EC-PG Series PG Encoder Interface Card
Specifications:
- Model: EC-PG Series PG Card
- Adjustable Voltage: Supports various voltages
(5V, 12-15V, 24V) - Max. Output Current:
- EC-PG101-05: 300mA
- EC-PG101-12: 300mA
- EC-PG101-24: 350mA
- Input Signal: Supports A, B, and Z signal
inputs of differential, open collector, and push-pull encoders - Output Frequency: Up to 100kHz with options
for differential output, push-pull output, and open collector
Product Usage Instructions:
1. Incremental Encoder PG Card Use Instructions
1.1 Model and Specifications
The EC-PG Series PG Card is designed for incremental encoder
applications with various model codes indicating specific
functionalities and power supply options.
1.2 Incremental Encoder PG Card Use Instructions
Follow the provided guidelines in the manual for proper
installation and connection of the incremental encoder PG card to
your system.
1.3 Application Connection
Refer to section 1.3 for detailed instructions on how to connect
the incremental encoder PG card to your application for optimal
performance.
2. Sin/Cos and UVW Encoder PG Card Use Instructions
FAQ:
Q: What should I do if the PG card does not power up?
A: Check the power supply connection and ensure that the correct
voltage is being supplied to the card. Refer to the manual for
detailed troubleshooting steps.
Q: Can I use the PG card with different types of encoders?
A: Yes, the PG card supports various types of encoders including
A, B, and Z signal inputs of differential, open collector, and
push-pull encoders.
EC-PG Series PG Card
Contents
Contents
1 Incremental encoder PG card use instructions ……………………………………………… 1 1.1 Model and specifications……………………………………………………………….. 1 1.2 Incremental encoder PG card use instructions …………………………………. 3 1.3 Application connection ………………………………………………………………….. 6
2 Sin/Cos and UVW encoder PG card use instructions …………………………………….. 9 2.1 Model description and technical parameters ……………………………………. 9 2.2 Installation and dimensions of UVW encoder PG card …………………….. 10 2.3 Terminal and switch description ……………………………………………………. 11
3 Absolute encoder PG card use instructions ………………………………………………… 13 3.1 Model description and technical parameters ………………………………….. 13 3.2 Installation and dimensions of absolute encoder PG card………………… 14 3.3 Terminal interfaces ……………………………………………………………………… 14
4 Commissioning ……………………………………………………………………………………….. 15 4.1 Related function codes (taking GD300L an example) ……………………… 15 4.2 Examples ………………………………………………………………………………….. 21
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EC-PG Series PG Card
Incremental encoder PG card use instructions
1 Incremental encoder PG card use instructions
1.1 Model and specifications
1.1.1 Model code
EC-PG 1 01 – 05
Table 1-1 Model description
Symbol Description
Naming example
Product
EC: Expansion card
category
Board card
PG: P/G card
category
Indicates the generation of a technical version
Technology by using odd numbers, for example, 1, 3, and 5
version indicate the 1st, 2nd, and 3rd generations of the
technical version.
01: Incremental encoder PG card
02: Sin/Cos encoder PG card
03: UVW encoder PG card
Code 04: Resolver PG card
05: Incremental encoder PG interface + pulse
direction reference
06: Absolute encoder PG card interface
00: No power (passive)
Working
05: 5V
power
12: 12-15V
supply
24: 24V
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EC-PG Series PG Card
Incremental encoder PG card use instructions
1.1.2 Technical specifications
Table 1-2 Technical specifications
Model specification
EC-PG101-05
EC-PG101-12
EC-PG101-24
Adjustable voltage Supports the voltage
range: 4.75V7V Output power Default setting:
output of 11.75V 16V. Default:
Voltage output: 24V±5%
supply 5V±5%
12V±5%. Max.
Max. output current:
Max. output
output current:
300mA
current: 300mA 350mA
Supports the A, B, Supports the A, B, Supports the A, B,
and Z signal inputs and Z signal inputs and Z signal inputs
of differential, open of differential, open of differential, open
Input signal collector, and
collector, and
collector, and
push-pull encoders. push-pull encoders. push-pull encoders.
Response speed: Response speed: 0 Response speed: 0
0100kHz
100kHz
100kHz
Output frequency: Output frequency: Output frequency:
080kHz Output type:
080kHz Output type:
080kHz Output type:
Differential output, Differential output, Differential output,
push-pull output, push-pull output, push-pull output,
open collector Output signal
output, and
open collector output, and
open collector output, and
frequency-divided frequency-divided frequency-divided
output.
output.
output.
Range: 1256
Range: 1256
Range: 1256
Output impedance: Output impedance: Output impedance:
70
70
70
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EC-PG Series PG Card
Incremental encoder PG card use instructions
1.1.3 Installation and dimensions of incremental encoder PG card
Corresponds to CN9
Voltage adjustment potentiometer
R64
Figure 1-1 Incremental encoder PG
Figure 1-2 Outline dimensions of
card installation diagram
incremental encoder PG card
Note: When the incremental encoder PG card is used on GD300L machine, the
CN3 lower-row pins of the PG card are valid.
1.2 Incremental encoder PG card use instructions
1.2.1 Function
You must choose a PG card when using PG vector control. The function of the
PG card includes processing two channels of quadrature encoder signals and
supporting the Z signal input for spindle positioning, receiving signals of
differential, open collector, and push-pull encoders. Frequency-divided output
can be performed for the input encoder signals. The output quantity includes two
channels of differential signals. You can choose to output push-pull signals or
open collector signals through jumper J1 or J2 according to your actual use.
1.2.2 Terminal and switch description
The incremental encoder PG card has two 2*4P user wiring terminals. See the
figure.
IA+ IA- IB+ IB-
OA+ OA- OB+ OB-
PWR COM1 IZ+ IZ-
OA OB COM1
Figure 1-3 Wiring terminals of incremental encoder PG card
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EC-PG Series PG Card
Incremental encoder PG card use instructions
PWR and COM1 are for encoder working power output; IA+, IA-, IB+, IB-, IZ+,
and IZ- are encoder signal input terminals; OA+, OA-, OB+, OB- are 5V
differential frequency-divided signal output terminals, while OA, OB, and COM1
are frequency-divided push-pull signal and open collector signal output terminals
(the output signal type is selected by jumper J1 or J2); the PG card does not
connect PE to the earth internally, you can ground it during use.
The frequency division coefficient of the incremental encoder PG card is
determined by the switch on the card. The switch has 8 bits, and the frequency
division coefficient is determined by adding 1 to the binary number that the
switch represents. The place labeled with “1” is the low binary bit, and the one
labeled with “8” is the high binary bit. When the switch is turned to ON, the bit is
valid, indicating “1”; otherwise, the bit indicates “0”. See the following table for
frequency division coefficients.
Table 1-3 Frequency division coefficients
Decimal
Binary
Frequency division coefficient
0
00000000
1
1
00000001
2
2
00000010
3
…
…
…
m
…
m+1
255
11111111
256
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EC-PG Series PG Card
Incremental encoder PG card use instructions
1.2.3 Wiring principles
R
R
3PH input S S
50/60Hz T T
U
V
M
W
PE
Potentio
IA+
meter
IA-
IB+
IB-
Frequency division switch
PWR COM1
OA OB COM1
PG
36000 RPM meter
Figure 1-4 Wiring diagram of incremental encoder PG card
1.2.4 Wiring precautions 1. A PG card signal cable and a power cable must be routed separately and disallow parallel routing. 2. To avoid interference from encoder signals, use a shielded cable for the PG card signal cable. 3. The shield layer of the encoder shield cable should be connected to the earth (such as the PE of VFD), and it must be connected to earth only at one end to avoid signal interference. 4. If the PG card uses frequency-divided output when connecting to an external power supply, the voltage should be less than 24V; otherwise the PG card will be damaged. 5. You can set the output voltage by adjusting the 1215V incremental encoder PG card potentiometer (clockwise for voltage increases) according to actual needs, and the force should not be too great when rotating the potentiometer.
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EC-PG Series PG Card
Incremental encoder PG card use instructions
1.3 Application connection
1.3.1 Input application connection 1. Differential output encoder connection
Differential output
encoder
VCC
0 V A+
A-
Use a shielded cable
B+ B-
PWR COM1 IA +
IA –
IB + IB –
PE
PG card
+5V A
+5V B
Figure 1-5 Wiring diagram of differential output encoder 2. Open collector output encoder connection
Open collector output encoder
VCC 0 V
Use a shielded cable
A
OV B
OV
PWR COM1 IA +
IA –
IB + IB –
PE
PG card
+5V A
+5V B
Figure 1-6 Wiring diagram of open collector output encoder
3. Push-pull output encoder connection
Push-pull output encoder VCC VCC
0 V A
OV VCC
B
OV
Use a shielded cable
PWR COM1 IA +
IA –
IB + IB –
PE
PG card
+5V A
+5V B
Figure 1-7 Wiring diagram of push-pull output encoder 6
EC-PG Series PG Card
Incremental encoder PG card use instructions
Note: When the spindle positioning VFD is supported, the Z signal needs to be connected, of which the wiring method is similar to that for the A and B signals. 1.3.2 Output application connection 1. PG card frequency-divided differential output connection
PW R COM1
IA+ IA-
IB+ IB-
PG card differential output
A
Frequency division circuit
B
OA+ OA-
OB+ OB-
Figure 1-8 Wiring diagram of PG card frequency-divided output 2. PG card frequency-divided open collector output connection
PW R COM1
PG card open collector output
IA+ IA-
IB+ IB-
A
Frequency division circuit
B
OA
OB COM1
Figure 1-9 Wiring diagram of PG card frequency-divided open collector output Note: During open collector output, PWR at J1 and that at J2 are short connected to COA and COB. 3. PG card frequency-divided push-pull output connection
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EC-PG Series PG Card
Incremental encoder PG card use instructions
PW R COM1
IA+ IA-
IB+ IB-
PG card frequency-devided push-pull output
A
Frequency division circuit
B
OA
OB COM1
Figure 1-10 Wiring diagram of PG card frequency-divided push-pull output
Note:
During push-pull output, PWR at J1 and that at J2 are short connected to
HOA and HOB.
Incremental encoder PG cards are mainly used to closed-loop vector
control on asynchronous motors.
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EC-PG Series PG Card
Sin/Cos and UVW encoder PG card use instructions
2 Sin/Cos and UVW encoder PG card use instructions
2.1 Model description and technical parameters
See Table 2-1 for the specifications of Sin/Cos encoder and UVW encoder PG
cards.
Table 2-1 Technical parameters
Model
specificat
EC-PG102-05
EC-PG103-05
ion
Frequency division
coefficient
1 (Without a frequency-division switch)
1256 (With frequency-division switch)
Output power supply
Adjustable voltage range: 4.75V7V Default setting: 5V±5% Max. output current: 300mA
Adjustable voltage range: 4.75V7V Default setting: 5V±5% Max. output current: 300mA
Output signal
Output form: Two quadrature frequency division differential outputs, and one open collector output Open collector output impedance: 70
Output form: Two quadrature differential outputs, and one open collector output Open collector output impedance: 70
You can choose the output voltage according to your actual use. When
transmitting encoder signals over long distances, the output supply voltage can
be adjusted using a potentiometer (the voltage adjustment method is the same
as that for the incremental encoder card) to extend the wiring distance.
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EC-PG Series PG Card
Sin/Cos and UVW encoder PG card use instructions
2.2 Installation and dimensions of UVW encoder PG card
Corresponds to CN9
Voltage adjustment potentiometer
R64
Figure 2-1 Installation diagram of UVW encoder PG card
Figure 2-2 Outline dimensions of UVW encoder PG card
Figure 2-3 Installation diagram of Sin/Cos encoder PG card
Figure 2-4 Outline dimensions of Sin/Cos encoder PG card
Note:
The UVW encoder PG card is installed in the same way and position as
the incremental encoder PG card. It corresponds to a double row of 2 x
10 pins.
The Sin/Cos encoder PG card has the same size and mounting method
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EC-PG Series PG Card
Sin/Cos and UVW encoder PG card use instructions
as the UVW encoder PG card, except that it does not have a DIP switch for frequency division, the DP15 female connector is replaced with terminal wiring, and the potentiometer position is R101.
2.3 Terminal and switch description
The UVW encoder PG card has one signal cable interface and seven user terminals, as shown in figure 2-3.
DB15
Frequency-divided output interface
Figure 2-5 Ports and terminals of the UVW encoder PG card
The Sin/Cos encoder PG card has one signal cable terminal and one user terminal, as shown in Figure 2-6.
A+ A- B+ B- C+ C-
OA+ OA- OB+ OB-
GND PWR R+ R- D+ D-
OA OB COM1
PG card wiring interface
Frequency-divided output interface
Figure 2-6 Wiring interface and terminals of the Sin/Cos PG card
OA+, OA-, OB+, and OB- are differential output signal terminals (LVDS
differential level), while OA, OB, and COM1 are open collector signal output
terminals.
Note:
The PG card does not connect PE to the earth internally, you can ground
it during use.
The Sin/Cos encoder PG card and UVW encoder PG card have the
similar output signal wiring method as the incremental encoder PG card,
but they do not support push-pull output.
The DB15 three-row female interface is the encoder signal input interface. Table
2-2 shows the PG card interface signal arrangement sequence.
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EC-PG Series PG Card
Sin/Cos and UVW encoder PG card use instructions
Table 2-2 DB15 interface signal arrangement sequence
PG card interface
UVW
5
A+
6
A-
8
B+
1
B-
3
Z+
4
Z-
11
U+
10
U-
12
V+
13
V-
9
PWR
7
GND
14
W
15
W-
2
Empty
When applying either of the UVW PG card, you need to insert the DB15 male
connector of the UVW encoder into the DB15 female connector of the PG card.
Setting the frequency division coefficient of a UVW encoder PG card is similar to
that for an incremental encoder PG card. For details about frequency division
coefficients, see Table 1-3.
Note: UVW encoder PG cards can support 5V incremental encoders with
differential signal processing, have the similar wiring method with that for
incremental encoder PG cards, and mainly use wiring ports include the A, B, Z,
PWR, and GND ports on DB15.
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EC-PG Series PG Card
Commissioning
3 Absolute encoder PG card use instructions
3.1 Model description and technical parameters
See Table 1-1 for the specifications of absolute encoder PG card (mainly
applicable to ECN1313, ECN413 encoders).
Table 3-1 Technical parameters
Model specification
EC-PG106-05
Frequency
division
1 (Without a frequency-division switch)
coefficient
Supports two differential A and B (sine signal, 1Vpp)
Input signal
inputs with the response speed of 050kHz; Supports the transmission of absolute position value
signal, fault and other information in Endat2.1 protocol.
Output power Default setting: 5V±5%
supply
Max. output current: 300mA
Output form: Two quadrature frequency division
Output signal
differential outputs (LVDS electrical level), and one open collector output
Open collector output impedance: 70
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EC-PG Series PG Card
Commissioning
3.2 Installation and dimensions of absolute encoder PG card
Corresponds to CN9
52.3 56
60
4
75
Figure 3-1 Installation diagram of absolute
Figure 3-2 Outline dimensions of
encoder PG card
absolute encoder PG card
Note: The absolute encoder PG card is installed in the same way and position as
the Sin/Cos encoder PG card. It corresponds to a double row of 2 x 10 pins.
3.3 Terminal interfaces
The absolute encoder PG card has one signal cable interface and seven user
terminals, as shown in Figure 3-3.
A+ A- B+ B- PWR
OA+ OA- OB+ OB-
DATA+ DATA- CLK+ CLK- GND
OA OB COM1 PE
Figure 3-3 Ports and terminals of PG card
OA+, OA-, OB+, and OB- are differential output (LVDS) signal terminals, while
OA, OB, and COM1 are open collector signal output terminals.
Note: The PG card does not internally connect the PE to the earth, and you need
to connect PE to the earth during use.
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EC-PG Series PG Card
Commissioning
4 Commissioning
4.1 Related function codes (taking GD300L an example)
The function group numbers correspond to the level-1 menus, the function codes
correspond to the level-2 menus, and the function parameters correspond to the
level-3 menus.
The function code table contains:
Column 1 “Function code”: Code of the function group and parameter.
Column 2 “Name”: Full name of the function parameter.
Column 3 “Description”: Detailed description of the function parameter. When the
default parameter restoring operation is performed, the function code
parameters are refreshed and reset to their factory values. However, the actual
detected parameter values or recorded values will not be refreshed.
Column 4 “Default”: Initial value set in factory.
Column 5 “Modify”: Whether the parameter can be modified, and conditions for
the modification.
“” indicates that the value of the parameter can be modified when the VFD is in
stopped or running state. “” indicates that the value of the parameter cannot be modified when the VFD
is in running state.
“” indicates that the value of the parameter is detected and recorded, and
cannot be modified.
Function code
Name
Description
Default Modify
P00 group Basic functions
0: SVC
P00.00
Speed control mode
1: FVC 2: V/F control 3: Closed-loop vector
2
control
P00.01 Channel of 0: Keypad (the indicator is
1
15
EC-PG Series PG Card
Commissioning
Function code
Name
Description
Default Modify
running off)
commands 1: Terminal (the indicator
blinks)
2: Communication (the
indicator is on)
3: CAN (the indicator is on)
Rated speed of
P00.02
0.1004.000m/s
the lift
1.500m/s
0: Keypad
1: AI1
2: AI2
3: Multi-step speed running
4: Remote communication
Speed command 5: AI1 tracking running
P00.03
3
selection 6: CAN
communication-based
setting
7: CAN
communication-based
reference
P00.04
Max. output 10.00~600.00Hz
frequency
50.00Hz
Keypad set 0m/sP00.02 (lift rated
P00.05
1.500m/s
speed
speed)
0: No operation
Motor parameter
P00.09
1: Rotating parameter
0
autotuning
autotuning on empty-load
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EC-PG Series PG Card
Commissioning
Function code
Name
Description
Default Modify
asynchronous motor
2: Static parameter
autotuning on
asynchronous motor
3: Rotating parameter
autotuning on empty-load
synchronous motor
4: Static parameter
autotuning on synchronous
motor
5: Rotating parameter
autotuning on synchronous
motor with load
0: No operation
1: Restore default values
2: Clear fault records
Function
3: Roll back function
P00.10 parameter
0
parameters, reading
restoration
function parameters that
are saved when the LSB of
P07.01 is set to 5.
P2 group Motor parameters
0: Asynchronous motor
P02.00
Motor type (AM) selection 1: Synchronous motor
0
(SM)
P02.01
Motor rated
power
0.1~3000.0kW
Model
depended
17
EC-PG Series PG Card
Function code
P02.02
Name
Motor rated frequency
Description
0.01HzP00.04 (Max. output frequency)
P02.03
Motor rated
speed
1~36000rpm
P02.04
Motor rated 0~1200V
voltage
P02.05
Motor rated 0.8~6000.0A
current
P02.14 Pulley diameter 100~2000mm
P02.15
DEC ratio 1460V
P03 group Vector control
Speed loop
P03.00 proportional gain 0~200
1
Speed loop
P03.01
0.000~10.000s
integral time 1
Low-point
P03.02 frequency for 0.00Hz~P03.05
switching
Speed loop
P03.03 proportional gain 0~200
2
Speed loop
P03.04
0.000~10.000s
integral time 2
P03.05
High-point frequency for
switching
P03.02~P00.04 (Max. output frequency)
18
Commissioning Default Modify
50.00Hz
Model
depended
Model
depended
Model
depended
500mm
1.00
20
0.200s
5.00Hz
20
0.200s
10.00Hz
EC-PG Series PG Card
Commissioning
Function code P03.06 P03.09
P03.10
Name Speed loop output filter Current-loop proportional coefficient P
Current-loop integral
coefficient I
Description
08 (corresponds to 0 2^8*125s)
Note: 1. These two parameters adjust the PI adjustment parameter of the current loop which affects the dynamic response speed and control accuracy directly. Generally, keep the default values.
Default 0
1000
1000
Modify
2. Applicable to SVC mode
0 (P00.00=0) only.
Setting range: 020000
P20 group Encoder parameters
0: Incremental encoder
(AB)
1: ABZUVW encoder
2: Resolver encoder
P20.00 Encoder type 3: Sin/Cos encoder without 0
CD signals
4: Sin/Cos encoder with
CD signals 5: EnDat
Number of pulses
encoder pulse
P20.01
generated when the
1024
count
encoder revolves for one
19
EC-PG Series PG Card
Function code
Name
Description
circle.
Setting range: 060000
Ones: AB direction
0: Forward
1: Reverse
Tens: Reserved P20.02 Encoder direction
Hundreds: CD/UVW pole
signal direction
0: Forward
1: Reverse
Detection time of Indicates the detection
P20.03
encoder time of encoder disconnection disconnection fault
fault
Setting range: 0.010.0s
P20.04
Indicates the detection Detection time of
time of encoder reversal encoder reversal
fault. fault
Setting range: 0.0100.0s
Setting range: 0x000
0x999
Ones: Low-speed filter
Filter times of times, corresponding to
P20.05
encoder 2^(09)×125s
detection Tens: High-speed filter
times, corresponding to
2^(09)×125s. Hundreds: Subdivision
Commissioning Default Modify
0x000
1.0s
0.8s
0x133
20
EC-PG Series PG Card
Commissioning
Function code
Name
Description
Default Modify
speed filter times,
corresponding to 2^(0 9)×125s.
Indicates the relative
electrical angle of encoder
Initial angle of Z
P20.09
Z pulse to motor magnetic
0
pulse
pole position.
Setting range: 0.00359.99
Indicates the relative
electrical angle of encoder
P20.10 Pole initial angle position to motor magnetic
0
pole position.
Setting range: 0.00359.99
4.2 Examples
1. Commissioning procedure for closed-loop vector control on AMs (1) Set P0.09=1 to restore to default settings. (2) Set P0.03, P0.04 and motor nameplate parameters in group P02. (3) Verify whether the encoder is installed and set properly. Slowly rotate the motor or manually oscillate the motor. If the encoder is a resolver, the value of Pb.02 or Pb.04 should increase or decrease uniformly within the range of 0 to 359.9, indicating correct encoder wiring. 2. Commissioning procedure for closed-loop vector control on SMs (1) Set P0.09=1 to restore to default settings. (2) Set P0.00=1 (FVC), set P0.03=3, P0.04, and motor nameplate parameters in group P2. (3) Set the encoder parameters P4.00 and P4.01.
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EC-PG Series PG Card
Commissioning
When the encoder is a resolver-type encoder, set the encoder pulse count value to (resolver pole pair count x 1024). For example, if the pole pair count is 4, set P4.01 to 4096. (4) Verify whether the encoder is installed and set properly. Slowly rotate the motor. If the encoder is a resolver, the value of Pb.02 or Pb.04 should increase or decrease uniformly within the range of 0 to 359.9, indicating correct encoder wiring. (5) Autotune the initial position of magnetic pole. Set P0.08 to 1 (rotary autotuning) or 2 (static autotuning), and press the RUN key to run the VFD. a) Rotary autotuning (P0.08=1)
Detect the present magnetic pole position when autotuning starts, and then accelerate to XX Hz (depending on the set speed), and then decelerate to stop. During autotuning process, if a PCE fault occurs, indicating an encoder disconnection or reversed encoder wiring, repeat step (4). If no issues are found, set P4.02 = 1 (opposite to the initial value) and restart autotuning. b) Static autotuning The autotuning process only detects the present pole position without rotating the motor. The magnetic pole position obtained from autotuning is saved to P4.03 automatically. When using static autotuning, it is recommended to perform the process multiple times. If the identified pole angle varies by more than 30° between attempts, check whether Pb.03 (SM static identification current) is close to 100%. If not, adjust P4.10 (static identification current) and repeat the static autotuning process until Pb.03 is close to 100%. (6) Perform closed-loop vector pilot-run. If current oscillation (noise) occurs, properly adjust the current loop parameters P3.08 and P03.09 (different encoder and motor types require
22
EC-PG Series PG Card
Commissioning
appropriate PI parameters. It is recommended to start with smaller values and gradually increase them until the current oscillation and noise disappear). If speed oscillation occurs, properly adjust the speed loop parameters P3.00 and P3.04. Similarly, start with smaller values and increase gradually until the speed becomes stable. If current oscillation noise occurs during low speed running, adjust P3.02. Note: You must re-determine P4.02 (encoder direction) and perform magnetic pole position autotuning again if the motor or encoder wires are swapped.
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66001- 01546
Documents / Resources
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invt EC-PG Series PG Encoder Interface Card [pdf] Instruction Manual 01, 02, 03, 04, 05, 06, EC-PG Series PG Encoder Interface Card, EC-PG Series, PG Encoder Interface Card, Encoder Interface Card, Interface Card |