Goodrive350 Series High-performance Multi-function Inver ter. Operation manual

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

/Devicenet

3: Switch over by Ethernet

communication

4: Switch over by EtherCat/Profinet

communication

Tens: Motor switch-over during running

0: Disable switch-over during running

1: Enable switch-over during running

0: Asynchronous motor

P12.00

Type of motor 2

1: Synchronous motor

Rated power of

Depend

P12.01

0.1-3000.0kW

asynchronous motor 2

on model

Rated frequency of

P12.02

0.01Hz-P00.03 (max. output frequency)

50.00Hz

asynchronous motor 2

Rated speed of

P12.03

1-36000rpm

asynchronous motor 2

Rated voltage of

P12.04

0-1200V

asynchronous motor 2

Rated current of

P12.05

0.8-6000.0A

asynchronous motor 2

Stator resistance of

P12.06

0.001-65.535Ω

asynchronous motor 2

Rotor resistance of

Depend

P12.07

0.001-65.535Ω

asynchronous motor 2

on model

Leakage inductance of

P12.08

0.1-6553.5mH

asynchronous motor 2

Mutual inductance of

P12.09

0.1-6553.5mH

asynchronous motor 2

No-load current of

P12.10

0.1-6553.5A

asynchronous motor 2

Rated power of synchronous

P12.15

0.1-3000.0kW

motor 2

Rated frequency of

P12.16

0.01Hz-P00.03 (max. output frequency)

50.00Hz

synchronous motor 2

Number of pole pairs of

P12.17

1-50

synchronous motor 2

Rated voltage of

Depend

P12.18

0-1200V

synchronous motor 2

on model

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Chapter 5

Function

Default

Name

Detailed parameter description

code

value

Rated current of

Depend

P12.19

0.8-6000.0A

synchronous motor 2

on model

Stator resistance of

Depend

P12.20

0.001-65.535Ω

synchronous motor 2

on model

Direct-axis inductance of

Depend

P12.21

0.01-655.35mH

synchronous motor 2

on model

Quadrature-axis inductance

Depend

P12.22

0.01-655.35mH

of synchronous motor 2

on model

Counter-emf constant of

P12.23

0-10000

300

synchronous motor 2

5.5.7 Start/stop control

The start/stop control of the inverter is divided into three states: start after running command at

power-up; start after restart-at-power-cut function is effective; start after automatic fault reset.

Descriptions for these three start/stop control states are presented below.

There are three start modes for the inverter, which are start at starting frequency, start after DC brake,

and start after speed-tracking. Users can select the proper start mode based on field conditions.

For large-inertia load, especially in cases where reversal may occur, users can choose to start after

DC brake or start after speed-racking.

Note: It is recommended to drive synchronous motors in direct start mode.

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Chapter 5

Logic diagram for restart after power-cut

Run

Standby

Run

Keypad

The running state

Stop

before power cut

Stop

Restart after

Communi

power-cut

cation

Waiting time of restart at

Delay time of restart

power-cut>P01.22

>P01.123

P01.21

(restart at power-cut)

Termin

FWD/REV

Whether running terminal

command is valid

P00.01

Run

Running command channel

P01.18

(Power-on terminal running protection

selection)

Logic diagram for restart after automatic fault reset

In running

Inverter fault

Automatic reset times

of inverter fault<P08.28

Automatic reset

interval of inverter

fault>P08.29

Inverter fault reset,

Display fault

start running

code, and stop

Related parameter list:

Function

Default

Name

Detailed parameter description

code

value

0: Keypad

P00.01

Running command channel

1: Terminal

2: Communication

Depend

P00.11

Acceleration time 1

0.0-3600.0s

on model

Depend

P00.12

Deceleration time 1

0.0-3600.0s

on model

0: Direct start

1: Start after DC brake

P01.00

Running mode of start

2: Start after speed-track 1

3: Start after speed-track 2

Starting frequency of direct

P01.01

0.00-50.00Hz

0.50Hz

start

P01.02

Hold time of starting

0.0-50.0s

0.0s

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Chapter 5

Function

Default

Name

Detailed parameter description

code

value

frequency

P01.03

DC brake current before start

0.0-100.0%

0.0%

P01.04

DC brake time before start

0.00-50.00s

0.00s

0: Straight line

1: S curve

Acceleration/deceleration

P01.05

Note: If mode 1 is selected, it is required

mode

to set P01.07, P01.27 and P01.08

accordingly

0: Decelerate to stop

P01.08

Stop mode

1: Coast to stop

Starting frequency of DC

P01.09

0.00Hz-P00.03 (max. output frequency)

0.00Hz

brake after stop

Waiting time of DC brake

P01.10

0.00-50.00s

0.00s

after stop

P01.11

DC brake current of stop

0.0-100.0%

0.0%

P01.12

DC brake time of stop

0.00-50.00s

0.00s

Deadzone time of

P01.13

0.0-3600.0s

0.0s

forward/reverse rotation

0: switch over after zero frequency

Forward/reverse rotation

1: switch over after starting frequency

P01.14

switch-over mode

2: switch over after passing stop speed

and delay

P01.15

Stop speed

0.00-100.00Hz

0.50 Hz

0: Set value of speed (the only detection

P01.16

Stop speed detection mode

mode valid in SVPWM mode)

1: Detection value of speed

0: Terminal running command is invalid

Power-on terminal running

at power up

P01.18

protection selection

1: Terminal running command is valid at

power up

Action selection when the

0: Run at the lower limit frequency

running frequency is below

P01.19

1: Stop

lower limit (lower limit should

2: Sleep

be larger than 0)

P01.20

Wake-up-from-sleep delay

0.0-3600.0s (valid when P01.19 is 2)

0.0s

0: Restart is disabled

P01.21

Restart after power cut

1: Restart is enabled

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Chapter 5

Function

Default

Name

Detailed parameter description

code

value

Waiting time of restart after

P01.22

0.0-3600.0s (valid when P01.21 is 1)

1.0s

power cut

P01.23

Start delay

0.0-60.0s

0.0s

P01.24

Stop speed delay

0.0-100.0s

0.0s

0: No voltage output

Open-loop 0Hz output

P01.25

1: With voltage output

selection

2: Output as per DC brake current of stop

Deceleration time of

P01.26

0.0-60.0s

2.0s

emergency-stop

Time of starting section of

P01.27

0.0-50.0s

0.1s

deceleration S curve

Time of ending section of

P01.28

0.0-50.0s

0.1s

deceleration S curve

P01.29

Short-circuit brake current

0.0-150.0% (rated inverter current)

0.0%

Hold time of short-circuit

P01.30

0.00-50.00s

0.00s

brake at startup

Hold time of short-circuit

P01.31

0.00-50.00s

0.00s

brake at stop

1: Forward running

2: Reverse running

4: Forward jogging

5: Reverse jogging

6: Coast to stop

P05.01-

Digital input function

7: Fault reset

P05.06

selection

8: Running pause

21: Acceleration/deceleration time

selection 1

22: Acceleration/deceleration time

selection 2

30: Acceleration/deceleration disabled

P08.06

Running frequency of jog

0.00Hz-P00.03 (max. output frequency)

5.00Hz

Depend

P08.07

Acceleration time at jogging

0.0-3600.0s

on model

Depend

P08.08

Deceleration time at jogging

0.0-3600.0s

on model

Depend

P08.00

Acceleration time 2

0.0-3600.0s

on model

-80-

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

Depend

P08.01

Declaration time 2

0.0-3600.0s

on model

Depend

P08.02

Acceleration time 3

0.0-3600.0s

on model

Depend

P08.03

Declaration time 3

0.0-3600.0s

on model

Depend

P08.04

Acceleration time 4

0.0-3600.0s

on model

Depend

P08.05

Declaration time 4

0.0-3600.0s

on model

0.00-P00.03 (max. output frequency)

Switching frequency of

0.00Hz: No switch over

P08.19

acceleration/deceleration

If the running frequency is larger than

time

P08.19, switch to acceleration

/deceleration time 2

0: Max. output frequency

Reference frequency of

1: Set frequency

P08.21

acceleration/deceleration

2: 100Hz

time

Note: Valid for straight-line

acceleration/deceleration only

P08.28

Automatic fault reset times

0-10

Automatic fault reset time

P08.29

0.1-3600.0s

1.0s

interval

5.5.8 Frequency setup

GD350 series inverter supports multiple

kinds of frequency reference modes,

which can be

categorized into two types: main reference channel and auxiliary reference channel.

There are two main reference channels, namely frequency reference channel A and frequency

reference channel B. These two channels support simple arithmetical operation between each other,

and they can be switched dynamically by setting multi-function terminals.

There is one input mode for auxiliary reference channel, namely terminal UP/DOWN switch input. By

setting function codes, users can enable the corresponding reference mode and the impact made on

the inverter frequency reference by this reference mode .

The actual reference of inverter is comprised of the main reference channel and auxiliary reference

channel.

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Chapter 5

Multi-function terminal

Present reference

function 13

function 14

function 15

channel

Channel A switches to

Combination setup

P00.09

channel B

switches to channel A

switches to channel B

Max (A, B)

Min (A, B)

Note: "/" indicates this multi-function terminal is invalid under present reference channel.

When setting the auxiliary frequency inside the inverter via multi-function terminal UP (10) and

DOWN (11), users can increase/decrease the frequency quickly by setting P08.45 (UP terminal

frequency incremental change rate) and P08.46 (DOWN terminal frequency decremental change

rate).

UP terminal frequency incremental integral speed P08.45

DOWN terminal frequency decremental integral speed P08.46

UP terminal state

UP terminal

function selection=10

DOWN terminal state

DOWN terminal

function selection=11

Related parameter list:

Function

Default

Name

Detailed parameter description

code

value

P00.03

Max. output frequency

P00.04-400.00Hz

50.00Hz

Upper limit of running

P00.04

P00.05-P00.03

50.00Hz

frequency

Lower limit of running

P00.05

0.00Hz-P00.04

0.00Hz

frequency

A frequency command

0: Set via keypad

P00.06

selection

1: Set via AI1

2: Set via AI2

3: Set via AI3

4: Set via high speed pulse HDIA

B frequency command

P00.07

5: Set via simple PLC program

selection

6: Set via multi-step speed running

7: Set via PID control

8: Set via MODBUS communication

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Chapter 5

Function

Default

Name

Detailed parameter description

code

value

9: Set via PROFIBUS

/ CANopen

DeviceNet communication

10: Set via Ethernet communication

11: Set via high speed pulse HDIB

12: Set via pulse string AB

13: Set via EtherCat/Profinet

communication

14: Set via PLC card

15: Reserved

Reference object of B

0: Max. output frequency

P00.08

frequency command

1: A frequency command

0: A

1: B

Combination mode of setup

2: (A+B)

P00.09

source

3: (A-B)

4: Max (A, B)

5: Min (A, B)

10: Frequency increase (UP)

11: Frequency decrease (DOWN)

12: Clear frequency increase/decrease

setting

Function of multi-function

P05.01-

13: Switch-over between setup A and

digital input terminal (S1-S4,

P05.06

setup B

HDIA, HDIB)

14: Switch-over between combination

setup and setup A

15: Switch-over between combination

setup and setup B

P08.42

Reserved variables

P08.43

Reserved variables

0x000-0x221

Ones: Frequency enabling selection

0: UP/DOWN terminal setting is valid

1: UP/DOWN terminal setting is invalid

P08.44

UP/DOWN terminal control

Tens: Frequency control selection

0x000

0: Valid only when P00.06=0 or P00.07=0

1: Valid for all frequency modes

2: Invalid for multi-step speed when

multi-step speed takes priority

-84-

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

Hundreds: Action selection at stop

0: Valid

1: Valid during running, clear after stop

2: Valid during running, clear after

receiving stop command

UP terminal frequency

P08.45

0.01-50.00 Hz/s

0.50 Hz/s

incremental change rate

DOWN terminal frequency

P08.46

0.01-50.00 Hz/s

0.50 Hz/s

decremental change rate

P17.00

Set frequency

0.00Hz-P00.03 (max. output frequency)

0.00Hz

P17.02

Ramps reference frequency

0.00Hz-P00.03 (max. output frequency)

0.00Hz

P17.14

Digital adjustment value

0.00Hz-P00.03

0.00Hz

5.5.9 Analog input

GD350 series inverter carries two analog input terminals (AI1 is 0-10V/0-20mA (voltage input or

current input can be set by P05.50); AI2 is -10-10V) and two high-speed pulse input terminals. Each

input can be filtered separately, and the corresponding reference curve can be set by adjusting the

reference corresponds to the max. value and min. value.

Analog input curve setting

Analog input filter

P05.24

P05.25

P05.28

AI1 input voltage

P05.26

P05.27

P17.19

AI1

P05.29

AI2 input voltage

P05.30

P05.31

P17.20

P05.32

P05.37

P05.33

P05.34

AI2

P05.35

P05.36

HDIA input frequency

P17.21

P05.39

HDIA

P05.40

P05.43

P05.41

P05.42

P05.00

P05.38

（HDIA input type）

(HDIA high-speed pulse input function

selection)

HDIB input frequency

AI1/AI2/HDI

P17.22

HDIB

P05.45

P05.49

P05.46

P05.47

P05.48

P05.00

（HDIB input type）

P05.44

(HDIB high-speed pulse input function

selection)

Ones：

0: Set input via frequency

P05.00

0: HDIA is high-speed pulse input

P05.38

1: Reserved

1: HDIA is digital input

2: Input via encoder

Tens：

0: Set input via frequency

P05.00

0: HDIB is high-speed pulse input

P05.44

1: Reserved

1: HDIB is digital input

2: Input via encoder

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Chapter 5

Related parameter list:

Function

Default

Name

Detailed parameter description

code

value

0x00-0x11

Ones: HDIA input type

0: HDIA is high-speed pulse input

P05.00

HDI input type

1: HDIA is digital input

0x00

Tens: HDIB input type

0: HDIB is high-speed pulse input

1: HDIB is digital input

P05.24

Lower limit value of AI1

0.00V-P05.26

0.00V

Corresponding setting of

P05.25

-100.0%-100.0%

0.0%

lower limit of AI1

P05.26

Upper limit value of AI1

P05.24-10.00V

10.00V

Corresponding setting of

P05.27

-100.0%-100.0%

100.0%

upper limit of AI1

P05.28

Input filter time of AI1

0.000s-10.000s

0.100s

P05.29

Lower limit value of AI2

-10.00V-P05.31

-10.00V

Corresponding setting of

P05.30

-100.0%-100.0%

-100.0%

lower limit of AI2

P05.31

Intermediate value 1 of AI2

P05.29-P05.33

0.00V

Corresponding setting of

P05.32

-100.0%-100.0%

0.0%

intermediate value 1 of AI2

P05.33

Intermediate value 2 of AI2

P05.31-P05.35

0.00V

Corresponding setting of

P05.34

-100.0%-100.0%

0.0%

intermediate value 2 of AI2

P05.35

Upper limit value of AI2

P05.33-10.00V

10.00V

Corresponding setting of

P05.36

-100.0%-100.0%

100.0%

upper limit of AI2

P05.37

Input filter time of AI2

0.000s-10.000s

0.100s

0: Set input via frequency

HDIA high-speed pulse input

1: Reserved

P05.38

function

2: Input via encoder, used in

combination with HDIB

Lower limit frequency of

P05.39

0.000 KHz - P05.41

0.000KHz

HDIA

Corresponding setting of

P05.40

-100.0%-100.0%

0.0%

lower limit frequency of HDIA

-86-

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

Upper limit frequency of

P05.41

P05.39 -50.000KHz

50.000KHz

HDIA

Corresponding setting of

P05.42

upper limit frequency of

-100.0%-100.0%

100.0%

HDIA

HDIA frequency input filter

P05.43

0.000s-10.000s

0.030s

time

0: Set input via frequency

HDIB high-speed pulse input

1: Reserved

P05.44

function selection

2: Input via encoder, used in

combination with HDIA

Lower limit frequency of

P05.45

0.000 KHz - P05.47

0.000KHz

HDIB

Corresponding setting of

P05.46

-100.0%-100.0%

0.0%

lower limit frequency of HDIB

Upper limit frequency of

P05.47

P05.45 -50.000KHz

50.000KHz

HDIB

Corresponding setting of

P05.48

upper limit frequency of

-100.0%-100.0%

100.0%

HDIB

HDIB frequency input filter

P05.49

0.000s-10.000s

0.030s

time

0-1

P05.50

AI1 input signal type

0: Voltage type

1: Current type

5.5.10 Analog output

GD350 series inverter carries one analog output terminal (0-10V/0-20mA) and one high-speed pulse

output terminal. Analog output signals can be filtered separately, and the proportional relation can be

adjusted by setting the max. value, min. value, and the percentage of their corresponding output.

Analog output signal can output motor speed, output frequency, output current, motor torque and

motor power at a certain proportion.

-87-

Chapter 5

Analog output selection

Analog output curve setting

Analog output filter

P06.17

P06.14

P06.18

P06.21

AO1

P06.19

(Default value is 0)

P06.20

P06.00

(HDO output type)

P06.27

P06.28

P06.16

P06.29

P06.31

HDO

P06.30

(Default value is 0)

0: Open collector high-speed

P06.00

pulse output

1: Open-collector output

Instructions for output:

Set value

Function

Description

Running frequency

0-Max. output frequency

Set frequency

0-Max. output frequency

Ramps reference frequency

0-Max. output frequency

0-Synchronous speed corresponding to Max. output

Running speed

frequency

Output current (relative to

0-Two times of rated current of inverter

inverter)

Output current (relative to

0-Two times of rated current of motor

motor)

Output voltage

0-1.5 times of rated voltage of inverter

Output power

0-Two times of rated power

Set torque value

0-Two times of rated current of motor

Output torque

0-Two times of rated current of motor

AI1 input value

0-10V/0-20mA

AI2 input value

-10V-10V

AI3 input value

0-10V/0-20mA

Input value of high-speed

0.00-50.00kHz

pulse HDIA

Set value 1 of MODBUS

-1000-1000, 1000 corresponds to 100.0%

communication

Set value 2 of MODBUS

-1000-1000, 1000 corresponds to 100.0%

communication

Set value 1 of

-1000-1000, 1000 corresponds to 100.0%

-88-

Chapter 5

Set value

Function

Description

PROFIBUS\CANopen

communication

Set value 2 of

PROFIBUS\CANopen

-1000-1000, 1000 corresponds to 100.0%

communication

Set value 1 of Ethernet

-1000-1000, 1000 corresponds to 100.0%

communication

Set value 2 of Ethernet

-1000-1000, 1000 corresponds to 100.0%

communication

Input value of high-speed

0.00-50.00kHz

pulse HDIB

Reserved variable

Torque current (bipolar, 100%

0-Two times of rated current of motor

corresponds to 10V)

Exciting current (100%

0-One times of rated current of motor

corresponds to 10V)

Set frequency (bipolar)

0-Max. output frequency

Ramps reference frequency

0-Max. output frequency

(bipolar)

Running speed (bipolar)

0-Max. output frequency

Set value 2 of

-1000-1000,

1000 corresponds

EtherCat/Profinet

100.0%

communication

C_AO1 from CODESYS

1000 corresponds to 100.0%

C_AO2 from CODESYS

1000 corresponds to 100.0%

Running speed

0-Two times of rated synchronous speed of motor

31-47

Reserved variable

Related parameter list:

Function

Default

Name

Detailed parameter description

code

value

0: Open collector high-speed pulse

P06.00

HDO output type

output

1: Open collector output

P06.14

AO1 output selection

0: Running frequency

1: Set frequency

P06.15

Reserved variable

2: Ramps reference frequency

P06.16

HDO high-speed pulse output

3: Running speed

-89-

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

4: Output current (relative to inverter)

5: Output current (relative to motor)

6: Output voltage

7: Output power

8: Set torque value

9: Output torque

10: Analog AI1 input value

11: Analog AI2input value

12: Analog AI3 input value

13: Input value of high-speed pulse

HDIA

14: Set value 1 of MODBUS

communication

15: Set value 2 of MODBUS

communication

16: Set value 1 of PROFIBUS\CANopen

communication

17: Set value 2 of PROFIBUS\CANopen

communication

18: Set value 1 of Ethernet

communication

19: Set value 2 of Ethernet

communication

20: Input value of high-speed pulse

HDIB

21: Set value 1 of EtherCat/Profinet

communication

22: Torque current (bipolar, 100%

corresponds to 10V)

23: Exciting current (100% corresponds

to 10V)

24: Set frequency (bipolar)

25: Ramps reference frequency

(bipolar)

26: Running speed (bipolar)

27: Set value 2 of EtherCat/Profinet

communication

28: C_AO1 from CODESYS (set P27.00

to 1)

-90-

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

29: C_AO2 from CODESYS (set P27.00

to 1)

30: Running speed

31-47: Reserved variable

P06.17

Lower limit of AO1 output

-100.0%-P06.19

0.0%

Corresponding AO1 output of

P06.18

0.00V-10.00V

0.00V

lower limit

P06.19

Upper limit of AO1 output

P06.17-100.0%

100.0%

Corresponding AO1 output of

P06.20

0.00V-10.00V

10.00V

upper limit

P06.21

AO1 output filter time

0.000s-10.000s

0.000s

P06.22-

Reserved variable

0-65535

P06.26

P06.27

Lower limit of HDO output

-100.0%-P06.29

0.0%

Corresponding HDO output of

P06.28

0.00-50.00kHz

0.0kHz

lower limit

P06.29

Upper limit of HDO output

P06.27-100.0%

100.0%

Corresponding HDO output of

P06.30

0.00-50.00kHz

50.00kHz

upper limit

P06.31

HDO output filter time

0.000s-10.000s

0.000s

5.5.11 Digital input

GD350 series inverter carries four programmable digital input terminals and two HDI input terminals.

The function of all the digital input terminals can be programmed by function codes. HDI input

terminal can be set to act as high-speed pulse input terminal or common digital input terminal; if it is

set to act as high-speed pulse input terminal, users can also set HDIA or HDIB high-speed pulse input

to serve as the frequency reference and encoder signal input.

P05.08 (input terminal polarity)

P05.09 (digital filter time)

Digital function selection

P05.12

P05.13

-1

T delay

P05.01

(Default value is 1)

P05.14

P05.15

T delay

P05.02

-1

(Default value is 4)

P05.16

P05.17

Run

P17.11

T delay

P05.03

Digital input

-1

terminal state

(Default value is 7)

P05.18

P05.19

T delay

P05.04

Fault?

-1

(Default value is 0)

Fault

P07.39

Input terminal

state of present

P05.00

fault

(HDI input type)

P05.20

P05.21

HDIA

T delay

P05.05

-1

(Default value is 0)

P05.22

P05.23

HD1B

T delay

P05.06

-1

(Default value is 0)

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Chapter 5

This parameter is used to set the corresponding function of digital multi-function input terminals.

Note: Two different multi-function input terminals cannot be set to the same function.

Set

Function

Description

value

The inverter does not act even if there is signal input;

No function

users can set the unused terminals to "no function" to

avoid misacts.

Forward running (FWD)

Control the forward/reverse running of the inverter by

Reverse running (REV)

external terminals.

Set the inverter running mode to 3-Wire control mode by

3-Wire control/Sin

this terminal. See P05.13 for details.

Forward jogging

Frequency when jogging, see P08.06, P08.07 and

Reverse jogging

P08.08 for jogging acceleration/deceleration time.

The inverter blocks output, and the stop process of motor

is uncontrolled by the inverter. This mode is applied in

Coast to stop

cases of large-inertia load and free stop time; its

definition is the same with P01.08, and it is mainly used in

remote control.

External fault reset function, its function is the same with

Fault reset

the STOP/RST key on the keypad. This function can be

used in remote fault reset.

The inverter decelerates to stop, however, all the running

parameters are in memory state, eg PLC parameter,

Running pause

wobbling frequency, and PID parameter. After this signal

disappears, the inverter will revert to the state before

stop.

When external fault signal is transmitted to the inverter,

External fault input

the inverter releases fault alarm and stops.

Frequency increase (UP)

Used to change the frequency-increase/decrease

Frequency decrease

command when the frequency is given by external

(DOWN)

terminals.

UP terminal

DOWN terminal

Clear frequency

UP/DOWM

increase/decrease setting

Zeroing terminal

COM

The terminal used to clear frequency-increase/decrease

-92-

Chapter 5

Set

Function

Description

value

setting can clear the frequency value of auxiliary channel

set by UP/DOWN, thus restoring the reference frequency

to the frequency given by main reference frequency

command channel.

Switching between A setting

This function is used to switch between the frequency

and B setting

setting channels.

Switching between

A frequency reference channel and B frequency

combination setting and A

reference channel can be switched by no. 13 function;

setting

the combination channel set by P00.09 and the A

frequency reference channel can be switched by no. 14

Switching between

function; the combination channel set by P00.09 and the

combination setting and B

B frequency reference channel can be switched by no. 15

setting

function.

Multi-step speed terminal 1

16-step speeds can be set by combining digital states of

these four terminals.

Multi-step speed terminal 2

Note: Multi-step speed 1 is low bit, multi-step speed 4

Multi-step speed terminal 3

is high bit.

Multi-step

Multi-step speed terminal 4

speed 4

speed 3

speed 2

speed 1

BIT3

BIT2

BIT1

BIT0

Pause multi-step speed selection function to keep the set

Multi-step speed pause

value in present state.

Acceleration/deceleration

Use these two terminals to select four groups of

time selection 1

acceleration/decoration time.

Acceleration or

Terminal

Corresponding

deceleration time

parameter

selection

Acceleration/

OFF

P00.11/P00.12

deceleration time 1

Acceleration/deceleration

Acceleration/

time selection 2

OFF

P08.00/P08.01

deceleration time 2

Acceleration/

OFF

P08.02/P08.03

deceleration time 3

Acceleration/

P08.04/P08.05

deceleration time 4

Restart simple PLC process and clear previous PLC

Simple PLC stop reset

state information.

Simple PLC pause

The program pauses during PLC execution, and keeps

-93-

Chapter 5

Set

Function

Description

value

running in current speed step. After this function is

cancelled, simple PLC keeps running.

PID is ineffective temporarily, and the inverter maintains

PID control pause

current frequency output.

The inverter pauses at current output. After this function

Wobbling frequency pause

is canceled, it continues wobbling-frequency operation at

(stop at current frequency)

current frequency.

Wobbling frequency reset

The set frequency of inverter reverts to center frequency.

(revert to center frequency)

Counter reset

Zero out the counter state.

Switching between speed

The inverter switches from torque control mode to speed

control and torque control

control mode, or vice versa.

Ensure the inverter will not be impacted by external

Acceleration/deceleration

signals (except for stop command), and maintains current

disabled

output frequency.

Counter trigger

Enable pulse counting of the counter.

When the terminal is closed, the frequency value set by

UP/DOWN can be cleared to restore the reference

Clear frequency

frequency to the frequency given by frequency command

increase/decrease setting

channel; when terminal is disconnected, it will revert to

temporarily

the frequency value after frequency increase/decrease

setting.

The inverter starts DC brake immediately after the

DC brake

command becomes valid.

Switching between motor 1

When this terminal is valid, users can realize switch-over

and motor 2

control of two motors.

When this terminal is valid, the running command

Command switches to

channel will switch to keypad compulsorily. If this function

keypad

becomes invalid, the running command channel will

revert to the original state.

When this terminal is valid, the running command

Command switches to

channel will switch to terminal compulsorily. If this

terminal

function becomes invalid, the running command channel

will revert to the original state.

When this terminal is valid, the running command

Command switches to

channel will switch to communication compulsorily. If this

communication

function becomes invalid, the running command channel

will revert to the original state.

-94-

Chapter 5

Set

Function

Description

value

When this terminal is valid, motor pre-exciting will be

Pre-exciting command

started until this terminal becomes invalid.

Zero out power consumption

After this command becomes valid, the power

quantity

consumption quantity of the inverter will be zeroed out.

Maintain power consumption

When this command is valid, current operation of the

quantity

inverter will not impact the power consumption quantity.

Source of upper torque limit

When this command is valid, the upper limit of the torque

switches to keypad

will be set by keypad

When this command is valid, the motor decelerate to

Emergency stop

emergency stop as per the time set by P01.26.

Motor over-temperature fault

Motor stops at motor over-temperature fault input.

input

When this terminal is valid in stop state, switch to

FVC switches to V/F control

SVPWM control.

When this terminal is valid in stop state, switch to

Switch to FVC control

closed-loop vector control.

Switching the output polarity of PID, this terminal should

PID polarity switch-over

be used in conjunction with P09.03

Zero out the counter

Zero out the position counting value

When the terminal function is valid, the pulse input is

Pulse increase

increased according to the P21.27 pulse speed.

Enable pulse

When the pulse superimposition is enabled, pulse

superimposition

increase and pulse decrease are effective.

When the terminal function is valid, the pulse input is

Pulse decrease

decreased according to the P21.27 pulse speed.

When the terminal is valid, the proportional numerator is

Electronic gear selection

switched to the P21.30 numerator of the 2^nd command

ratio.

71-79

Reserved variables

Related parameter list:

Function

Default

Name

Detailed parameter description

code

value

0x00-0x11

Ones: HDIA input type

0: HDIA is high-speed pulse input

P05.00

HDI input type

0x00

1: HDIA is digital input

Tens: HDIB input type

0: HDIB is high-speed pulse input

-95-

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

1: HDIB is digital input

P05.01

Function of S1 terminal

0: No function

1: Forward running

P05.02

Function of S2 terminal

2: Reverse running

P05.03

Function of S3 terminal

3: 3-Wire control/Sin

P05.04

Function of S4 terminal

4: Forward jogging

P05.05

Function of HDIA terminal

5: Reverse jogging

6: Coast to stop

P05.06

Function of HDIB terminal

7: Fault reset

8: Running pause

9: External fault input

10: Frequency increase (UP)

11: Frequency decrease (DOWN)

12: Clear frequency

increase/decrease setting

13: Switch-over between setup A and

setup B

14: Switch-over between

combination setting and A setting

15: Switch-over between

combination setting and setup B

16: Multi-step speed terminal 1

17: Multi-step speed terminal 2

P05.07

Reserved variables

18: Multi-step speed terminal 3

19: Multi-step speed terminal 4

20: Multi-step speed pause

21: Acceleration/deceleration time

selection 1

22: Acceleration/deceleration time

selection 2

23: Simple PLC stop reset

24: Simple PLC pause

25: PID control pause

26: Wobbling frequency pause

27: Wobbling frequency reset

28: Counter reset

29: Switching between speed control

and torque control

30: Acceleration/deceleration

-96-

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

disabled

31: Counter trigger

32: Reserved

33: Clear frequency

increase/decrease setting

temporarily

34: DC brake

35: Switching between motor 1 and

motor 2

36: Command switches to keypad

37: Command switches to terminal

38: Command switches to

communication

39: Pre-exciting command

40: Zero out power consumption

quantity

41: Maintain power consumption

quantity

42: Source of upper torque limit

switches to keypad

56: Emergency stop

57: Motor over-temperature fault

input

59: Switch to V/F control

60: Switch to FVC control

61: PID polarity switch-over

66: Zero out encoder counting

67: Pulse increase

68: Enable pulse superimposition

69: Pulse decrease

70: Electronic gear selection

71-79: Reserved

P05.08

Polarity of input terminal

0x00-0x3F

0x00

P05.09

Digital filter time

0.000-1.000s

0.010s

0x00-0x3F (0: disable, 1: enable)

BIT0: S1 virtual terminal

P05.10

Virtual terminal setting

0x00

BIT1: S2 virtual terminal

BIT2: S3 virtual terminal

-97-

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

BIT3: S4 virtual terminal

BIT4: HDIA virtual terminal

BIT8: HDIB virtual terminal

0: 2-Wire control 1

1: 2-Wire control 2

P05.11

2/3 Wire control mode

2: 3-Wire control 1

3: 3-Wire control 2

P05.12

S1 terminal switch-on delay

0.000-50.000s

0.000s

P05.13

S1 terminal switch-off delay

0.000-50.000s

0.000s

P05.14

S2 terminal switch-on delay

0.000-50.000s

0.000s

P05.15

S2 terminal switch-off delay

0.000-50.000s

0.000s

P05.16

S3 terminal switch-on delay

0.000-50.000s

0.000s

P05.17

S3 terminal switch-off delay

0.000-50.000s

0.000s

P05.18

S4 terminal switch-on delay

0.000-50.000s

0.000s

P05.19

S4 terminal switch-off delay

0.000-50.000s

0.000s

P05.20

HDIA terminal switch-on delay

0.000-50.000s

0.000s

P05.21

HDIA terminal switch-off delay

0.000-50.000s

0.000s

P05.22

HDIB terminal switch-on delay

0.000-50.000s

0.000s

P05.23

HDIB terminal switch-off delay

0.000-50.000s

0.000s

Input terminal state of present

P07.39

fault

P17.12

Digital input terminal state

5.5.12 Digital output

GD350 series inverter carries two groups of relay output terminals, one open collector Y output

terminal and one high-speed pulse output (HDO) terminal. The function of all the digital output

terminals can be programmed by function codes, of which the high-speed pulse output terminal HDO

can also be set to high-speed pulse output or digital output by function code.

-98-

Chapter 5

Digital output selection

Digital switch-on delay

P06.05 output polarity

selection

Digital switch-off delay

P17.12

P06.06

Run

Digital input

P06.07

terminal state

P06.01

T delay

-1

Fault？

（Default value: 0）

P07.40

Fault

Digital output

HDO

P06.08

P06.09

terminal state

P06.02

T delay

of current fault

（Default value: 0）

-1

P06.00

HDO

input type

ROI

P06.10

delay

P06.11

delay

P06.03

T delay

P06.05, P17.12, P07.40 display

（Default value: 1）

-1

BIT0

HDO

BIT1

ROI

BIT2

RO2

BIT3

RO2

P06.12

P06.13

0: Open collector high-

P06.04

T delay

P06.00

speed pulse output

1: Open collector output

（Default value: 5）

-1

The table below lists the options for the above four function parameters, and users are allowed to

select the same output terminal functions repetitively.

Set

Function

Description

value

Invalid

Output terminal has no function

Output ON signal when there is frequency output during

In running

running

Output ON signal when there is frequency output during

In forward running

forward running

Output ON signal when there is frequency output during

In reverse running

reverse running

Output ON signal when there is frequency output during

In jogging

jogging

Inverter fault

Output ON signal when inverter fault occurred

Frequency level detection

Refer to P08.32 and P08.33

FDT1

Frequency level detection

Refer to P08.34 and P08.35

FDT2

Frequency reached

Refer to P08.36

Output ON signal when the inverter output frequency and

Running in zero speed

reference frequency are both zero.

Reach upper limit

Output ON signal when the running frequency reaches

frequency

upper limit frequency

Reach lower limit

Output ON signal when the running frequency reached

frequency

lower limit frequency

Main circuit and control circuit powers are established,

Ready to run

the protection functions do not act; when the inverter is

ready to run, output ON signal.

In pre-exciting

Output ON signal during pre-exciting of the inverter

Overload pre-alarm

Output ON signal after the pre-alarm time elapsed based

-99-

Chapter 5

Set

Function

Description

value

on the pre-alarm threshold; see P11.08-P11.10 for

details.

Output ON signal after the pre-alarm time elapsed based

Underload pre-alarm

on the pre-alarm threshold; see P11.11-P11.12 for

details.

Simple PLC state

Output signal when current stage of simple PLC is

completed

Simple PLC cycle

Output signal when a single cycle of simple PLC

completed

operation is completed

Output corresponding signal based on the set value of

Virtual terminal output of

MODBUS; output ON signal when it is set to 1, output

MODBUS communication

OFF signal when it is set to 0

Virtual terminal output of

Output corresponding signal based on the set value of

POROFIBUS\CANopen

PROFIBUS\CANopen; output ON signal when it is set to

communication

1, output OFF signal when it is set to 0

Output corresponding signal based on the set value of

Virtual terminal output of

Ethernet; output ON signal when it is set to 1, output OFF

Ethernet communication

signal when it is set to 0.

DC bus voltage

Output is valid when the bus voltage is above the

established

undervoltage threshold of the inverter

Z pulse output

Output is valid when the encoder Z pulse is arrived, and

is invalid after 10 ms.

During pulse superposition

Output is valid when the pulse superposition terminal

input function is valid

STO action

Output when STO fault occurred

Positioning completed

Output is valid when position control positioning is

completed

Spindle zeroing completed

Output is valid when spindle zeroing is completed

Spindle scale-division

Output is valid when spindle scale-division is completed

completed

In speed limit

Output is valid when the frequency is limited

Virtual terminal output of

The corresponding signal is output according to the set

EtherCat/Profinet

value of Profinet communication. When it is set to 1, the

communication

ON signal is output, and when it is set to 0, the OFF

signal is output.

Reserved

Speed/position control

Output is valid when the mode switch-over is completed

-100-

Chapter 5

Set

Function

Description

value

switch-over completed

37-40

Reserved

C_Y1

C_Y1 from CODESYS (set P27.00 to 1)

C_Y2

C_Y2 from CODESYS (set P27.00 to 1)

C_HDO

C_HDO from CODESYS (set P27.00 to 1)

C_RO1

C_RO1 from CODESYS (set P27.00 to 1)

C_RO2

C_RO2 from CODESYS (set P27.00 to 1)

C_RO3

C_RO3 from CODESYS3 (set P27.00 to 1)

C_RO4

C_RO4 from CODESYS (set P27.00 to 1)

48-63

Reserved variables

Related parameter list:

Function

Default

Name

Detailed parameter description

code

value

0: Open collector high-speed pulse output

P06.00

HDO output type

1: Open collector output

P06.01

Y output selection

0: Invalid

1: In running

P06.02

HDO output selection

2: In forward running

Relay RO1 output

P06.03

3: In reverse running

selection

4: In jogging

5: Inverter fault

6: Frequency level detection FDT1

7: Frequency level detection FDT2

8: Frequency reached

9: Running in zero speed

10: Reach upper limit frequency

11: Reach lower limit frequency

12: Ready to run

Relay RO2 output

13: In pre-exciting

P06.04

selection

14: Overload pre-alarm

15: Underload pre-alarm

16: Simple PLC stage completed

17: Simple PLC cycle completed

18: Reach set counting value

19: Reach designated counting value

20: External fault is valid

21: Reserved

22: Reach running time

-101-

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

23: Virtual terminal output of MODBUS

communication

24: Virtual terminal output of

POROFIBUS/CANopen communication

25: Virtual terminal output of Ethernet

communication

26: DC bus voltage established

27: Z pulse output

28: During pulse superposition

29: STO action

30: Positioning completed

31: Spindle zeroing completed

32: Spindle scale-division completed

33: In speed limit

34:

Virtual

terminal

output

EtherCat/Profinet communication

35: Reserved

36: Speed/position control switch-over

completed

37-40: Reserved

41: C_Y1 from CODESYS (set P27.00 to 1)

42: C_Y2 from CODESYS (set P27.00 to1)

43: C_HDO from CODESYS (set P27.00 to

44: C_RO1 from CODESYS (set P27.00 to

45: C_RO2 from CODESYS (set P27.00 to

46: C_RO3 from CODESYS3 (set P27.00 to

47: C_RO4 from CODESYS (set P27.00 to

48-63: Reserved

Output terminal polarity

P06.05

0x00-0x0F

0x00

selection

P06.06

Y switch-on delay

0.000-50.000s

0.000s

P06.07

Y switch-off delay

0.000-50.000s

0.000s

P06.08

HDO switch-on delay

0.000-50.000s (valid only when P06.00=1)

0.000s

-102-

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

P06.09

HDO switch-off delay

0.000-50.000s (valid only when P06.00=1)

0.000s

Relay RO1 switch-on

P06.10

0.000-50.000s

0.000s

delay

Relay RO1 switch-off

P06.11

0.000-50.000s

0.000s

delay

Relay RO2 switch-on

P06.12

0.000-50.000s

0.000s

delay

Relay RO2 switch-off

P06.13

0.000-50.000s

0.000s

delay

Output terminal state of

P07.40

present fault

Digital output terminal

P17.13

state

5.5.13 Simple PLC

Simple PLC is a multi-step speed generator, and the inverter can change the running frequency and

direction automatically based on the running time to fulfill process requirements. Previously, such

function was realized with external PLC, while now, the inverter itself can achieve this function.

GD350 series inverter can realize

16-step speeds control, and provide four groups of

acceleration/deceleration time for users to choose from.

After the set PLC completes one cycle (or one section), one ON signal can be output by the

multi-function relay.

P10.01 (simple PLC memory selection)

P10.00（simple PLC mode）

No memory

after power off

Stop after running

Power cut during

Set frequency

once

running

Memory after

Restart running

power off

after the first

Keep running in the

Setup of running

section

final value after

parameters of each

running once

PLC stage

Normal running

P17.00

Cyclic running

Continue running at

the frequency when

interruption occurred

PLC mode

P10.36

Terminal function 23

(PLC restart mode)

Simple PLC stop reset

Digital output 16

Simple PLC state completed

Digital output 17

Simple PLC cycle completed

-103-

Chapter 5

Related parameter list:

Function

Default

Name

Detailed parameter description

code

value

0: Stop after running once

1: Keep running in the final value after

P10.00

Simple PLC mode

running once

2: Cyclic running

Simple PLC memory

0: No memory after power down

P10.01

selection

1: Memory after power down

P10.02

Multi-step speed 0

-100.0-100.0%

0.0%

P10.03

Running time of 0^th step

0.0-6553.5s (min)

0.0s

P10.04

Multi-step speed 1

-100.0-100.0%

0.0%

P10.05

Running time of 1^st step

0.0-6553.5s (min)

0.0s

P10.06

Multi-step speed 2

-100.0-100.0%

0.0%

P10.07

Running time of 2^nd step

0.0-6553.5s (min)

0.0s

P10.08

Multi-step speed 3

-100.0-100.0%

0.0%

P10.09

Running time of 3^rd step

0.0-6553.5s (min)

0.0s

P10.10

Multi-step speed 4

-100.0-100.0%

0.0%

P10.11

Running time of 4^th step

0.0-6553.5s (min)

0.0s

P10.12

Multi-step speed 5

-100.0-100.0%

0.0%

P10.13

Running time of 5^th step

0.0-6553.5s (min)

0.0s

P10.14

Multi-step speed 6

-100.0-100.0%

0.0%

P10.15

Running time of 6^th step

0.0-6553.5s (min)

0.0s

P10.16

Multi-step speed 7

-100.0-100.0%

0.0%

P10.17

Running time of 7^th step

0.0-6553.5s (min)

0.0s

P10.18

Multi-step speed 8

-100.0-100.0%

0.0%

P10.19

Running time of 8^th step

0.0-6553.5s (min)

0.0s

P10.20

Multi-step speed 9

-100.0-100.0%

0.0%

P10.21

Running time of 9^th step

0.0-6553.5s (min)

0.0s

P10.22

Multi-step speed 10

-100.0-100.0%

0.0%

P10.23

Running time of 10^th step

0.0-6553.5s (min)

0.0s

P10.24

Multi-step speed 11

-100.0-100.0%

0.0%

P10.25

Running time of 11^th step

0.0-6553.5s (min)

0.0s

P10.26

Multi-step speed 12

-100.0-100.0%

0.0%

P10.27

Running time of 12^th step

0.0-6553.5s (min)

0.0s

-104-

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

P10.28

Multi-step speed 13

-100.0-100.0%

0.0%

P10.29

Running time of 13^th step

0.0-6553.5s (min)

0.0s

P10.30

Multi-step speed 14

-100.0-100.0%

0.0%

P10.31

Running time of 14^th step

0.0-6553.5s (min)

0.0s

P10.32

Multi-step speed 15

-100.0-100.0%

0.0%

P10.33

Running time of 15^th step

0.0-6553.5s (min)

0.0s

0: Restart from the first section

P10.36

PLC restart mode

1: Continue running at the frequency

when interruption occurred

Acceleration/deceleration

P10.34

time of 0-7 stage of simple

0x0000-0XFFFF

0000

PLC

Acceleration/deceleration

P10.35

time of 8-15 stage of simple

0x0000-0XFFFF

0000

PLC

23: Simple PLC stop reset

P05.01-

Digital input function

24: Simple PLC pause

P05.09

25: PID control pause

P06.01-

16: Simple PLC stage reached

Digital output function

P06.04

17: Simple PLC cycle reached

P17.00

Set frequency

0.00Hz-P00.03 (max. output frequency)

0.00Hz

Simple PLC and current

P17.27

stage number of multi-step

0-15

speed

5.5.14 Multi-step speed running

Set the parameters used in multi-step speed running. GD350 inverter 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 15.

-105-

Chapter 5

P10.02 multi-step speed 0

BIT0

P10.34

Terminal function 16

P10.03 running time of 0^th step

BIT1

Acceleration/deceleration time

Multi-step speed

OFF

terminal 1

selection of 0-7 section of

Terminal function 17

P10.04 multi-step speed 1

BIT2

simple PLC

Multi-step speed

OFF

P10.05 running time of 1^st step

BIT3

terminal 2

Terminal function 18

Multi-step speed

OFF

P00.10 acceleration time 1

terminal 3

P10.06 multi-step speed 2

BIT4

P00.12 deceleration time 1

Terminal function 19

P10.07 running time of 2^nd step

BIT5

Multi-step speed

OFF

terminal 4

P08.00 acceleration time 2

Multi-step speed

P10.08 multi-step speed 3

BIT6

P08.01 deceleration time 2

P10.09 running time of 3^rdstep

BIT7

P08.02 acceleration time 3

Multi-step speed 15

P10.10 multi-step speed 4

BIT8

P08.03 deceleration time 3

P10.11 running time of 4^th step

BIT9

P08.04 acceleration time 4

P10.12 multi-step speed 5

BIT10

P08.15 deceleration time 4

P10.13 running time of 5^th step

BIT11

Multi-step speed 0

Multi-step speed 1

P10.14 multi-step speed 6

BIT12

P10.15 running time of 6^thstep

BIT13

P10.16 multi-step speed 7

BIT14

P10.17 running time of 7^th step

BIT15

Valid

Frequency-hold

Running command

OFF

Invalid

Multi-step speed

P10.18 multi-step speed 8

BIT0

P10.35

output

Terminal function 16

P10.19 running time of 8^th step

BIT1

Acceleration/deceleration time

Multi-step speed

selection of 8-15 section of

terminal 1

simple PLC

Terminal function 17

Multi-step speed

P10.20 multi-step speed 9

BIT2

terminal 2

P10.21 running time of 9^th step

BIT3

Terminal function 18

Multi-step speed

P00.10 acceleration time 1

terminal 3

P10.22 multi-step speed 10

BIT4

P00.12 deceleration time 1

Terminal function 19

P10.23 running time of 10^th step

BIT5

Multi-step speed

terminal 4

P08.00 acceleration time 2

P10.24 multi-step speed 11

BIT6

P08.01 deceleration time 2

P10.25 running time of 11^th step

BIT7

Terminal function 16

Multi-step speed

OFF

P08.02 acceleration time 3

terminal 1

P10.26 multi-step speed 12

BIT8

P08.03 deceleration time 3

Terminal function 17

P10.27 running time of 12^th step

BIT9

Multi-step speed

OFF

terminal 2

P08.04 acceleration time 4

Terminal function 18

P10.28 multi-step speed 13

BIT10

P08.15 deceleration time 4

Multi-step speed

OFF

P10.29 running time of 13^th step

BIT11

terminal 3

Terminal function 19

Multi-step speed

terminal 4

P10.30 multi-step speed 14

BIT12

P10.31 running time of 14^th step

BIT13

Multi-step speed

P10.32 multi-step speed 15

BIT14

P10.33 running time of 15^th step

BIT15

Related parameter list:

Functio

Default

Name

Detailed parameter description

n code

value

P10.02

Multi-step speed 0

-100.0-100.0%

0.0%

P10.03

Running time of 0^th step

0.0-6553.5s (min)

0.0s

P10.04

Multi-step speed 1

-100.0-100.0%

0.0%

P10.05

Running time of 1^st step

0.0-6553.5s (min)

0.0s

P10.06

Multi-step speed 2

-100.0-100.0%

0.0%

P10.07

Running time of 2^nd step

0.0-6553.5s (min)

0.0s

P10.08

Multi-step speed 3

-100.0-100.0%

0.0%

P10.09

Running time of 3^rd step

0.0-6553.5s (min)

0.0s

P10.10

Multi-step speed 4

-100.0-100.0%

0.0%

P10.11

Running time of 4^th step

0.0-6553.5s (min)

0.0s

P10.12

Multi-step speed 5

-100.0-100.0%

0.0%

P10.13

Running time of 5^th step

0.0-6553.5s (min)

0.0s

P10.14

Multi-step speed 6

-100.0-100.0%

0.0%

P10.15

Running time of 6^th step

0.0-6553.5s (min)

0.0s

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Chapter 5

Functio

Default

Name

Detailed parameter description

n code

value

P10.16

Multi-step speed 7

-100.0-100.0%

0.0%

P10.17

Running time of 7^th step

0.0-6553.5s (min)

0.0s

P10.18

Multi-step speed 8

-100.0-100.0%

0.0%

P10.19

Running time of 8^th step

0.0-6553.5s (min)

0.0s

P10.20

Multi-step speed 9

-100.0-100.0%

0.0%

P10.21

Running time of 9^th step

0.0-6553.5s (min)

0.0s

P10.22

Multi-step speed 10

-100.0-100.0%

0.0%

P10.23

Running time of 10^th step

0.0-6553.5s (min)

0.0s

P10.24

Multi-step speed 11

-100.0-100.0%

0.0%

P10.25

Running time of 11^th step

0.0-6553.5s (min)

0.0s

P10.26

Multi-step speed 12

-100.0-100.0%

0.0%

P10.27

Running time of 12^th step

0.0-6553.5s (min)

0.0s

P10.28

Multi-step speed 13

-100.0-100.0%

0.0%

P10.29

Running time of 13^th step

0.0-6553.5s (min)

0.0s

P10.30

Multi-step speed 14

-100.0-100.0%

0.0%

P10.31

Running time of 14^th step

0.0-6553.5s (min)

0.0s

P10.32

Multi-step speed 15

-100.0-100.0%

0.0%

P10.33

Running time of 15^th step

0.0-6553.5s (min)

0.0s

Acceleration/decoration time

P10.34

selection of 0-7 section of

0x0000-0XFFFF

0000

simple PLC

Acceleration/decoration time

P10.35

selection of 8-15 section of

0x0000-0XFFFF

0000

simple PLC

16: Multi-step speed terminal 1

17: Multi-step speed terminal 2

P05.01-

Digital input function selection

18: Multi-step speed terminal 3

P05.09

19: Multi-step speed terminal 4

20: Multi-step speed pause

Simple PLC and current steps

P17.27

0-15

of multi-step speed

5.5.15 PID control

PID control, a common mode for process control, is mainly used to adjust the inverter output

frequency or output voltage through performing scale-division, integral and differential operations on

the difference between feedback signal of controlled variables and signal of the target, thus forming a

negative feedback system to keep the controlled variables above the target. It is suitable for flow

control, pressure control, temperature control, etc. Diagram of basic principles for output frequency

regulation is shown in the figure below.

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Chapter 5

Pre-set PID reference of

keypad

P09.00

PID stops

P09.01

Keypad

(PID reference source)

adjustment

AI1

PID reference

value

Terminal function 25

P09.09

Set frequency

AI2

PID control pause

（upper limit value of PID

P17.23

output）

P17.00

AI3

Valid

Keep current frequency

HDIA

Reference-

Invalid

Multi-stepspeed

feedback<P09.08？

PID output

MODBUS

P09.08 (Limit of PID control

P09.03

PROFIBUS\CANopen

deviation)

P09.10

(PID output characteristics)

P09.02

(lower limit value of PID

Ethernet

(PID feedback source)

output)

HDIB

Kp P09.04 (proportional gain)

AI1

EtherCat/Profinet

Ti P09.05 (integral time)

AI2

Td P09.06 (differential time)

PLC card

AI3

HDIA

P17.24

MODBUS

PID feedback

PROFIBUS\CANopen

value

Ethernet

HDIB

EtherCat/Profinet

PLC card

Introduction to the working principles and control methods for PID control

Proportional control

(Kp): When the feedback deviates from the reference, the output will be

proportional to the deviation, if such deviation is constant, the regulating variable will also be constant.

Proportional control can respond to feedback changes rapidly, however, it cannot eliminate the error

by itself. The larger the proportional gain, the faster the regulating speed, but too large gain will result

in oscillation. To solve this problem, first, set the integral time to a large value and the derivative time

to 0, and run the system by proportional control, and then change the reference to observe the

deviation between feedback signal and the reference (static difference), if the static difference is

(eg, increase the reference, and the feedback variable is always less than the reference after system

stabilizes), continue increasing the proportional gain, otherwise, decrease the proportional gain;

repeat such process until the static error becomes small.

Integral time (Ti): When feedback deviates from reference, the output regulating variable accumulates

continuously, if the deviation persists, the regulating variable will increase continuously until deviation

disappears. Integral regulator can be used to eliminate static difference; however, too large regulation

may lead to repetitive overshoot, which will cause system instability and oscillation. The feature of

oscillation caused by strong integral effect is that the feedback signal fluctuates up and down based

on the reference variable, and fluctuation range increases gradually until oscillation occurred. Integral

time parameter is generally regulated gradually from large to small until the stabilized system speed

fulfills the requirement.

Derivative time (Td): When the deviation between feedback and reference changes, output the

regulating variable which is proportional to the deviation variation rate, and this regulating variable is

only related to the direction and magnitude of the deviation variation rather than the direction and

magnitude of the deviation itself. Differential control is used to control the feedback signal variation

based on the variation trend. Differential regulator should be used with caution as it may easily

enlarge the system interferences, especially those with high variation frequency.

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Chapter 5

When frequency command selection (P00.06, P00. 07) is 7, or channel of voltage setup (P04.27) is 6,

the running mode of inverter is process PID control.

5.5.15.1 General procedures for PID parameter setup

a. Determining proportional gain P

When determining proportional gain P, first, remove the integral term and derivative term of PID by

making Ti=0 and Td=0 (see PID parameter setup for details), thus turning PID into pure proportional

control. Set the input to 60%-70% of the max. allowable value, and increase proportional gain P

gradually from 0 until system oscillation occurred, and then in turn, decrease proportional gain P

gradually from current value until system oscillation disappears, record the proportional gain P at this

point and set the proportional gain P of PID to

60%-70% of current value. This is whole

commissioning process of proportional gain P.

b. Determine integral time Ti

After proportional gain P is determined, set the initial value of a larger integral time Ti, and decrease Ti

gradually until system oscillation occurred, and then in turn, increase Ti until system oscillation

disappears, record the Ti at this point, and set the integral time constant Ti of PID to 150%-180% of

current value. This is the commissioning process of integral time constant Ti.

c. Determining derivative time Td

The derivative time Td is generally set to 0.

If users need to set Td to another value, set in the same way with P and Ti, namely set Td to 30% of

the value when there is no oscillation.

d. Empty system load, perform load-carrying joint debugging, and then fine-tune PID parameter until

fulfilling the requirement.

5.5.15.2 How to fine-tune PID

After setting the parameters controlled by PID, users can fine-tune these parameters by the following

means.

Control overmodulation: When overmodulation occurred, shorten the derivative time (Td) and

prolong integral time (Ti).

Response

Before adjustment

After adjustment

Time t

Stabilize the feedback value as fast as possible: when overmodulation occurred, shorten integral

time (Ti) and prolong derivative time (Td) to stabilize control as fast as possible.

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Chapter 5

Response

After adjustment

Before adjustment

Time t

Control long-term vibration: If the cycle of periodic vibration is longer than the set value of integral

time (Ti), it indicates the integral action is too strong, prolong the integral time (Ti) to control vibration.

Response

Before adjustment

After adjustment

Time t

Control short-term vibration: If the vibration cycle is short is almost the same with the set value of

derivative time (Td), it indicates derivative action is too strong, shorten the derivative time (Td) to

control vibration. When derivative time (Td) is set to 0.00 (namely no derivative control), and there is

no way to control vibration, decrease the proportional gain.

Response

After adjustment

Before adjustment

Time t

Related parameter list:

Function

Default

Name

Detailed parameter description

code

value

0: Keypad (P09.01)

1: AI1

2: AI2

3: AI3

4: High-speed pulse HDIA

P09.00

PID reference source

5: Multi-step

6: MODBUS communication

7: PROFIBUS/CANopen/DeviceNet

communication

8: Ethernet communication

9: High-speed pulse HDIB

-110-

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

10: EtherCat/Profinet communication

11: Programmable extension card

12: Reserved

Pre-set PID reference of

P09.01

-100.0%-100.0%

0.0%

keypad

0: AI1

1: AI2

2: AI3

3: High-speed pulse HDIA

4: MODBUS communication

5: PROFIBUS/CANopen/DeviceNet

P09.02

PID feedback source

communication

6: Ethernet communication

7: High-speed pulse HDIB

8: EtherCat/Profinet communication

9: Programmable extension card

10: Reserved

0: PID output is positive characteristic

P09.03

PID output characteristics

1: PID output is negative characteristic

P09.04

Proportional gain (Kp)

0.00-100.00

1.80

P09.05

Integral time (Ti)

0.01-10.00s

0.90s

P09.06

Derivative time (Td)

0.00-10.00s

0.00s

P09.07

Sampling cycle (T)

0.000-10.000s

0.100s

Limit of PID control

0.0-100.0%

P09.08

0.0%

deviation

Upper limit value of PID

P09.10-100.0%

(max. frequency

P09.09

100.0%

output

voltage)

Lower limit value of PID

-100.0%-P09.09

(max. frequency

P09.10

0.0%

output

voltage)

Feedback offline detection

0.0-100.0%

P09.11

0.0%

value

Feedback offline detection

0.0-3600.0s

P09.12

1.0s

time

0x0000-0x1111

Ones:

P09.13

PID control selection

0: Continue integral control after the

0x0001

frequency reaches upper/lower limit

1: Stop integral control after the

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Chapter 5

Function

Default

Name

Detailed parameter description

code

value

frequency reaches upper/lower limit

Tens:

0: The same with the main reference

direction

1: Contrary to the main reference

direction

Hundreds:

0: Limit as per the max. frequency

1: Limit as per A frequency

Thousands:

0: A+B frequency, acceleration

/deceleration of main reference A

frequency source buffering is invalid

1: A+B frequency, acceleration/

deceleration of main reference A

frequency source buffering is valid,

acceleration/deceleration is determined

by P08.04 (acceleration time 4).

P17.00

Set frequency

0.00Hz-P00.03 (max. output frequency)

0.00Hz

P17.23

PID reference value

-100.0-100.0%

0.0%

P17.24

PID feedback value

-100.0-100.0%

0.0%

5.5.16 Run at wobbling frequency

Wobbling frequency is mainly applied in cases where transverse movement and winding functions are

needed like textile and chemical fiber industries. The typical working process is shown as below.

P00.10

Keypad

P00.06

Frequency set by

(A frequency command

AI1

selection)

Amplitude of wobbling

keypad

frequency

AI2

P08.05

Maintain current

frequency

AI3

HDIA

Valid

Set frequency

Valid

Simple PLC

Wobbling

Invalid

frequency

output

Multi-step speed

Terminal function 26

PID

wobbling frequency

Terminal function 27

pause

Wobbling frequency reset

P00.11 acceleration time 1

MODBUS

P00.12 deceleration time 1

PROFIBUS

Ethernet

HDIB

AB pulse string

EtherCat/Profinet

PLC programmable

card

-112-

Chapter 5

Function

Default

Name

Detailed parameter description

code

value

P00.03

Max. output frequency

P00.03-400.00Hz

50.00Hz

0: Set via keypad

1: Set via AI1

2: Set via AI2

3: Set via AI3

4: Set via high speed pulse HDIA

5: Set via simple PLC program

6: Set via multi-step speed running

7: Set via PID control

A frequency command

P00.06

8: Set via MODBUS communication

selection

9: Set via PROFIBUS / CANopen /

DeviceNet communication

10: Set via Ethernet communication

11: Set via high speed pulse HDIB

12: Set via pulse string AB

13: Set via EtherCat/Profinet

communication

14: Set via PLC card

Depend

P00.11

Acceleration time 1

0.0-3600.0s

on model

Depend

P00.12

Deceleration time 1

0.0-3600.0s

on model

26: Wobbling frequency pause (stop at

P05.01-

Digital input function

current frequency)

P05.09

selection

27: Wobbling frequency reset (revert to

center frequency)

Amplitude of wobbling

P08.15

0.0-100.0% (relative to set frequency)

0.0%

frequency

0.0-50.0%

(relative to amplitude of

P08.16

Amplitude of jump frequency

0.0%

wobbling frequency)

Wobbling frequency rise

P08.17

0.1-3600.0s

5.0s

time

P08.18

Wobbling frequency fall time

0.1-3600.0s

5.0s

5.5.17 Local encoder input

GD350 series inverter supports pulse count function by inputting the count pulse from HDI high-speed

pulse port. When the actual count value is no less than the set value, digital output terminal will output

count-value-reached pulse signal, and the corresponding count value will be zeroed out.

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Chapter 5

Function

Default

Name

Detailed parameter description

code

value

0x00-0x11

Ones: HDIA input type

0: HDIA is high-speed pulse input

P05.00

HDI input type

1: HDIA is digital input

0x00

Tens: HDIB input type

0: HDIB is high-speed pulse input

1: HDIB is digital input

0: Set input via frequency

HDIA high-speed pulse input

1: Reserved

P05.38

function

2: Input via encoder, used in combination

with HDIB

0: Set input via frequency

HDIB high-speed pulse input

1: Reserved

P05.44

function selection

2: Input via encoder, used in combination

with HDIA

0: PG card

P20.15

Speed measurement mode

1: local; realized by HDIA and HDIB;

supports incremental 24V encoder only

P18.00

Actual frequency of encoder

-999.9-3276.7Hz

0.0Hz

5.5.18 Commissioning procedures for position control and spindle positioning function

1. Commissioning procedures for closed-loop vector control of asynchronous motor

Step 1: Restore to default value via keypad

Step 2: Set P00.03, P00.04 and P02 group motor nameplate parameters

Step 3: Motor parameter autotuning

Carry out rotary parameter autotuning or static parameter autotuning via keypad, if the motor can be

disconnected from load, then it is users can carry out rotary parameter autotuning; otherwise, carry

out static parameter autotuning, the parameter obtained from autotuning will be saved in P02 motor

parameter group automatically.

Step 4: Verify whether the encoder is installed and set properly

a) Confirm the encoder direction and parameter setup

Set P20.01 (encoder pulse-per-revolution), set P00.00=2 and P00.10=20Hz, and run the inverter, at

this point, the motor rotates at 20Hz, observe whether the speed measurement value of P18.00 is

correct, if the value is negative, it indicates the encoder direction is reversed, under such situation, set

P20.02 to 1; if the speed measurement value deviates greatly, it indicates P20.01 is set improperly.

Observe whether P18.02 (encoder Z pulse count value) fluctuates, if yes, it indicates the encoder

suffers interference or P20.01 is set improperly, requiring users to check the wiring and the shielding

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Goodrive350 Series High-performance Multi-function Inver ter. Operation manual - page 3