shows the external wiring when the expansion card is used in combination with a push-pull encoder. FWD run FWD jog...
  • Page 466 Goodrive350-19 Series VFD for Crane Expansion card Use the shielded cable Push-pull PG card output PGND Push-pull encoder The following figure shows the external wiring when the expansion card is used in combination with a differential encoder. 正转运行 反转运行 PGND 故障复位...
  • Page 467 Goodrive350-19 Series VFD for Crane Expansion card Use the shielded cable Differential PG card output PGND Differential encoder A.6.7 Absolute encoder SSI communication PG card (EC-PG508-05B) The terminals are arranged as follows: PGND PGND +24V Indicator definition: Indicator Definition Function On: The expansion card is connecting with the control board.
  • Page 468 Goodrive350-19 Series VFD for Crane Expansion card Signal Port Description Voltage: 5.2V ± 5% PGND Max. output current: 150mA Encoder power Voltage: 24V ± 5% Max. output current: 100mA PGND Encoder shield Recommended double ended grounding for shielded wire ground...
  • Page 469 Goodrive350-19 Series VFD for Crane Expansion card FWD run 5V/24V 5V/24V PGND REV run PGND Fault reset HDIA HDIB +24V PGND Host controller In fully closed-loop wiring diagram, P21.34=0x2010 (SSI card inserted at slot 2), three types of input signal encoders are supported: 5V differential incremental encoder, 24V push-pull output incremental encoder, and 24V collector open incremental encoder.
  • Page 470 Goodrive350-19 Series VFD for Crane Expansion card 5V/24V 5V/24V PGND FWD run PGND REV run Fault reset HDIA HDIB PGND PGND +24V pulse A pulse B Host controller Figure A-7 Wiring of an SSI absolute encoder and 5V differential incremental encoder in a fully...
  • Page 471 Goodrive350-19 Series VFD for Crane Expansion card Figure A-8 Wiring of an SSI absolute encoder and 24V open collector incremental encoder in a fully closed-loop mode 5V/24V 5V/24V PGND FWD run PGND REV run Fault reset HDIA HDIB PGND PGND...
  • Page 472 Goodrive350-19 Series VFD for Crane Expansion card Terminal symbol Description Description RS485 communication The terminals are 24V, GND, 485+, and 485- 4-Pin terminal interface respectively. Antenna 4G antenna terminal SIM card socket For SIM card installation Indicator meaning: Indicator Definition...
  • Page 473 Goodrive350-19 Series VFD for Crane Technical data Appendix B Technical data B.1 What this chapter contains This chapter describes the technical data of the VFD and its compliance to CE and other quality certification systems. B.2 Derated application B.2.1 Capacity Choose a VFD model based on the rated current and power of the motor.
  • Page 474 Technical data When the altitude exceeds 1000m, derate by 1% for every increase of 100m. When the altitude exceeds 3000m, consult the local INVT dealer INVT office for details. B.2.2.3 Derating due to carrier frequency The VFDs in different power classes are different in carrier frequency. The rated power of a VFD is defined based on the carrier frequency set in factory.
  • Page 475 Goodrive350-19 Series VFD for Crane Technical data Adjustable speed electrical power drive systems—Part 3: EMC IEC/EN 61800-3 requirements and specific test methods Adjustable speed electrical power drive systems—Part 5-1: Safety IEC/EN 61800-5-1 requirements—Electrical, thermal and energy Adjustable speed electrical power drive systems—Part 5-2: Safety IEC/EN 61800-5-2 requirements—Function...
  • Page 476 Goodrive350-19 Series VFD for Crane Technical data Category C3: VFD of rated voltage lower than 1000V, applied to the second environment. They cannot be applied to the first environment. Category C4: VFD of rated voltage higher than 1000V, or rated current higher or equal to 400A, applied to complex systems in the second environment.
  • Page 477 Goodrive350-19 Series VFD for Crane Dimension drawings Appendix C Dimension drawings C.1 What this chapter contains This chapter provides VFD dimensions, which use millimeter (mm) as the unit. C.2 LED keypad C.2.1 Structure diagram Opening sizes for installing the keypad without a bracket C.2.2 Keypad mounting bracket...
  • Page 478 Goodrive350-19 Series VFD for Crane Dimension drawings  The installation bracket is an optional part for 380V 1.5–30kW and 500V 4–18.5kW VFD models, but it is a standard part for 380V 37–500kW, 500V 22–500kW, and 660V VFD models. 28.4 28.4 4-M4×15...
  • Page 479 Goodrive350-19 Series VFD for Crane Dimension drawings 4-R12 Keypad installation bracket Installation dimensions Figure C-4 (Optional) Keypad installation bracket for 380V 1.5–500kW and 660V 22–630kW models C.4 VFD structure Figure C-5 VFD structure -467-...
  • Page 480 Goodrive350-19 Series VFD for Crane Dimension drawings C.5 Dimensions of AC 3PH 380V (-15%)–440V (+10%) C.5.1 Wall mounting dimensions Figure C-6 Wall mounting for 380V 1.5–37kW VFD models Outline dimensions Hole distance Hole Gross (mm) (mm) VFD model diameter Screw...
  • Page 481 Goodrive350-19 Series VFD for Crane Dimension drawings H1 H2 Figure C-8 Wall mounting for 380V 90–110kW VFD models Outline dimensions Hole distance Hole Gross (mm) (mm) VFD model diameter Screw weight weight (mm) (kg) (kg) 90–110kW ø 10 6- ø11.0 Figure C-9 Wall-mounting diagram for 380V 132–200kW VFD models...
  • Page 482 Goodrive350-19 Series VFD for Crane Dimension drawings 6- ø13.0 Figure C-10 Wall mounting for 380V 220–315kW VFD models Outline dimensions Hole distance Hole Gross (mm) (mm) VFD model diameter Screw weight weight (mm) (kg) (kg) 220–315kW ø 13 C.5.2 Flange mounting dimensions H1 H2 Figure C-11 Flange mounting for 380V 1.5–75kW VFD models...
  • Page 483 Goodrive350-19 Series VFD for Crane Dimension drawings 98.0 Figure C-12 Flange mounting for 380V 90–110kW VFD models Outline Mount Hole Gross Hole distance (mm) dimensions (mm) dimensions (mm) VFD model diameter Screw weight weight H1 D1 W3 H3 (mm) (kg) (kg) 90–110kW...
  • Page 484 Goodrive350-19 Series VFD for Crane Dimension drawings C.5.3 Floor mounting dimensions 3- ø13.0 6- ø12.0 Figure C-14 Floor mounting for 380V 220–315kW VFD models Outline dimensions Hole Gross Mount dimension (mm) Fixing VFD model (mm) diameter weight weight screw (mm)
  • Page 485 Goodrive350-19 Series VFD for Crane Dimension drawings C.6 Dimensions of AC 3PH 520V (-15%)–690V (+10%) C.6.1 Wall-mounting dimensions H1 H2 Figure C-16 Wall mounting for 660V 22–132kW VFD models Outline dimensions Mount Hole Gross (mm) dimensions (mm) VFD model diameter...
  • Page 486 Goodrive350-19 Series VFD for Crane Dimension drawings 6- ø13.0 Figure C-18 Wall mounting for 660V 250–355kW VFD models Mount Outline dimensions Hole Gross dimensions VFD model (mm) diameter Screw weight weight (mm) (mm) (kg) (kg) 250–355kW ø 13 C.6.2 Flange mounting dimensions 98.0...
  • Page 487 Goodrive350-19 Series VFD for Crane Dimension drawings Figure C-20 Flange mounting for 660V 160–220kW VFD models Outline Mount Hole Gross dimensions Hole distance (mm) VFD model dimensions (mm) diameter Screw weight weight (mm) (mm) (kg) (kg) W4 H4 160–220kW 500 872 178.5 480 796...
  • Page 488 Goodrive350-19 Series VFD for Crane Dimension drawings 3- ø22.0 6- ø12.0 Figure C-22 Floor mounting for 660V 400–630kW VFD models Outline Mount dimensions Hole Gross dimensions (mm) VFD model diameter Screw weight weight (mm) (mm) (kg) (kg) 400–630kW 620 1700 560 572 1678 240 ø...
  • Page 489 Goodrive350-19 Series VFD for Crane Optional peripheral accessories Appendix D Optional peripheral accessories D.1 What this chapter contains This chapter describes how to select optional accessories of the VFD. D.2 External wiring The following figure shows the external wiring of the VFD.
  • Page 490 Goodrive350-19 Series VFD for Crane Optional peripheral accessories to external DC reactors.  The braking units are INVT DBU series standard braking units. For details, see the DBU operation manual. Image Name Description Cable Accessory for signal transmission. Device for electric shock prevention and protection against short-to-ground that may cause current leakage and fire.
  • Page 491 Goodrive350-19 Series VFD for Crane Optional peripheral accessories Name Description Order No. 3m keypad cable Keypad cable; L=3M(CHV-SE) 37005–00022 Figure D-1 Keypad Note:  The LCD keypad is equipped with a real-time clock, which can run properly after being installed with batteries even if the power line is disconnected.
  • Page 492 Goodrive350-19 Series VFD for Crane Optional peripheral accessories Name Description The function of function key is displayed in the footer Re-definable. It is defined as JOG function by default, namely jogging. The function of short-cut key can be set by the ones of P07.02, as shown in the following:...
  • Page 493 Goodrive350-19 Series VFD for Crane Optional peripheral accessories Name Description item, changing digits. Left: The Left key function varies with interfaces, such as switch over the monitoring interface, such as shifting the cursor leftward, exiting current menu and returning to previous menu.
  • Page 494 Goodrive350-19 Series VFD for Crane Optional peripheral accessories Area Name Used to "Disrev" – Reverse running is forbidden  Display the VFD running command channel: "Local" – Keypad; "Trml" – Terminal; "Remote" - Communication  Display current running state of the VFD : "Ready" – The VFD is in stop state (no fault);...
  • Page 495 Goodrive350-19 Series VFD for Crane Optional peripheral accessories 16:02:35 16:02: 35 Local Ready GD350-19 Local Ready GD350-19 Set Freq Set Freq 50.00 50.00 P17.00 DC Bus Volt 540.0 P17.11 0.00 50.00 HDIB/A/S4/3/2/1 000000 P17.12 Parameters About Return Homepage Menu Figure D-4 Stopped-state parameter display 2 The stop display parameter list is user defined, and each state variable function code can be added to the stop display parameter list as needed.
  • Page 496 Goodrive350-19 Series VFD for Crane Optional peripheral accessories D.3.1.3 Displaying fault information The VFD enters fault alarm display state once fault signal is detected, and the keypad displays fault code and fault information with TRIP indicator on the keypad turning on. You can perform fault reset by using the STOP/RST key, control terminals, or communication commands.
  • Page 497 Goodrive350-19 Series VFD for Crane Optional peripheral accessories The following figure shows how to enter or exit different menus step by step. 16:02:35 Local Ready GD350-19 16:02:35 Local Ready GD350-19 16:02:35 Local Ready GD350-19 Parameter groups Set Freq Basic parameters 50.00...
  • Page 498 Goodrive350-19 Series VFD for Crane Optional peripheral accessories The keypad menu setup is shown as follows: Level 1 Level 2 Level 3 Level 4 P00: Basic functions P00.xx P01: Start and stop control P01.xx P03: Vector control of motor P03.xx P04: V/F control P04.xx...
  • Page 499 Goodrive350-19 Series VFD for Crane Optional peripheral accessories Level 1 Level 2 Level 3 Level 4 output functions P27: Programmable P27.xx expansion card functions P28: Master/slave control P28.xx P90: Functions special for P90.xx cranes P91: Hoisting expansion P91.xx functions Factory...
  • Page 500 Goodrive350-19 Series VFD for Crane Optional peripheral accessories Level 1 Level 2 Level 3 Level 4 P07.xx: xx state of the last but xx fault Clear fault Sure to clear fault records? records Pxx.xx has modified parameter 1 Modified Pxx.xx has modified...
  • Page 501 Goodrive350-19 Series VFD for Crane Optional peripheral accessories Level 1 Level 2 Level 3 Level 4 Upload param from local to keypad Download all param from keypad MemArea3: BACKUP03 Download non motor param from keypad Download motor param from keypad Restore default (excl.
  • Page 502 Goodrive350-19 Series VFD for Crane Optional peripheral accessories key or key to confirm the edit operation and return to the previous menu (parameter list). The returned list is the list edited. If the key or key is pressed in the edit interface without selecting the edit operation, it will return to the previous menu (while the parameter list remains unchanged).
  • Page 503 Goodrive350-19 Series VFD for Crane Optional peripheral accessories 16:02:35 16:02:35 16:02:35 Local Ready GD350-19 Local Ready GD350-19 Local Ready GD350-19 P17.01：OutpFreq Stopped-state parameters P17.00：Set Freq Running-state parameters Sure to add to Stopped-state P17.11：DC Bus Volt parameters? P17.03：Outp Volt P17.04：Outp Cur P17.05：Motor Speed...
  • Page 504 Goodrive350-19 Series VFD for Crane Optional peripheral accessories Press key to enter addition interface, and press key, key or key to confirm the addition operation. If this parameter is not included in the original user defined parameter list, the newly-added parameter will be at the end of the list; if this parameter is already in the user defined parameter list, the addition operation will be invalid.
  • Page 505 Goodrive350-19 Series VFD for Crane Optional peripheral accessories to shift the editing bit. After parameters are set, press key to save the set parameters and return to the previous menu; press to maintain the original parameter value and return to the previous menu.
  • Page 506 Goodrive350-19 Series VFD for Crane Optional peripheral accessories autotuning interface, you can press key or key to return to the previous menu. 16:02:35 Local Ready 16:02:35 16:02:35 Local Ready GD350-19 GD350-19 Local Ready GD350-19 Complete para rotary autotune Parameter groups...
  • Page 507 Goodrive350-19 Series VFD for Crane Optional peripheral accessories If time-keeping after power off is needed, you should purchase the clock batteries separately. 16:02:35 Local Ready GD350-19 16:02:35 Local Ready GD350-19 Parameter groups Language User defined parameters Time/date State monitoring Backlight brightness...
  • Page 508 Goodrive350-19 Series VFD for Crane Optional peripheral accessories Auth: √ Default: 0 Present: 0 0：简体中文 1：English 2：Русский язык (Reserve) 3：Português (Reserve) 4：Español (Reserve) 5：Italiano (Reserve) Back Home Sele Auth: √ Present: 0 Default: 0 0: Always 1: Only once Always: Enable for each power-on...
  • Page 509 Goodrive350-19 Series VFD for Crane Optional peripheral accessories D.4 Power supply See chapter 4 Installation guidelines. Ensure that the voltage class of the VFD is consistent with that of the grid. D.5 Cable D.5.1 Power cable The sizes of the input power cables and motor cables must comply with local regulations.
  • Page 510 Goodrive350-19 Series VFD for Crane Optional peripheral accessories Shield layer Insulating layer Cross-section of the cable Figure D-22 Cable cross section D.5.2 Control cable All analog control cables and cables used for frequency input must be shielded cables. Analog signal cables need to be double-shielded twisted-pair cables (as shown in figure a).
  • Page 511 Goodrive350-19 Series VFD for Crane Optional peripheral accessories D.5.3 Recommended cable size Table D-1 AC 3PH 380V(-15%) – 440V(+10%) Recommended Connectable cable size (mm Fastening cable size (mm Terminal VFD model torque screw (Nm) (+) (-) GD350-19-1R5G-4-B 2.5–6 2.5–6 2.5–6 2.5–6...
  • Page 512 Goodrive350-19 Series VFD for Crane Optional peripheral accessories temperature is lower than 40° C, the wiring distance is shorter than 100m, and the current is the rated current.  The terminals P1, (+), PB, and (-) are used to connect to DC reactors and braking accessories.
  • Page 513 Goodrive350-19 Series VFD for Crane Optional peripheral accessories D.5.4 Cable arrangement Motor cables must be arranged away from other cables. The motor cables of several inverters can be arranged in parallel. It is recommended that you arrange the motor cables, input power cables, and control cables separately in different trays.
  • Page 514 Goodrive350-19 Series VFD for Crane Optional peripheral accessories when a short-circuit occurs. To ensure safe use, exercise extra caution when installing and placing the breaker. Follow the manufacturer's instructions. To ensure safety, you can configure an electromagnetic contactor on the input side to control the switch-on and switch-off of the main circuit power, so that the input power supply of the VFD can be effectively cut off when a system fault occurs.
  • Page 515 Goodrive350-19 Series VFD for Crane Optional peripheral accessories values. Table D-4 AC 3PH 520V(-15%) – 690V(+10%) VFD model Fuse (A) Breaker (A) Contactor rated current (A) GD350-19-022G-6 GD350-19-030G-6 GD350-19-037G-6 GD350-19-045G-6 GD350-19-055G-6 GD350-19-075G-6 GD350-19-090G-6 GD350-19-110G-6 GD350-19-132G-6 GD350-19-160G-6 GD350-19-185G-6 GD350-19-200G-6 GD350-19-220G-6 GD350-19-250G-6...
  • Page 516 Goodrive350-19 Series VFD for Crane Optional peripheral accessories cable length. Table D-5 Reactors for AC 3 PH 380V (-15%)–440V (+10%) Non-shielded 50m–150m 150m–450m 450m–1000m cable length Shielded cable 30m–100m 100m–230m 230m–500m length Output reactor (1%) Output reactor dv/dt filter category Sine-wave filter D.7.1 AC 3PH 380V(-15%)–440V(+10%)
  • Page 517 Goodrive350-19 Series VFD for Crane Optional peripheral accessories VFD power Input reactor DC reactor Output reactor 315kW GDL-ACL0580-4AL GDL-DCL0675-4AL GDL-OCL0660-4AL 355kW Standard GDL-DCL0810-4AL GDL-OCL0660-4AL 400kW Standard GDL-DCL0810-4AL GDL-OCL0720-4AL 450kW Standard GDL-DCL1000-4AL GDL-OCL0820-4AL 500kW Standard GDL-DCL1000-4AL GDL-OCL1000-4AL Note:  The rated input voltage drop of input reactor is designed to 1.5%.
  • Page 518 Goodrive350-19 Series VFD for Crane Optional peripheral accessories Input filter Output filter VFD power Passive harmonic dv/dt filter Sine-wave filter filter 250kW GDL-H0485-4AL GDL-DUL0480-4AL GDL-OSF0480-4AL 280kW GDL-H0545-4AL GDL-DUL0540-4AL GDL-OSF0600-4AL 315kW GDL-H0610-4AL GDL-DUL0600-4AL GDL-OSF0600-4AL 355kW GDL-H0800-4AL GDL-DUL0800-4AL GDL-OSF0800-4AL 400kW GDL-H0800-4AL GDL-DUL0800-4AL...
  • Page 519 Goodrive350-19 Series VFD for Crane Optional peripheral accessories  The rated input voltage drop of input reactor is designed to 1.5%.  The rated output voltage drop of output reactor is designed to 1%.  For the model selection for paralleled VFDs, see the operation manual for Goodrive series VFDs in parallel connection.
  • Page 520 Noise filters on the output side can decrease the radio noise caused by the cables between VFDs and motors and the leakage current of conducting wires. INVT provides some of the filters for you to choose. D.8.1 Filter model description...
  • Page 521 Goodrive350-19 Series VFD for Crane Optional peripheral accessories Field Description B: First environment (IEC61800-3), category C2 (EN 61800-3) C: Second environment (IEC61800-3), category C3 (EN 61800-3) D.8.2 Filter model selection Table D-10 AC 3PH 380V(-15%) – 440V(+10%) VFD model Input filter...
  • Page 522 Goodrive350-19 Series VFD for Crane Optional peripheral accessories built-in accessories are needed in your purchase order. Table D-11 AC 3PH 520V(-15%) – 690V(+10%) VFD model Input filter Output filter GD350-19-022G-6 GD350-19-030G-6 FLT-P06050H-B FLT-L06050H-B GD350-19-037G-6 GD350-19-045G-6 GD350-19-055G-6 FLT-P06100H-B FLT-L06100H-B GD350-19-075G-6 GD350-19-090G-6...
  • Page 523 Goodrive350-19 Series VFD for Crane Optional peripheral accessories  Follow all the "Warning" instructions during the operation. Otherwise, major physical injuries or property loss may be caused.  Only qualified electricians are allowed to perform the wiring. Otherwise, damage to the VFD or braking components may be caused.
  • Page 524 Note:  Select braking resistors according to the resistance and power data provided by INVT. Users can choose different resistance values and powers according to their actual situation, but the resistance value must not be less than the minimum allowable braking resistance value in the table, otherwise the braking unit may be burned out.
  • Page 525 Note:  Select braking resistors according to the resistance and power data provided by INVT. Users can choose different resistance values and powers according to their actual situation, but the resistance value must not be less than the minimum allowable braking resistance value in the table, otherwise the braking unit may be burned out.
  • Page 526 Goodrive350-19 Series VFD for Crane Optional peripheral accessories resistor with larger power and smaller resistance value needs to be selected.  When the grid voltage is different, users can adjust the dynamic braking threshold voltage. If the threshold voltage needs to be raised, the corresponding braking resistance needs to be increased.
  • Page 527 Goodrive350-19 Series VFD for Crane Optional peripheral accessories  All 660V VFD models need external braking units.  (+) and (-)are the terminals for connecting braking units.  The connection cable length between the (+) and (-) terminals of the VFD and...
  • Page 528 Goodrive350-19 Series VFD for Crane Optional peripheral accessories VFD model Buffer unit Regenerative unit GD350-19-022G-4-B RBU100H-022-4 GD350-19-030G-4-B RBU100H-030-4 GD350-19-037G-4-B RBU100H-045-4 GD350-19-045G-4-B BUB-110-4 RBU100H-045-4 GD350-19-055G-4-B RBU100H-055-4 GD350-19-075G-4-B RBU100H-090-4 GD350-19-090G-4-B RBU100H-090-4 GD350-19-110G-4-B RBU100H-110-4 GD350-19-132G-4 RBU100H-132-4 BUB-250-4 GD350-19-160G-4 RBU100H-160-4 GD350-19-185G-4 RBU100H-200-4 GD350-19-200G-4 RBU100H-200-4...
  • Page 529 Goodrive350-19 Series VFD for Crane Optional peripheral accessories VFD model Buffer unit Regenerative unit GD350-19-315G-6 RBU100H-315-6 GD350-19-355G-6 RBU100H-400-6 GD350-19-400G-6 RBU100H-400-6 GD350-19-450G-6 Two RBU100H-315-6 GD350-19-500G-6 Two BUB-400-6 Two RBU100H-315-6 GD350-19-560G-6 Two RBU100H-315-6 GD350-19-630G-6 Two RBU100H-315-6 Note:  For details about the use instructions of buffer units and regenerative units, see the manuals for BUB series buffer units and RBU100H regenerative units.
  • Page 530 Goodrive350-19 Series VFD for Crane STO function description Appendix E STO function description Reference standards: IEC 61508-1, IEC 61508-2, IEC 61508-3, IEC 61508-4, IEC 62061, ISO 13849-1, and IEC 61800-5-2. You can enable the safe torque off (STO) function to prevent unexpected startups when the main power supply of the drive is not switched off.
  • Page 531 Goodrive350-19 Series VFD for Crane STO function description STO mode STO trigger delay and indication delay Trigger delay < 10ms; STO fault: STL1 Indication delay < 280ms Trigger delay < 10ms; STO fault: STL2 Indication delay < 280ms Trigger delay < 10ms;...
  • Page 532 F.1 Product and service queries If you have any queries about the product, contact the local INVT office. Please provide the model and serial number of the product you query about. You can visit www.invt.com to find a list of INVT offices.
  • Page 533 6 6 0 0 1 - 0 0 6 6 3...

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