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

Chapter 5

layer.

b) Determine Z pulse direction

Set P00.10=20Hz, and set P00.13 (running direction) to forward and reverse direction respectively to

observe whether the difference value of P18.02 is less than 5, if the difference value remains to be

larger than 5 after setting Z pulse reversal function of P20.02, power off and exchange phase A and

phase B of the encoder, and then observe the difference between the value of P18.02 during forward

and reverse rotation. Z pulse direction only affects the forward/reverse positioning precision of the

spindle positioning carried out with Z pulse.

Step 5: Closed-loop vector pilot-run

Set P00.00=3, and carry out closed-loop vector control, adjust P00.10 and speed loop and current

loop PI parameter in P03 group to make it run stably in the whole range.

Step 6: Flux-weakening control

Set flux-weakening regulator gain P03.26=0-8000, and observe the flux-weakening control effect.

P03.22-P03.24 can be adjusted as needed.

2. Commissioning procedures for closed-loop vector control of synchronous motor

Step 1: Set P00.18=1, restore to default value

Step 2: Set P00.00=3 (VC) , set P00.03, P00.04, and motor nameplate parameters in P02 group.

Step 3: Set P20.00 and P20.01 encoder parameters

When the encoder is resolver-type encoder, set the encoder pulse count value to (resolver

pole pair number × 1024), eg, if pole pair number is 4, set P20.01 to 4096.

Step 4: Ensure the encoder is installed and set correctly

When motor stops, observe whether P18.21 (resolver angle) fluctuates, if it fluctuates

sharply, check the wiring and grounding. Rotates the motor slowly, observe whether P18.21

changes accordingly, if yes, it indicates motor is connected correctly; if the value of P18.02

keeps constant at a non-zero value after rotating for multiple circles, it indicates encoder Z

signal is correct.

Step 5: Autotuning of initial position of magnetic pole

Set P20.11=2 or 3 (3: rotary autotuning; 2: static autotuning), press RUN key to run the

inverter.

a) Rotary autotuning (P20.11 = 3)

Detect the position of current magnetic pole when autotuning starts, and then accelerates to 10Hz,

autotuning corresponding magnetic pole position of encoder Z pulse, and decelerate to stop.

During running, if ENC1O or ENC1D fault occurred, set P20.02=1 and carry out autotuning again.

After autotuning is done, the angle obtained from autotuning will be saved in P20.09 and P20.10

automatically.

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Chapter 5

b) Static autotuning

In cases where the load can be disconnected, it is recommended to adopt rotary autotuning

(P20.11=3) as it has high angle precision. If the load cannot be disconnected, users can adopt static

autotuning (P20.11=2). The magnetic pole position obtained from autotuning will be saved in P20.09

and P20.10.

Step 6: Closed-loop vector pilot-run

Adjust P00.10 and speed loop and current loop PI parameter in P03 group to make it run stably in the

whole range. If oscillation occurred, reduce the value of P03.00, P03.03, P03.09 and P03.10. If

current oscillation noise occurred during low speed, adjust P20.05.

Note: It is necessary to re-determine P20.02 (encoder direction) and carry out magnetic pole

position autotuning again if the wiring of motor or encoder is changed.

3. Commissioning procedures for pulse string control

Pulse input is operated based on closed-loop vector control; speed detection is needed in the

subsequent spindle positioning, zeroing operation and division operation.

Step 1: Restore to default value by keypad

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

Step 3: Motor parameter autotuning: rotary parameter autotuning or static parameter autotuning

Step 4: Verity the installation and settings of encoder. Set P00.00=3 and P00.10=20Hz to run the

system, and check the control effect and performance of the system.

Step 5: Set P21.00=0001 to set positioning mode to position control, namely pulse-string control.

There are four kinds of pulse command modes, which can be set by P21.01 (pulse command mode).

Under position control mode, users can check high bit and low bit of position reference and feedback,

P18.02 (count value of Z pulse), P18.00 (actual frequency of encoder), P18.17 (pulse command

frequency) and P18.19 (position regulator output) via P18, through which users can figure out the

relation between P18.8 (position of position reference point) and P18.02, pulse command frequency

P18.17, feedforward P18.18 and position regulator output P18.19.

Step 6: The position regulator has two gains, namely P21.02 and P21.03, and they can be switched

by speed command, torque command and terminals.

Step 7: When P21.08 (output limit of position controller) is set to 0, the position control will be invalid,

and at this point, the pulse string acts as frequency source, P21.13 (position feedforward gain) should

be set to 100%, and the speed acceleration/deceleration time is determined by the acceleration

/deceleration time of pulse string, the pulse string acceleration/deceleration time of the system can be

adjusted. If the pulse string acts as the frequency source in speed control, users can also set P21.00

to 0000, and set the frequency source reference P00.06 or P00.07 to 12 (set by pulse string AB), at

this point, the acceleration/deceleration time is determined by the acceleration/deceleration time of

the inverter, meanwhile, the parameters of pulse string AB is still set by P21 group. In speed mode,

the filter time of pulse string AB is determined by P21.29.

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Chapter 5

Step 8: The input frequency of pulse string is the same with the feedback frequency of encoder pulse,

the relation between them can be changed by altering P21.11 (numerator of position command ratio)

and P21.12 (denominator of position command ratio)

Step 9: When running command or servo enabling is valid (by setting P21.00 or terminal function 63),

it will enter pulse string servo running mode.

4. Commissioning procedures for spindle positioning

Spindle orientation is to realize orientation functions like zeroing and division based on closed-loop

vector control

Frequency

Deceleration time of spindle orientation

Speed of

accurate-stop

of spindle

P21.09 Completion

Time

range of positioning

Running command

Zeroing command

Zeroing selection terminal 1

Hold time of positioning completion signal

Positioning completion signal

P21.10 Detection time

P21.25 Hold time of positioning completion signal

for positioning completion

Step 1-4: These four steps are the same with the first four steps of the commissioning procedures for

closed-loop vector control, which aim to fulfill the control requirements of closed-loop vector control,

thus realizing spindle positioning function in either position control or speed control mode.

Step 5: Set P22.00.bit0=1 to enable spindle positioning, set P22.00.bit1 to select spindle zero input. If

the system adopts encoder for speed measurement, set P22.00.bit1 to 0 to select Z pulse input; if the

system adopts photoelectric switch for speed measurement, set P22.00.bit1 to

1 to select

photoelectric switch as zero input; set P22.00.bit2 to select zero search mode, set P22.00.bit3 to

enable or disable zero calibration, and select zero calibration mode by setting P22.00.bit7.

Step 6: Spindle zeroing operation

a) Select the positioning direction by setting P22.00.bit4;

b) There are four zero positions in P22 group, users can choose one out of four zeroing positions

by setting zeroing input terminal selection (46, 47) in P05 group. When executing zeroing function,

the motor will stop accurately at corresponding zeroing position according to the set positioning

direction, which can be viewed via P18.10;

c) The positioning length of spindle zeroing is determined by the deceleration time of

accurate-stop and the speed of accurate-stop;

Step 7: Spindle division operation

There are seven scale-division positions in P22 group, users can choose one out of seven

scale-division positions by setting scale-division input terminal selection (48, 49, 50) in P05 group.

Enable corresponding scale-division terminal after the motor stops accurately, and the motor will

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Chapter 5

check the scale-division position state and switch to corresponding position incrementally, at this point,

users can check P18.09.

Step 8: Priority level of speed control, position control and zeroing

The priority level of speed running is higher than that of the scale division, when the system runs in

scale-division mode, if spindle orientation is prohibited, the motor will turn to speed mode or position

mode.

The priority level of zeroing is higher than that of the scale division.

Scale-division command is valid when the scale-division terminal is from 000 state to non-000 state,

eg, in 000-011, the spindle executes scale division 3. The transition time during terminal switch-over

needs to be less than 10ms; otherwise, wrong scale division command may be executed.

Step 9: Hold positioning

The position loop gain during positioning is P21.03; while the position loop gain in

positioning-completion-hold state is P21.02. In order to keep sufficient position-hold force and ensure

no system oscillation occurred, adjust P03.00, P03.01, P20.05 and P21.02.

Step 10: Positioning command selection (bit6 of P22.00)

Electric level signal: Positioning command (zeroing and scale division) can be executed only when

there is running command or the servo is enabled.

Step 11: Spindle reference point selection (bit0 of P22.00)

Encoder Z pulse positioning supports the following spindle positioning modes:

a) the encoder is installed on the motor shaft, the motor shaft and spindle is 1:1 rigid connection;

b) the encoder is installed on the motor shaft, the motor shaft and spindle is 1:1 belt connection;

At this point, the belt may slip during high-speed running and cause inaccurate positioning, it is

recommended to install proximity switch on the spindle.

c) The encoder is installed on the spindle, and the motor shaft is connected to the spindle with

belt, the drive ratio is not necessarily 1:1;

At this point, set P20.06 (speed ratio of the mounting shaft between motor and encoder), and set

P22.14 (spindle drive ratio) to 1. As the encoder is not installed on the motor, the control performance

of closed-loop vector will be affected.

Proximity switch positioning supports the following spindle positioning modes:

a) The encoder is installed on the motor shaft, the drive ratio between motor shaft and spindle is

not necessarily 1:1;

At this point, it is required to set P22.14 (spindle drive ratio).

5. Commissioning procedures for digital positioning

The diagram for digital positioning is shown below.

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Chapter 5

Frequency

Positioning

speed

P21.22 Hold time

Time

of positioning arrival

Running command

Cyclic positioning

enable signal terminal

Positioning completion signal

P21.25 Hold time of positioning completion signal

Step 1-4: These four steps are the same with the first four steps of the commissioning procedures for

closed-loop vector control, which aim to fulfill the control requirements of closed-loop vector control.

Step 5: Set P21.00=0011 to enable digital positioning. Set P21.17, P21.11 and P21.12

(set

positioning displacement) according to actual needs ; set P21.18 and P21.19 (set positioning speed);

set P21.20 and P21.21 (set acceleration/deceleration time of positioning).

Step 6: Single positioning operation

Set P21.16.bit1=0, and the motor will carry out single positioning action and stay in the positioning

position according to the setup in step 5.

Step 7: Cyclic positioning operation

Set P21.16.bit1=1 to enable cyclic positioning. The cyclic positioning is divided into continuous mode

and repetitive mode; users can also carry out cyclic positioning through terminal function (no. 55,

enable digital positioning cycle)

6. Commissioning procedures for positioning of photoelectric switch

Photoelectric switch positioning is to realize positioning function based on closed-loop vector control.

Frequency

Directdeceleration positioning

Constant speed+

deceleration positioning

Constant speed+

deceleration positioning

Time

Running command

Photoelectric switch

arrival signal

Cyclic positioning

enable signal

Positioning completion

signal

Step 1-4: These four steps are the same with the first four steps of the commissioning procedures for

closed-loop vector control, which aim to fulfill the control requirements of closed-loop vector control.

Step 5: Set P21.00=0021 to enable photoelectric switch positioning, the photoelectric switch signal

can be connected to S8 terminal only, and set P05.08=43, meanwhile, set P21.17, P21.11 and

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Chapter 5

P21.12 (set positioning displacement) based on actual needs; set P21.21 (deceleration time of

positioning), however, when present running speed is too fast or the set positioning displacement is

too small, the deceleration time of positioning will be invalid, and it will enter direct deceleration

positioning mode.

Step 6: Cyclic positioning

After positioning is done, the motor will stay in current position. Users can set cyclic positioning

through input terminal function selection (55: enable cyclic digital positioning) in P05 group; when the

terminal receives cyclic positioning enable signal (pulse signal), the motor will continue running in the

set speed as per the speed mode and re-enter positioning state after encountering photoelectric

switch.

(7) Hold positioning

The position loop gain during positioning is P21.03; while the position loop gain in

positioning-completion-hold state is P21.02. In order to keep sufficient position-hold force and ensure

no system oscillation occurred, adjust P03.00, P03.01, P20.05 and P21.02.

5.5.19 Fault handling

GD350 series inverter provides abundant information concerning fault handling for the convenience

of the users.

In running

Fault occurred, and the

keypad displayed fault

code

Figure out the fault

cause based on the

fault code

Figure out the most possible

cause according to P07.33-

P07.40

Rule out

fault based on

corresponding

solutions

Consult with INVT

Run again

Proper running

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Chapter 5

Related parameter list:

Function

Default

Name

Detailed parameter description

code

value

P07.27

Type of present fault

0: No fault

P07.28

Type of the last fault

1: Inverter unit U phase protection (OUt1)

P07.29

Type of the last but one fault

2: Inverter unit V phase protection (OUt2)

P07.30

Type of the last but two fault

3: Inverter unit W phase protection

Type of the last but three

(OUt3)

P07.31

fault

4: Overcurrent during acceleration (OC1)

5: Overcurrent during deceleration (OC2)

6: Overcurrent during constant speed

(OC3)

7: Overvoltage during acceleration (OV1)

8: Overvoltage during deceleration (OV2)

9: Overvoltage during constant speed

(OV3)

10: Bus undervoltage fault (UV)

11: Motor overload (OL1)

12: Inverter overload (OL2)

13: Phase loss on input side (SPI)

14: Phase loss on output side (SPO)

15: Rectifier module overheat (OH1)

16: Inverter module overheat (OH2)

17: External fault (EF)

18: 485 communication fault (CE)

P07.32

Type of the last but four fault

19: Current detection fault (ItE)

20: Motor autotuning fault (tE)

21: EEPROM operation fault (EEP)

22: PID feedback offline fault (PIDE)

23: Brake unit fault (bCE)

24: Running time reached (END)

25: Electronic overload (OL3)

26: Keypad communication error (PCE)

27: Parameter upload error (UPE)

28: Parameter download error

(DNE)

29: Profibus DP communication fault

(E-DP)

30: Ethernet communication fault

(E-NET)

31: CANopen communication fault

(E-CAN)

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Chapter 5

Function

Default

Name

Detailed parameter description

code

value

32: To-ground short-circuit fault 1 (ETH1)

33: To-ground short-circuit fault 2 (ETH2)

34: Speed deviation fault (dEu)

35: Mal-adjustment fault (STo)

36: Underload fault (LL)

37: Encoder offline fault (ENC1O)

38: Encoder reversal fault (ENC1D)

39: Encoder Z pulse offline fault (ENC1Z)

40: Safe torque off (STO)

41: Channel H1 safety circuit exception

(STL1)

42: Channel H2 safety circuit exception

(STL2)

43: Channel H1 and H2 exception (STL3)

44: Safety code FLASH CRC check fault

(CrCE)

55: Repetitive extension card type fault

(E-Err)

56: Encoder UVW loss fault (ENCUV)

57: Profinet communication timeout fault

(E-PN)

58: CAN communication fault (SECAN)

59: Motor over-temperature fault (OT)

60: Card slot 1 card identification failure

(F1-Er)

61: Card slot 2 card identification failure

(F2-Er)

62: Card slot 3 card identification failure

(F3-Er)

63: Card slot 1 card communication

timeout fault (C1-Er)

64: Card slot 2 card communication

timeout fault (C2-Er)

65: Card slot 3 card communication

timeout fault (C3-Er)

66: EtherCat communication fault

(E-CAT)

67: Bacnet communication fault (E-BAC)

68: DeviceNet communication fault

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Chapter 5

Function

Default

Name

Detailed parameter description

code

value

(E-DEV)

69: Master-slave synchronous CAN

slave fault (S-Err)

P07.33

Running frequency of present fault

0.00Hz

P07.34

Ramps reference frequency of present fault

0.00Hz

P07.35

Output voltage of present fault

P07.36

Output current of present fault

0.0A

P07.37

Bus voltage of present fault

0.0V

P07.38

Max. temperature of present fault

0.0°C

P07.39

Input terminal state of present fault

P07.40

Output terminal state of present fault

P07.41

Running frequency of the last fault

0.00Hz

P07.42

Ramps reference frequency of the last fault

0.00Hz

P07.43

Output voltage of the last fault

P07.44

Output current of the last fault

0.0A

P07.45

Bus voltage of the last fault

0.0V

P07.46

Max. temperature of the last fault

0.0°C

P07.47

Input terminal state of the last fault

P07.48

Output terminal state of the last fault

P07.49

Running frequency of the last but one fault

0.00Hz

P07.50

Ramps reference frequency of the last but one fault

0.00Hz

P07.51

Output voltage of the last but one fault

P07.52

Output current of the last but one fault

0.0A

P07.53

Bus voltage of the last but one fault

0.0V

P07.54

Max. temperature of the last but one fault

0.0°C

P07.55

Input terminal state of the last but one fault

P07.56

Output terminal state of the last but one fault

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Chapter 6

Chapter 6 Function parameter list

6.1 What this chapter contains

This chapter lists all the function codes and corresponding description of each function code.

6.2 Function parameter list

Function parameters of GD350 series inverter are categorized according to functions. Among the

function groups, P98 is analog input/output calibration group, and P99 is factory function group which

cannot be accessed by users. The function code adopts three-level menu, eg, "P08.08" indicates it is

the no. 8 function code in P8 group.

The function group no. corresponds to the first-level menu; function code no. corresponds to the

second-level menu; function code parameter corresponds to the third-level menu.

The function list is divided into the following columns.

Column 1 "Function code": number of the function parameter group and the parameter;

Colum 2 "Name": complete name of the function parameter;

Colum 3 "Detailed parameter description": detailed description of this function parameter;

Colum 4 "Default value": The original set value of the function parameter by default;

Colum 5: "Modify": The modification attribute of the function parameter, namely whether the function

parameter can be modified and the condition for modification, as shown below.

"○": the set value of this parameter can be modified when the inverter is in stop or running

state;

"◎": the set value of this parameter cannot be modified when the inverter is in running state;

"●": the parameter value is the measured value which cannot be modified.

(The inverter has assigned the modification attribute of each parameter automatically to avoid

inadvertent modification by users.)

"System of numeration for parameters" is decimalism; if the parameter is presented in

hexadecimal numbers, the data of each bit will be independent of each other during parameter

edit, and the value range of partial bits can be 0-F in hexadecimal system.

"Default value" is value restored after parameter refresh during restoring to default value;

however, the measured value or recorded value will not be refreshed.

In order to enhance parameter protection, the inverter provides password protection for the

function codes. After setting user password (namely user password P07.00 is not zero), when users

press PRG/ESC key to enter function code edit state, the system will first enter user password

verification state which displays "0.0.0.0.0.", requiring operators to input the correct user password.

For factory parameters, besides user password, it is also required to input the correct factory

password (users should not attempt to modify factory parameters as improper setup may easily lead

to mal-operation or damage the inverter). When password protection is unlocked, the user password

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Chapter 6

can be modified at any time; user password is subject to the last input. User password can be

cancelled by setting P07.00 to 0; if P01.00 is set to a non-zero value, the parameter will be protected

by password. When modifying function parameters through serial communication, the function of user

password also follows above rules.

Function

Default

Modi

Name

Detailed parameter description

code

value

P00 group Basic functions

0:SVC 0

1:SVC 1

Speed control

2:SVPWM

P00.00

◎

mode

3:VC

Note: If 0, 1 or 3 is selected, it is required to carry out

motor parameter autotuning first.

Running

0: Keypad

P00.01

command

1: Terminal

○

channel

2: Communication

0: MODBUS

1: PROFIBUS/CANopen/Devicenet

Communication

2: Ethernet

running

3: EtherCat/Profinet

P00.02

○

command

4: PLC programmable card

channel

5: Wireless communication card

Note: 1, 2, 3, 4 and 5 are extended functions which

are applicable with corresponding cards.

Used to set the max. output frequency of the inverter.

Max. output

It is the basis of frequency setup and the

P00.03

50.00Hz

◎

frequency

acceleration/deceleration.

Setting range: Max (P00.04, 10.00) -630.00Hz

The upper limit of running frequency is upper limit

value of inverter output frequency. This value should

be no more than the max. output frequency.

Upper limit of

When the set frequency is higher than the upper limit

P00.04

running

50.00Hz

◎

frequency, the inverter runs at the upper limit

frequency

frequency.

Setting range: P00.05-P00.03 (max. output

frequency)

The lower limit of running frequency is the lower limit

Lower limit of

value of inverter output frequency.

P00.05

running

0.00Hz

◎

When the set frequency is lower than the lower limit

frequency

frequency, the inverter runs at the lower limit

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Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

frequency.

Note: Max. output frequency

≥ upper limit

frequency ≥ lower limit frequency.

Setting range: 0.00Hz-P00.04 (upper limit of running

frequency)

A frequency

0: Set via keypad

P00.06

command

1: Set via AI1

○

selection

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

8: Set via MODBUS communication

B frequency

9: Set via PROFIBUS / CANopen / DeviceNet

P00.07

command

○

communication

selection

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

0: Max. output frequency

P00.08

of B frequency

○

1: A frequency command

command

0: A

1: B

Combination

2: (A+B)

P00.09

mode of setting

○

3: (A-B)

source

4: Max. (A, B)

5: Min. (A, B)

When A and B frequency commands are set by

keypad, the value is the initial digital set value of the

Set frequency via

P00.10

inverter frequency.

50.00Hz

○

keypad

Setting range:

0.00 Hz-P00.03

(max. output

frequency)

Acceleration

Depend

P00.11

Acceleration time is the time needed for accelerating

○

time 1

on model

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Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

from 0Hz to max. output frequency (P00.03).

Deceleration time is the time needed from

decelerating from max. output frequency (P00.03) to

0Hz.

Deceleration

Goodrive350 series inverter defines four groups of

Depend

P00.12

○

time 1

acceleration and deceleration time, which can be

on model

selected via multi-function digital input terminals

(P05 group). The acceleration/deceleration time of

the inverter is the first group by default.

Setting range of P00.11 and P00.12: 0.0-3600.0s

0: Run in default direction

P00.13

Running direction

1: Run in reverse direction

○

2: Reverse running is prohibited

Carrier

Electro magnetic

Noise and leakage

Cooling

frequency

noise

current

level

1kHz

High

Low

10kHz

15kHz

Low

High

The relation between the model and carrier

frequency is shown below.

Default value of

Model

carrier

frequency

Carrier frequency

Depend

P00.14

1.5-11kW

8kHz

○

setup

on model

380V

15-55kW

4kHz

Above 75kW

2kHz

22-55kW

4kHz

660V

Above 75kW

2kHz

Advantages of high carrier frequency are as follows:

ideal current waveform, few current harmonics and

small motor noise.

Disadvantages of high carrier frequency are as

follows: growing switch consumption, enlarged

temperature rise, impacted output capacity; under

high carrier frequency, the inverter needs to be

derated for use, meanwhile, the leakage current will

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Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

increase,

which increases

electromagnetic

interference to the surroundings.

While low carrier frequency is the contrary. Low

carrier frequency will cause unstable operation at

low frequency, decrease the torque, or even lead to

oscillation.

The carrier frequency of inverter is set properly by

default, and it should not be changed by users at will.

If the default carrier frequency is exceeded during

use, derating is required, derate by 10% for every

additional 1k carrier frequency.

Setting range: 1.2-15.0kHz

0: No operation

1: Rotary autotuning; carry out comprehensive motor

parameter autotuning; rotary autotuning is used in

cases where high control precision is required;

2: Static autotuning 1 (comprehensive autotuning);

Motor parameter

static autotuning 1 is used in cases where the motor

P00.15

◎

autotuning

cannot be disconnected from load;

3: Static autotuning

2 (partial autotuning)

; when

current motor is motor 1, only P02.06, P02.07 and

P02.08 will be autotuned; when current motor is

motor 2, only P12.06, P12.07 and P12.08 will be

autotuned.

0: Invalid

1: Valid during the whole process

P00.16

AVR function

Automatic voltage regulation function is used to

○

eliminate the impact on the output voltage of inverter

when bus voltage fluctuates.

P00.17

Reserved

0: No operation

1: Restore to default value

2: Clear fault history

Function

Note: After the selected function operations are

P00.18

parameter

◎

done, this function code will be restored to

restoration

automatically. Restoration to default value will clear

the user password, this function should be used with

caution.

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Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

P01 group Start/stop control

0: Direct start

Running mode of

1: Start after DC brake

P01.00

◎

start

2: Start after speed-tracking 1

3: Start after speed-tracking 2

Starting frequency of direct startup is the initial

Starting

frequency when the inverter starts. See P01.02 (hold

P01.01

frequency of

0.50Hz

◎

time of starting frequency) for details.

direct start

Setting range: 0.00-50.00Hz

Output frequency

fmax

F1 set by P01.01

T1 set by P01.02

A proper starting frequency can increase the torque

Hold time of

during startup. Within the hold time of starting

P01.02

starting

0.0s

◎

frequency, the output frequency of inverter is the

frequency

starting frequency, and then it runs from the starting

frequency to the target frequency, if the target

frequency

(frequency command) is below the

starting frequency, the inverter will be standby rather

than running. The starting frequency value is

unlimited by the lower limit frequency.

Setting range: 0.0-50.0s

DC brake current

During starting, the inverter will first perform DC

P01.03

0.0%

◎

before start

brake based on the set DC brake current before

startup, and then it will accelerate after the set DC

brake time before startup elapses. If the set DC

brake time is 0, DC brake will be invalid.

The larger the DC brake current, the stronger the

DC brake time

P01.04

brake force. The DC brake current before startup

0.00s

◎

before start

refers to the percentage relative to rated inverter

current.

Setting range of P01.03: 0.0-100.0%

Setting range of P01.04: 0.00-50.00s

This function code is used to select the frequency

Acceleration/dec

P01.05

variation mode during starting and running.

◎

eleration mode

0: Straight line; the output frequency increases or

-129-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

decreases in straight line;

Output frequency f

fmax

Time t

1: S curve; the output frequency increases or

decreases in S curve;

S curve is generally used in cases where smooth

start/stop is required, eg, elevator, conveyer belt, etc.

Output frequency f

fmax

Time t

Note: When set to 1, it is required to set P01.06,

P01.07, P01.27 and P01.28 accordingly.

Time of starting

The curvature of S curve is determined by

section of

acceleration range and acceleration and

P01.06

0.1s

◎

acceleration S

deceleration time.

Output frequency f

curve

Time of ending

t1=P01.06

t2=P01.07

section of

t3=P01.27

Time t

t4=P01.28

P01.07

0.1s

◎

acceleration S

curve

Setting range: 0.0-50.0s

0: Decelerate to stop; after stop command is valid,

the inverter lowers output frequency based on the

deceleration mode and the defined deceleration

time, after the frequency drops to the stop speed

P01.08

Stop mode

○

(P01.15), the inverter stops.

1: Coast to stop; after stop command is valid, the

inverter stops output immediately, and the load

coasts to stop as per mechanical inertia.

Starting

Starting frequency of DC brake after stop; during

P01.09

frequency of DC

decelerating to stop, when this frequency is reached,

0.00Hz

○

brake after stop

DC brake will be performed after stop.

-130-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

Waiting time of

Demagnetization time (waiting time of DC brake after

P01.10

DC brake after

stop): Before the DC brake, the inverter will block

0.00s

○

stop

output, and after the demagnetization time elapses,

DC brake current

DC brake will start. This function is used to prevent

P01.11

0.0%

○

of stop

overcurrent fault caused by DC brake during high

speed.

DC brake current after stop: it means the DC brake

force applied, the larger the current, the stronger the

DC brake effect.

P01.09

DC brake time of

Time t

P01.12

Acceleration Constant speed

P13.15

0.00s

○

stop

P01.23

P13.14

P01.04

Deceleration

P01.10

P01.12

In running

Setting range of P01.09: 0.00Hz-P00.03 (max.

output frequency)

Setting range of P01.10: 0.00-30.00s

Setting range of P01.11: 0.0-100.0%

Setting range of P01.12: 0.0-50.0s

This function code refers to the transition time of the

threshold set by P01.14 during setting

forward/reverse rotation of the inverter, as shown

below.

Output frequency f

Deadzone time of

Forward

P01.13

forward/reverse

Switch over after

0.0s

○

starting frequency

rotation

Starting

Switch over after

frequency

zero frequency

Time t

Deadzone

Reverse

time

Setting range: 0.0-3600.0s

Forward/reverse

0: Switch over after zero frequency

P01.14

rotation

1: Switch over after starting frequency

◎

switch-over mode 2: Switch over after passing stop speed and delay

P01.15

Stop speed

0.00-100.00Hz

0.50Hz

◎

0: Set value of speed (the only detection mode valid

Stop speed

P01.16

in SVPWM mode)

◎

detection mode

1: Detection value of speed

-131-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

Stop speed

P01.17

0.00-100.00s

0.50s

◎

detection time

When the running command channel is controlled by

terminals, the system will detect running terminal

state automatically during power up.

0: Terminal running command is invalid during power

up. The inverter will not run during power up even if

the running command terminal is detected to be

Running

valid, and the system is in running protection state.

protection of

P01.18

The inverter will run only after this terminal is

○

power-on

cancelled and enabled again.

terminal

1: Terminal running command is valid during power

up. The system will start the inverter automatically

after initialization is done if the running command

terminal is detected to be valid during power up.

Note: This function must be set with caution,

otherwise, serious consequences may occur.

This function code is used to set the running state of

inverter when the set frequency is below lower limit

frequency.

Action selection

0: Run in lower limit of the frequency

when the running

1: Stop

frequency is

2: Sleep

P01.19

below lower limit

◎

When the set frequency is below lower limit

(lower limit

frequency, the inverter coasts to stop; when the set

should be larger

frequency is above lower limit again and continues to

than 0)

be so after the time set by P01.20 elapses, the

inverter will be restored to running state

automatically.

This function code is used to set the sleep delay.

When the running frequency of inverter is below the

Wake-up-from-sl

lower limit frequency, the inverter enters sleep state;

P01.20

0.0s

○

eep delay

when the set frequency is above the lower limit again

and continues to be so after the time set by P01.20

elapses, the inverter will run automatically.

-132-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

Output frequency f

t1＜t2, the inverter does not run

t1+t2=t3, the inverter runs

t3=P01.20

Time t

Run

Sleep

Run

Setting range: 0.0-3600.0s (valid when P.01.19 is 2)

This function code sets the automatic running of the

inverter at next power-on after power down.

Restart after

0: Disabled restart

P01.21

○

power cut

1: Enable restart, namely the inverter will run

automatically after the time set by P01.22 elapses if

the starting conditions are met.

This function code sets the waiting time before

automatically running at next power-on after power

down.

Output frequency

t1=P01.22

Waiting time of

t2=P01.23

P01.22

restart after

1.0s

○

power cut

Running

Running Power off

Power on

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

This function code sets the delay of the inverter’s

wake-up-from-sleep after running command is given,

P01.23

Start delay

the inverter will start to run and output after the time

0.0s

○

set by P01.23 elapses to realize brake release.

Setting range: 0.0-600.0s

P01.24

Stop speed delay

0.0-600.0s

0.0s

○

0: No voltage output

Open-loop 0Hz

P01.25

1: With voltage output

○

output selection

2: Output as per DC brake current of stop

Deceleration time

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

-133-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

Time of ending

section of

P01.28

0.0-50.0s

0.1s

◎

deceleration S

curve

Short-circuit

When the inverter starts in direct start mode

P01.29

0.0%

○

brake current

(P01.00=0), set P01.30 to a non-zero value to enter

Hold time of

short-circuit brake.

P01.30

short-circuit

During stop, if the running frequency of inverter is

0.00s

○

brake at startup

below the starting frequency of brake after stop, set

P01.31 to a non-zero value to enter short-circuit

brake after stop, and then carry out DC brake in the

Hold time of

time set by P01.12 (refer to P01.09-P01.12).

P01.31

short-circuit

0.00s

○

Setting range of P01.29: 0.0-150.0% (inverter)

brake at stop

Setting range of P01.30: 0.0-50.0s

Setting range of P01.31: 0.0-50.0s

P01.32-

Reserved

0-65535

●

P01.34

variables

P02 group Parameters of motor 1

0: Asynchronous motor

P02.00

Type of motor 1

◎

1: Synchronous motor

Rated power of

Depend

P02.01

asynchronous

0.1-3000.0kW

◎

on model

motor 1

Rated frequency

P02.02

of asynchronous

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

50.00Hz

◎

motor 1

Rated speed of

Depend

P02.03

asynchronous

1-36000rpm

◎

on model

motor 1

Rated voltage of

Depend

P02.04

asynchronous

0-1200V

◎

on model

motor 1

Rated current of

Depend

P02.05

asynchronous

0.8-6000.0A

◎

on model

motor 1

Stator resistance

Depend

P02.06

of asynchronous

0.001-65.535Ω

○

on model

motor 1

-134-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

Rotor resistance

Depend

P02.07

of asynchronous

0.001-65.535Ω

○

on model

motor 1

Leakage

inductance of

Depend

P02.08

0.1-6553.5Mh

○

asynchronous

on model

motor 1

Mutual

inductance of

Depend

P02.09

0.1-6553.5Mh

○

asynchronous

on model

motor 1

No-load current

Depend

P02.10

of asynchronous

0.1-6553.5A

○

on model

motor 1

Magnetic

saturation

coefficient 1 of

P02.11

0.0-100.0%

80.0%

○

iron core of

asynchronous

motor 1

Magnetic

saturation

coefficient 2 of

P02.12

0.0-100.0%

68.0%

○

iron core of

asynchronous

motor 1

Magnetic

saturation

coefficient 3 of

P02.13

0.0-100.0%

57.0%

○

iron core of

asynchronous

motor 1

Magnetic

saturation

coefficient 4 of

P02.14

0.0-100.0%

40.0%

○

iron core of

asynchronous

motor 1

-135-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

Rated power of

Depend

P02.15

synchronous

0.1-3000.0KW

◎

on model

motor 1

Rated frequency

P02.16

of synchronous

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

50.00Hz

◎

motor 1

Number of pole

pairs of

P02.17

1-128

◎

synchronous

motor 1

Rated voltage of

Depend

P02.18

synchronous

0-1200V

◎

on model

motor 1

Rated current of

Depend

P02.19

synchronous

0.8-6000.0A

◎

on model

motor 1

Stator resistance

Depend

P02.20

of synchronous

0.001-65.535Ω

○

on model

motor 1

Direct-axis

inductance of

Depend

P02.21

0.01-655.35Mh

○

synchronous

on model

motor 1

Quadrature-axis

inductance of

Depend

P02.22

0.01-655.35Mh

○

synchronous

on model

motor 1

Counter-emf

constant of

P02.23

0-10000

300

○

synchronous

motor 1

Initial pole

position of

P02.24

synchronous

0x0000-0xFFFF

●

motor 1

(reserved)

Identification

P02.25

0%-50% (rated motor current)

10%

●

current of

-136-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

synchronous

motor 1

(reserved)

0: No protection

1: Common motor (with low-speed compensation).

As the cooling effect of common motor will be

degraded in low speed, the corresponding electronic

thermal protection value should also be adjusted

Overload

properly, the low compensation here means to lower

P02.26

protection of

the overload protection threshold of the motor whose

◎

motor 1

running frequency is below 30Hz.

2: Frequency-variable motor

(without low speed

compensation). As the cooling effect of

frequency-variable motor is not affected by the

rotating speed, there is no need to adjust the

protection value during low speed running.

Motor overload multiples M=Iout/(In×K)

In is rated motor current, lout is inverter output

current, K is motor overload protection coefficient.

The smaller the K, the larger the value of M, and the

easier the protection.

M=116%: protection will be applied when motor

Overload

overloads for 1h; M=200%: protection will be applied

protection

when motor overloads for 60s; M>=400%: protection

P02.27

100.0%

○

coefficient of

will be applied immediately.

Time t

motor 1

Motor overload multiple

116%

200 %

Setting range: 20.0%-120.0%

Power display

This function adjusts the power display value of

calibration

motor 1 only, and it does not affect the control

P02.28

1.00

○

coefficient of

performance of the inverter.

motor 1

Setting range: 0.00-3.00

0: Display as per motor type; under this mode, only

Parameter

P02.29

parameters related to current motor type will be

○

display of motor 1

displayed.

-137-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

1: Display all; under this mode, all the motor

parameters will be displayed.

System inertia of

P02.30

0-30.000kgm2

○

motor 1

P02.31-

Reserved

0-65535

○

P02.32

variables

P03 group Vector control of motor 1

Speed loop

Parameters of P03.00-P03.05 fit for vector control

P03.00

20.0

○

proportional gain 1

mode only. Below P03.02, speed loop PI parameter

Speed loop

is P03.00 and P03.01; above P03.06, speed loop PI

P03.01

0.200s

○

integral time 1

parameter is P03.03 and P03.04; in between, PI

Switch low point

parameter is obtained by linear variation between

P03.02

5.00Hz

○

frequency

two groups of parameters, as shown below.

PI parameter

Speed loop

P03.00，P03.01

P03.03

proportional gain

20.0

○

P03.03，P03.04

Speed loop

P03.04

Output frequency f

0.200s

○

integral time 2

P03.02

P03.05

The speed loop dynamic response characteristics of

vector control can be adjusted by setting the

proportional coefficient and integral time of speed

regulator. Increase proportional gain or decrease

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; if proportional gain is too

small, stable oscillation or speed offset may occur.

Switch over high

Speed loop PI parameter is closely related to the

P03.05

10.00Hz

○

point frequency

system inertial, users should make adjustment

based on default PI parameter according to different

load characteristics to fulfill different needs.

Setting range of P03.00:0.0-200.0;

Setting range of P03.01: 0.000-10.000s

Setting range of P03.02: 0.00Hz-P03.05

Setting range of P03.03: 0.0-200.0

Setting range of P03.04: 0.000-10.000s

Setting range of P03.05: P03.02-P00.03

(max.

output frequency)

-138-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

Speed loop

P03.06

0-8 (corresponds to 0-2^8/10ms)

○

output filter

Vector control

slip

P03.07

compensation

100%

○

Slip compensation coefficient is used to adjust the

coefficient

slip frequency of vector control to improve speed

(motoring)

control precision. This parameter can be used to

Vector control

control speed offset.

slip

Setting range: 50-200%

P03.08

compensation

100%

○

coefficient

(generating)

Current loop

Note:

P03.09

proportional

1. These two parameters are used to adjust PI

1000

○

coefficient P

parameters of current loop; it affects dynamic

response speed and control precision of the system

directly. The default value needs no adjustment

under common conditions;

Current loop

2. Fit for SVC mode 0 (P00.00=0) and VC mode

P03.10

integral

(P00.00=3);

1000

○

coefficient I

3. The value of this function code will be updated

automatically after parameter autotuning of

synchronous motor is done.

Setting range: 0-65535

0-1: Set via keypad (P03.12)

2: Set via AI1 (100% corresponds to three times of

rated motor current)

3: Set via AI2 (the same as above)

4: Set via AI3 (the same as above)

5: Set via pulse frequency HDIA (the same as

above)

Torque setup

P03.11

6: Set via multi-step torque (the same as above)

○

mode selection

7: Set via MODBUS communication (the same as

above)

8: Set via PROFIBUS/CANopen/DeviceNet

communication (the same as above)

9: Set via Ethernet communication (the same as

above)

10: Set via pulse frequency HDIB (the same as

-139-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

above)

11: Set via EtherCat/Profinet communication

12: Set via PLC

Torque set by

P03.12

-300.0%-300.0% (rated motor current)

20.0%

○

keypad

Torque reference

P03.13

0.000-10.000s

0.010s

○

filter time

0: Keypad (P03.16)

1: AI1 (100% corresponds to max. frequency)

2: AI2 (the same as above)

3: AI3 (the same as above)

4: Pulse frequency HDIA (the same as above)

Source of upper

5: Multi-step (the same as above)

limit frequency

6: MODBUS communication (the same as above)

P03.14

setup of forward

○

7: PROFIBUS /CANopen/ DeviceNet communication

rotation in torque

(the same as above)

control

8: Ethernet communication (the same as above)

9: Pulse frequency HDIB (the same as above)

10: EtherCat/Profinet communication

11: PLC

12: Reserved

0: Keypad (P03.17)

1: AI1 (100% corresponds to max. frequency)

2: AI2 (the same as above)

3: AI3 (the same as above)

4: Pulse frequency HDIA (the same as above)

5: Multi-step (the same as above)

Source of upper

6: MODBUS communication (the same as above)

limit frequency

7: PROFIBUS /CANopen/ DeviceNet communication

P03.15

setup of reverse

○

(the same as above)

rotation in torque

8: Ethernet communication (the same as above)

control

9: Pulse frequency HDIB (the same as above)

10: EtherCat/Profinet communication

11: PLC

12: Reserved

Note: Source

1-11,

100% relative to the max.

frequency

Keypad limit

This function code is used to set frequency limit.

P03.16

50.00Hz

○

value of upper

100% corresponds to the max. frequency. P03.16

-140-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

limit frequency of

sets the value when P03.14=1; P03.17 sets the

forward rotation

value when P03.15=1.

in torque control

Setting range:

0.00Hz-P00.03

(max. output

Max. output

frequency)

P03.17

50.00Hz

○

frequency

0: Keypad (P03.20)

1: AI1 (100% relative to three times of motor current)

2: AI2 (the same as above)

3: AI3 (the same as above)

4: Pulse frequency HDIA (the same as above)

Source of upper

5: MODBUS communication (the same as above)

limit setup of the

P03.18

6: PROFIBUS/CANopen/DeviceNet communication

○

torque during

(the same as above)

motoring

7: Ethernet communication (the same as above)

8: Pulse frequency HDIB (the same as above)

9: EtherCat/Profinet communication

10: PLC

11: Reserved

0: Keypad (P03.21)

1: AI1 (100% relative to three times of motor current)

2: AI2 (the same as above)

3: AI3 (the same as above)

4: Pulse frequency HDIA (the same as above)

Source of upper

5: MODBUS communication (the same as above)

P03.19

limit setup of

6: PROFIBUS/CANopen/DeviceNet communication

○

brake torque

(the same as above)

7: Ethernet communication (the same as above)

8: Pulse frequency HDIB (the same as above)

9: EtherCat/Profinet communication

10: PLC

11: Reserved

Set upper limit of

the torque when

P03.20

180.0%

○

motoring via

This function code is used to set torque limit.

keypad

Setting range: 0.0-300.0% (rated motor current)

Set upper limit of

P03.21

brake torque via

180.0%

○

keypad

-141-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

Flux-weakening

Used when asynchronous motor is in flux-weakening

coefficient of

control.

P03.22

0.3

○

constant-power

zone

Flux-weakening

coefficient of motor

0.1

1.0

2.0

Min. flux-weakening limit of motor

Min.

P03.22 and P03.23 are valid during constant power.

flux-weakening

When motor speed is above rated speed, motor

P03.23

point of

20%

○

enters flux-weakening running state. The

constant-power

flux-weakening control coefficient can change the

zone

flux-weakening curvature, the larger the coefficient,

the steeper the curve, the smaller the coefficient, the

smoother the curve.

Setting range of P03.22: 0.1-2.0

Setting range of P03.23: 10%-100%

P03.24 sets the max. output voltage of the inverter,

which is the percentage of rated motor voltage. This

P03.24

Max. voltage limit

100.0%

○

value should be set according to field conditions.

Setting range:0.0-120.0%

Carry out motor pre-exciting during starting to build a

magnetic field inside the motor to improve the torque

P03.25

Pre-exciting time

0.300s

○

characteristics of motor during starting.

Setting range: 0.000-10.000s

Flux-weakening

P03.26

0-8000

1000

○

proportional gain

Vector control

0: Display as per actual value

P03.27

○

speed display

1: Display as per the set value

Static friction

P03.28

compensation

0.0-100.0%

0.0%

○

coefficient

Corresponding

P03.29

frequency point

0.50- P03.31

1.00Hz

○

of static friction

High speed

P03.30

0.0-100.0%

0.0%

○

friction

-142-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

compensation

coefficient

Corresponding

frequency of high

P03.31

P03.29-400.00Hz

50.00Hz

○

speed friction

torque

Torque control

0:Disable

P03.32

◎

enable

1:Enable

P03.33-

Reserved

0-65535

●

P03.35

variables

Speed loop

P03.36

0.00-10.00s

0.00s

○

differential gain

High-frequency

current loop

P03.37

Under closed-loop vector control mode (P00.00=3)

1000

○

proportional

and P03.39, the current loop PI parameters are

coefficient

P03.09 and P03.10; above P03.39, the PI

High-frequency

parameters are P03.37 and P03.38.

current loop

P03.38

Setting range of P03.37: 0-20000

1000

○

integral

Setting range of P03.38: 0-20000

coefficient

Setting range of P03.39:

0.0-100.0% (relative to

Current loop

max. frequency)

P03.39

high-frequency

100.0%

○

switch-over point

Inertia

0: Disable

P03.40

compensation

○

1: Enable

enable

Upper limit of

Limit the max. inertia compensation torque to

inertia

prevent inertia compensation torque from being too

P03.41

10.0%

○

compensation

large.

torque

Setting range: 0.0-150.0% (rated motor torque)

Inertia

Filter times of inertia compensation torque, used to

P03.42

compensation

smooth inertia compensation torque.

○

filter times

Setting range: 0-10

Due to friction force, it is required to set certain

Inertia

identification torque for the inertia identification to be

P03.43

identification

10.0%

○

performed properly.

torque value

0.0-100.0% (rated motor torque)

P03.44

Enable inertia

0: No operation

◎

-143-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

identification

1: Start identification

P03.45-

Reserved

0-65535

●

P03.46

variables

P04 group V/F control

This group of function code defines the V/F curve of

motor

1 to satisfy different load characteristics

needs.

0: Straight V/F curve; fit for constant-torque load

1: Multi-point V/F curve

2: Torque down V/F curve (1.3^th order)

3: Torque down V/F curve (1.7^th order)

4: Torque down V/F curve (2.0^nd order)

Curve 2-4 are suitable for torque-variable load of fan

pump and similar equipment. Users can make

adjustment based on load characteristics to achieve

optimal energy-saving effect.

V/F curve setup

5: Customized V/F

(V/F separation); under this

P04.00

◎

of motor 1

mode, V is separated from f. Users can adjust f

through the frequency reference channel set by

P00.06 to change the curve characteristic, or adjust

V through the voltage reference channel set by

P04.27 to change the curve characteristics.

Note: The Vb in the figure below corresponds to

rated motor voltage, and fb corresponds to rated

motor frequency.

Output voltage

Torque step-down V/F curve (1.3^th order)

Linear type

Torque step-down V/F curve (1.7^th order)

Torque step-down V/F curve (2.0^ndorder)

Square type

Output frequency

Torque boost of

In order to compensate for low-frequency torque

P04.01

0.0%

○

motor 1

characteristics, users can make some boost

compensation to the output voltage. P04.01 is

relative to the max. output voltage Vb.

Motor 1 torque

P04.02 defines the percentage of cut-off frequency

P04.02

20.0%

○

boost cut-off

of manual torque boost to the rated motor frequency

fb. Torque boost can improve the low-frequency

torque characteristics of V/F.

-144-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

Users should select torque boost based on the load,

eg, larger load requires larger torque boost,

however, if the torque boost is too large, the motor

will run at over-excitation, which will cause increased

output current and motor heat-up, thus degrading the

efficiency.

When torque boost is set to 0.0%, the inverter is

automatic torque boost.

Torque boost cut-off threshold: Below this frequency

threshold, the torque boost is valid, exceeding this

threshold will nullify torque boost.

Output voltage

boost

Output

frequency

Cut-off

Setting range of P04.01: 0.0%: (automatic) 0.1%-

10.0%

Setting range of P04.02: 0.0%-50.0%

V/F frequency

When P04.00 =1 (multi-point V/F curve), users can

P04.03

0.00Hz

○

point 1 of motor 1

set V/F curve via P04.03-P04.08.

V/F voltage point

V/F curve is usually set according to the

P04.04

00.0%

○

1 of motor 1

characteristics of motor load.

V/F frequency

Note: V1<V2<V3, f1<f2<f3. If low-frequency voltage

P04.05

0.00Hz

○

point 2 of motor 1

is set too high, motor overheat or burnt-down may

V/F voltage point

occur, and overcurrent stall or overcurrent protection

P04.06

0.0%

○

2 of motor 1

may occur to the inverter.

V/F frequency

Output voltage

P04.07

100.0% Vb

0.00Hz

○

point 3 of motor 1

Output

frequency(Hz)

V/F voltage point

P04.08

00.0%

○

3 of motor 1

Setting range of P04.03: 0.00Hz-P04.05

Setting range of P04.04: 0.0%-110.0% (rated

voltage of motor 1)

-145-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

Setting range of P04.05: P04.03-P04.07

Setting range of P04.06: 0.0%-110.0% (rated

voltage of motor 1)

Setting range of P04.07: P04.05-P02.02 (rated

frequency of motor 1) or P04.05- P02.16 (rated

frequency of motor 1)

Setting range of P04.08: 0.0%-110.0% (rated

voltage of motor 1)

This function code is used to compensate for the

motor speed changes occurred during load variation

in SVPWM control mode, thus improving the rigidity

of mechanical characteristics of motor. Rated slip

V/F slip

frequency of the motor should be calculated.

P04.09

compensation

△f=fb-n×p/60

0.0%

○

gain of motor 1

of which: fb is rated motor frequency, corresponds to

P02.02; n is rated motor speed, corresponds to

P02.03; p is the number of motor pole pairs. 100%

corresponds to the rated slip frequency of motor △f.

Setting range: 0.0-200.0%

Low-frequency

Under SVPWM control mode, the motor, especially

P04.10

oscillation control

the large-power motor may experience current

○

factor of motor 1

oscillation during certain frequencies, which may

High-frequency

lead to unstable motor operation, or even inverter

P04.11

oscillation control

overcurrent, users can adjust these two parameters

○

factor of motor 1

properly to eliminate such phenomenon.

Setting range of P04.10: 0-100

Oscillation

Setting range of P04.11: 0-100

P04.12

control threshold

30.00Hz

○

Setting range of P04.12: 0.00Hz-P00.03 (max.

of motor 1

output frequency)

0: Straight V/F curve;

1: Multi-point V/F curve

V/F curve setup

2: Torque-down V/F curve (1.3^th order)

P04.13

◎

of motor 2

3: Torque-down V/F curve (1.7^th order)

4: Torque-down V/F curve (2.0^nd order)

5: Customize V/F (V/F separation)

Torque boost of

P04.14

0.0%: (automatic) 0.1%-10.0%

0.0%

○

motor 2

Motor 2 torque

P04.15

0.0%-50.0% (relative to rated frequency of motor 2)

20.0%

○

boost cut-off

-146-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

V/F frequency

P04.16

0.00Hz- P04.18

0.00Hz

○

point 1 of motor 2

V/F voltage point

P04.17

0.0%-110.0% (rated voltage of motor 2)

00.0%

○

1 of motor 2

V/F frequency

P04.18

P04.16- P04.20

0.00Hz

○

point 2 of motor 2

V/F voltage point

P04.19

0.0%-110.0% (rated voltage of motor 2)

00.0%

○

2 of motor 2

P04.18- P12.02 (rated frequency of asynchronous

V/F frequency

motor 2)

P04.20

0.00Hz

○

point 3 of motor 2

Or P04.18- P12.16 (rated frequency of synchronous

motor 2)

V/F voltage point

P04.21

0.0%-110.0% (rated motor voltage)

00.0%

○

3 of motor 2

V/F slip

P04.22

compensation

0.0-200.0%

0.0%

○

gain of motor 2

Low-frequency

P04.23

oscillation control

0-100

○

factor of motor 2

High-frequency

P04.24

oscillation control

0-100

○

factor of motor 2

Oscillation

P04.25

control threshold

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

30.00Hz

○

of motor 2

0: No action

1: Automatic energy-saving operation

Energy-saving

P04.26

Under light-load state, the motor can adjust the

◎

run

output voltage automatically to achieve

energy-saving purpose

0: Keypad; output voltage is determined by P04.28

1: AI1

2: AI2

Channel of

P04.27

3: AI3

○

voltage setup

4: HDIA

5: Multi-step (the set value is determined by P10

group)

-147-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

6: PID

7: MODBUS communication

8: PROFIBUS/CANopen/DeviceNet communication

9: Ethernet communication

10: HDIB

11: EtherCat/Profinet communication

12: PLC programmable card

13: Reserved

When the channel for voltage setup is set to

Set voltage value

"keypad", the value of this function code is digital

P04.28

100.0%

○

via keypad

voltage set value.

Setting range: 0.0%-100.0%

Voltage increase

Voltage increase time means the time needed from

P04.29

5.0s

○

time

outputting the min. voltage to accelerating to output

the max. voltage.

Voltage decrease

Voltage decrease time means the time needed from

P04.30

5.0s

○

time

outputting max. voltage to outputting the min. voltage

Setting range: 0.0-3600.0s

Output max.

Set the upper/lower limit value of output voltage.

P04.31

100.0%

◎

voltage

Vmax

t1=P04.29

t2=P04.30

V set

Vmin

Output min.

Time t

P04.32

0.0%

◎

voltage

Setting range of P04.31: P04.32-100.0% (rated

motor voltage)

Setting range of P04.32: 0.0%-P04.31

Flux-weakening

coefficient of

P04.33

1.00-1.30

1.00

○

constant-power

zone

VF pull-in current

P04.34

1 of synchronous

-100.0%-100.0% (rated motor current)

20.0%

○

motor

VF pull-in current

P04.35

2 of synchronous

-100.0%-100.0% (rated motor current)

10.0%

○

motor

VF pull-in current

P04.36

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

50.00Hz

○

frequency

-148-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

switch-over

threshold of

synchronous

motor

VF reactive

closed-loop

proportional

P04.37

0-3000

○

coefficient of

synchronous

motor

VF reactive

closed-loop

P04.38

integral time of

0-3000

○

synchronous

motor

VF reactive

closed-loop

P04.39

output limit of

0-16000

8000

○

synchronous

motor

Enable/disable IF

mode of

P04.40

0-1

◎

asynchronous

motor 1

IF current setting

P04.41

of asynchronous

0.0-200.0%

120.0%

○

motor 1

IF proportional

coefficient of

P04.42

0-5000

650

○

asynchronous

motor 1

IF integral

coefficient of

P04.43

0-5000

350

○

asynchronous

motor 1

IF mode cut-off

P04.44

frequency

0.00-20.00Hz

10.00Hz

○

threshold of

-149-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

asynchronous

motor 1

Enable/disable IF

mode of

P04.45

0-1

◎

asynchronous

motor 2

IF current setting

P04.46

of asynchronous

0.0-200.0%

120.0%

○

motor 2

IF proportional

coefficient of

P04.47

0-5000

650

○

asynchronous

motor 2

IF integral

coefficient of

P04.48

0-5000

350

○

asynchronous

motor 2

IF mode cut-off

frequency

P04.49

threshold of

0.00-20.00Hz

10.00Hz

○

asynchronous

motor 2

Reserved

P04.50

0-65535

●

variables

Reserved

P04.51

0-65535

●

variables

P05 group Input terminals

0x00-0x11

Ones: HDIA input type

0: HDIA is high-speed pulse input

P05.00

HDI input type

1: HDIA is digital input

◎

Tens: HDIB input type

0: HDIB is high-speed pulse input

1: HDIB is digital input

Function of S1

0: No function

P05.01

◎

terminal

1: Forward running

Function of S2

2: Reverse running

P05.02

◎

terminal

3: 3-Wire control/Sin

-150-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

Function of S3

4: Forward jogging

P05.03

◎

terminal

5: Reverse jogging

Function of S4

6: Coast to stop

P05.04

◎

terminal

7: Fault reset

Function of HDIA

8: Running pause

P05.05

◎

terminal

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 setup

and

setup A

15: Switch-over between combination setup

and

setup B

16: Multi-step speed terminal 1

17: Multi-step speed terminal 2

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

Function of HDIB

P05.06

24: Simple PLC pause

◎

terminal

25: PID control pause

26: Wobbling frequency pause

27: Wobbling frequency reset

28: Counter reset

29: Switch-over between speed control and torque

control

30: Acceleration/deceleration disabled

31: Counter trigger

32: Reserved

33: Clear frequency increase/decrease setting

temporarily

34: DC brake

35: Switch-over between motor 1 and motor 2

36: Command switches to keypad

37: Command switches to terminal

38: Command switches to communication

-151-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

39: Pre-exciting command

40: Zero out power consumption quantity

41: Maintain power consumption quantity

42: Source of upper torque limit switches to keypad

43: Position reference point input (only S6, S7 and

S8 are valid)

44: Spindle orientation disabled

45: Spindle zeroing/local positioning zeroing

46: Spindle zero position selection 1

47: Spindle zero position selection 2

48: Spindle scale division selection 1

49: Spindle scale division selection 2

50: Spindle scale division selection 3

51: Position control and speed control switch-over

terminal

52: Pulse input disabled

53: Clear position deviation cleared

54: Switch over position proportional gain

55: Enable cyclic positioning of digital position

positioning

56: Emergency stop

57: Motor over-temperature fault input

58: Enable rigid tapping

59: Switches to V/F control

60: Switches to FVC control

61: PID polarity switch-over

62: Reserved

63: Enable servo

64: Limit of forward run

65: Limit of reverse run

66: Zero out encoder counting

67: Pulse increase

68: Enable pulse superimposition

69: Pulse decrease

70: Electronic gear selection

71-79: Reserved

Reserved

P05.07

0-65535

●

variables

P05.08

Polarity of input

This function code is used to set the polarity of input

0x000

○

-152-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

terminal

terminals.

When the bit is set to 0, input terminal polarity is

positive;

When the bit is set to 1, input terminal polarity is

negative;

0x000-0x3F

Set S1-S4, filter time of HDI terminal sampling. In

cases where interference is strong, increase the

P05.09

Digital filter time

0.010s

○

value of this parameter to avoid mal-operation.

0.000-1.000s

0x000-0x3F (0: disable, 1: enable)

BIT0: S1 virtual terminal

BIT1: S2 virtual terminal

Virtual terminal

P05.10

BIT2: S3 virtual terminal

0x00

◎

setting

BIT3: S4 virtual terminal

BIT4: HDIA virtual terminal

BIT5: HDIB virtual terminal

This function code is used to set the 2/3 Wire control

mode.

0: 2-Wire control 1; integrate enabling function with

direction. This mode is the most popular dual-line

mode. Direction of motor rotation is determined by

the defined FWD/REV terminal command.

Running

FWD

REV

command

FWD

2/3 Wire control

OFF

Stop

P05.11

◎

mode

Forward

REV

OFF

running

Reverse

OFF

running

COM

Hold

1: 2-Wire control 2; separate enabling function with

direction. In this mode, the defined FWD is enabling

terminal, and the direction is determined by the state

of REV.

-153-

Chapter 6

Function

Default

Modi

Name

Detailed parameter description

code

value

Running

FWD

REV

command

FWD

OFF

Stop

Forward

REV

OFF

running

OFF

Stop

COM

Reverse

running

3-Wire control

1; This mode defines Sin as

enabling terminal, and the running command is

generated by FWD, the direction is controlled by

REV. During running, the Sin terminal should be

closed, and terminal FWD generates a rising edge

signal, then the inverter starts to run in the direction

set by the state of terminal REV; the inverter should

be stopped by disconnecting terminal Sin.

SB1

FWD

SB2

SIn

REV

COM

The direction control during running is shown below.

Current

Sln

REV

running

direction

Forward

Reverse

OFF→ON

Reverse

Forward

Reverse

Forward

ON→OFF

Forward

Reverse

ON→OFF

Decelerate to stop

OFF

Sln:

3-Wire control/Sin, FWD: Forward running,

REV: Reverse running

3-Wire control

2; This mode defines Sin as

enabling terminal. The running command is

generated by FWD or REV, and they control the

-154-

Goodrive350 Series High-performance Multi-function Inver ter. Operation manual - page 4