INVT EC-PG Series PG Card Operation Manual
Model: EC-PG Series
Introduction
This manual provides detailed instructions for the operation, installation, and commissioning of INVT EC-PG Series PG Cards.
1. Incremental Encoder PG Card Use Instructions
1.1 Model and Specifications
1.1.1 Model Code
The model code follows the format: EC-PG [Type] [Code] - [Power Supply]
| Symbol | Description | Naming Example |
|---|---|---|
| 1 | Product category | EC: Expansion card |
| 2 | Board card category | PG: P/G card |
| 3 | Technology version | Indicates the generation of a technical version by using odd numbers (e.g., 1, 3, 5 for 1st, 2nd, 3rd generations). |
| 4 | Code | 01: Incremental encoder PG card 02: Sin/Cos encoder PG card 03: UVW encoder PG card 04: Resolver PG card 05: Incremental encoder PG interface + pulse direction reference 06: Absolute encoder PG card interface |
| 5 | Working power supply | 00: No power (passive) 05: 5V 12: 12-15V 24: 24V |
1.1.2 Technical Specifications
| Model specification | EC-PG101-05 | EC-PG101-12 | EC-PG101-24 |
|---|---|---|---|
| Output power supply | Adjustable voltage range: 4.75V-7V Default setting: 5V±5% Max. output current: 300mA | Supports the voltage output of 11.75V-16V. Default: 12V±5%. Max. output current: 350mA | Voltage output: 24V±5% Max. output current: 300mA |
| Input signal | Supports the A, B, and Z signal inputs of differential, open collector, and push-pull encoders. Response speed: 0-100kHz | Supports the A, B, and Z signal inputs of differential, open collector, and push-pull encoders. Response speed: 0-100kHz | Supports the A, B, and Z signal inputs of differential, open collector, and push-pull encoders. Response speed: 0-100kHz |
| Output signal | Output frequency: 0-80kHz Output type: Differential output, push-pull output, open collector output, and frequency-divided output. Range: 1-256 Output impedance: 70Ω | Output frequency: 0-80kHz Output type: Differential output, push-pull output, open collector output, and frequency-divided output. Range: 1-256 Output impedance: 70Ω | Output frequency: 0-80kHz Output type: Differential output, push-pull output, open collector output, and frequency-divided output. Range: 1-256 Output impedance: 70Ω |
1.1.3 Installation and Dimensions
Installation Diagram: Figure 1-1 shows the incremental encoder PG card installation diagram. It corresponds to CN9.
Outline Dimensions: Figure 1-2 shows the outline dimensions of the incremental encoder PG card, with dimensions 75mm x 56mm, and a width of 64mm for the connector area. A voltage adjustment potentiometer is indicated.
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
The PG card is essential for PG vector control. It processes two channels of quadrature encoder signals, supports Z signal input for spindle positioning, and receives signals from differential, open collector, and push-pull encoders. It offers frequency-divided output and can output push-pull or open collector signals via jumpers J1 or J2.
1.2.2 Terminal and Switch Description
The incremental encoder PG card features two 2*4P user wiring terminals. The terminals are labeled:
- Input: IA+, IA-, IB+, IB-, IZ+, IZ-
- Output: OA+, OA-, OB+, OB-
- Power/Common: PWR, COM1
PWR and COM1 provide encoder working power. IA+, IA-, IB+, IB-, IZ+, and IZ- are for encoder signal input. OA+, OA-, OB+, OB- are 5V differential frequency-divided signal outputs. OA, OB, and COM1 are for frequency-divided push-pull and open collector signal outputs, selectable by jumpers J1 or J2. The PG card is not internally connected to PE (protective earth); grounding during use is recommended.
The frequency division coefficient is set by an 8-bit switch on the card. The coefficient is calculated as (binary value of switch) + 1. A switch position labeled "1" is the low binary bit, and "8" is the high binary bit. When a switch is ON, its bit is valid (1); otherwise, it's 0.
| Decimal | Binary | Frequency division coefficient |
|---|---|---|
| 0 | 00000000 | 1 |
| 1 | 00000001 | 2 |
| 2 | 00000010 | 3 |
| ... | ... | ... |
| m | ... | m+1 |
| 255 | 11111111 | 256 |
1.2.3 Wiring Principles
Wiring Diagram: Figure 1-4 illustrates the wiring principles for a 3-phase input (R, S, T) connected to a motor (M) with a PG card. The diagram shows connections for the motor phases (U, V, W), PE, encoder signals (IA+, IA-, IB+, IB-), power (PWR, COM1), and output signals (OA, OB, COM1) to a 36000 RPM meter. A potentiometer for voltage adjustment and a frequency division switch are also depicted.
1.2.4 Wiring Precautions
- Route PG card signal cables and power cables separately to avoid parallel routing.
- Use shielded cables for PG card signal cables to prevent interference.
- Connect the shield layer of the encoder shield cable to earth (e.g., VFD's PE) at only one end to avoid signal interference.
- If using frequency-divided output with an external power supply, ensure the voltage is less than 24V to prevent PG card damage.
- Adjust the 12-15V incremental encoder PG card potentiometer clockwise to increase voltage. Apply moderate force when rotating.
1.3 Application Connection
1.3.1 Input Application Connection
1. Differential Output Encoder Connection: Figure 1-5 shows the wiring for a differential output encoder. Connections are made from the encoder's VCC, 0V, A+, A-, B+, B- to the PG card's PWR, COM1, IA+, IA-, IB+, IB- respectively, using a shielded cable. The diagram also shows the PG card's +5V outputs and PE connection.
2. Open Collector Output Encoder Connection: Figure 1-6 illustrates the wiring for an open collector output encoder. Connections are similar to differential output, using VCC, 0V, A, B from the encoder to the PG card's PWR, COM1, IA+, IA-, IB+, IB-.
3. Push-Pull Output Encoder Connection: Figure 1-7 depicts the wiring for a push-pull output encoder. Connections are made from the encoder's VCC, 0V, A, B to the PG card's PWR, COM1, IA+, IA-, IB+, IB-.
1.3.2 Output Application Connection
1. PG Card Frequency-Divided Differential Output Connection: Figure 1-8 shows the differential output connection from the PG card. Signals IA+, IA-, IB+, IB- are fed into a frequency division circuit, which outputs OA+, OA-, OB+, OB-.
2. PG Card Frequency-Divided Open Collector Output Connection: Figure 1-9 illustrates the open collector output. Signals IA+, IA-, IB+, IB- go through the frequency division circuit, outputting OA, OB, COM1. Note: During open collector output, PWR at J1 and J2 are shorted to COA and COB.
3. PG Card Frequency-Divided Push-Pull Output Connection: Figure 1-10 shows the push-pull output. Signals IA+, IA-, IB+, IB- are processed by the frequency division circuit, outputting OA, OB, COM1. Note: During push-pull output, PWR at J1 and J2 are shorted to HOA and HOB.
Note: Incremental encoder PG cards are primarily used for closed-loop vector control on asynchronous motors.
2. Sin/Cos and UVW Encoder PG Card Use Instructions
2.1 Model Description and Technical Parameters
See Table 2-1 for specifications of Sin/Cos and UVW encoder PG cards.
| Model specification | EC-PG102-05 | EC-PG103-05 |
|---|---|---|
| Frequency division coefficient | 1 (Without a frequency-division switch) | 1–256 (With frequency-division switch) |
| Output power supply | Adjustable voltage range: 4.75V-7V Default setting: 5V±5% Max. output current: 300mA | Adjustable voltage range: 4.75V-7V 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: 70Ω | Output form: Two quadrature differential outputs, and one open collector output Open collector output impedance: 70Ω |
Output voltage can be adjusted via a potentiometer for long-distance signal transmission, similar to the incremental encoder card.
2.2 Installation and Dimensions
UVW Encoder PG Card:
Installation Diagram: Figure 2-1 shows the installation diagram for the UVW encoder PG card, corresponding to CN9. It includes a voltage adjustment potentiometer.
Outline Dimensions: Figure 2-2 shows the outline dimensions, with dimensions 75mm x 56mm.
Sin/Cos Encoder PG Card:
Installation Diagram: Figure 2-3 shows the installation diagram for the Sin/Cos encoder PG card.
Outline Dimensions: Figure 2-4 shows the outline dimensions.
Note: The UVW encoder PG card installs similarly to the incremental encoder PG card, using a 2x10 pin connector. The Sin/Cos encoder PG card shares the same size and mounting method but lacks a DIP switch for frequency division; it uses a DP15 connector and potentiometer R101.
2.3 Terminal and Switch Description
UVW Encoder PG Card: Features one signal cable interface and seven user terminals (Figure 2-5). The DB15 interface is for frequency-divided output.
Sin/Cos Encoder PG Card: Features one signal cable terminal and one user terminal (Figure 2-6). The PG card wiring interface includes terminals A+, A-, B+, B-, C+, C-, PWR, R+, R-, D+, D-, GND. The frequency-divided output interface includes OA+, OA-, OB+, OB-, OA, OB, COM1.
OA+, OA-, OB+, OB- are differential output signal terminals (LVDS level). OA, OB, and COM1 are open collector signal output terminals.
Note: The PG card does not internally connect to PE; grounding during use is recommended. Sin/Cos and UVW encoder PG cards have similar wiring to incremental cards but do not support push-pull output. The DB15 interface is for encoder signal input.
| 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 using the UVW PG card, insert the UVW encoder's DB15 male connector into the PG card's DB15 female connector. Frequency division coefficient setting is similar to incremental encoder PG cards (refer to Table 1-3). UVW encoder PG cards support 5V incremental encoders with differential signal processing and use A, B, Z, PWR, and GND ports on DB15.
3. Absolute Encoder PG Card Use Instructions
3.1 Model Description and Technical Parameters
See Table 1-1 for specifications of absolute encoder PG cards (mainly applicable to ECN1313, ECN413 encoders).
| Model specification | EC-PG106-05 |
|---|---|
| Frequency division coefficient | 1 (Without a frequency-division switch) |
| Input signal | Supports two differential A and B (sine signal, 1Vpp) inputs with response speed of 0–50kHz; Supports transmission of absolute position value signal, fault, and other information in Endat2.1 protocol. |
| Output power supply | Default setting: 5V±5% Max. output current: 300mA |
| Output signal | Output form: Two quadrature frequency division differential outputs (LVDS electrical level), and one open collector output. Open collector output impedance: 70Ω |
3.2 Installation and Dimensions
Installation Diagram: Figure 3-1 shows the installation diagram for the absolute encoder PG card, corresponding to CN9. It includes a voltage adjustment potentiometer.
Outline Dimensions: Figure 3-2 shows the outline dimensions, with dimensions 75mm x 56mm.
Note: The absolute encoder PG card installs similarly to the Sin/Cos encoder PG card, using a 2x10 pin connector.
3.3 Terminal Interfaces
The absolute encoder PG card has one signal cable interface and seven user terminals (Figure 3-3). The terminals include:
- Input: A+, A-, B+, B-, DATA+, DATA-, CLK+, CLK-
- Power/Common: PWR, GND
- Output: OA+, OA-, OB+, OB-, OA, OB, COM1, PE
OA+, OA-, OB+, OB- are differential output (LVDS) signal terminals. OA, OB, and COM1 are open collector signal output terminals.
Note: The PG card does not internally connect PE to the earth; connect PE to the earth during use.
4. Commissioning
4.1 Related Function Codes (taking GD300L an example)
Function group numbers correspond to level-1 menus, function codes to level-2, and function parameters to level-3.
The function code table columns are:
- Function code: Code of the function group and parameter.
- Name: Full name of the function parameter.
- Description: Detailed description. Default parameter restoring refreshes parameters to factory values but not actual detected/recorded values.
- Default: Initial factory value.
- Modify: Indicates if the parameter can be modified and under what conditions. 'O' means modifiable in stopped or running state. '●' means modifiable only in running state. '■' means detected/recorded and not modifiable.
P00 group Basic functions
| Function code | Name | Description | Default | Modify |
|---|---|---|---|---|
| P00.00 | Speed control mode | 0: SVC 1: FVC 2: V/F control 3: Closed-loop vector control | 2 | ● |
| P00.01 | Channel of running commands | 0: Keypad (indicator off) 1: Terminal (indicator blinks) 2: Communication (indicator on) 3: CAN (indicator on) | 1 | ● |
| P00.02 | Rated speed of the lift | 0.100–4.000m/s | 1.500m/s | ● |
| P00.03 | Speed command selection | 0: Keypad 1: AI1 2: AI2 3: Multi-step speed running 4: Remote communication 5: AI1 tracking running 6: CAN communication-based setting 7: CAN communication-based reference | 3 | ● |
| P00.04 | Max. output frequency | 10.00–600.00Hz | 50.00Hz | ● |
| P00.05 | Keypad set speed | 0m/s–P00.02 (lift rated speed) | 1.500m/s | ○ |
| P00.09 | Motor parameter autotuning | 0: No operation 1: Rotating parameter autotuning on empty-load 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 | ● |
| P00.10 | Function parameter restoration | 0: No operation 1: Restore default values 2: Clear fault records 3: Roll back function parameters, reading function parameters that are saved when the LSB of P07.01 is set to 5. | 0 | ● |
P2 group Motor parameters
| Function code | Name | Description | Default | Modify |
|---|---|---|---|---|
| P02.00 | Motor type selection | 0: Asynchronous motor (AM) 1: Synchronous motor (SM) | 0 | ● |
| P02.01 | Motor rated power | 0.1–3000.0kW | Model depended | ● |
| P02.02 | Motor rated frequency | 0.01Hz–P00.04 (Max. output frequency) | 50.00Hz | ● |
| P02.03 | Motor rated speed | 1–36000rpm | Model depended | ● |
| P02.04 | Motor rated voltage | 0–1200V | Model depended | ● |
| P02.05 | Motor rated current | 0.8–6000.0A | Model depended | ● |
| P02.14 | Pulley diameter | 100–2000mm | 500mm | ● |
| P02.15 | DEC ratio | 1–460V | 1.00 | ● |
P03 group Vector control
| Function code | Name | Description | Default | Modify |
|---|---|---|---|---|
| P03.00 | Speed loop proportional gain 1 | 0–200 | 20 | ● |
| P03.01 | Speed loop integral time 1 | 0.000–10.000s | 0.200s | ● |
| P03.02 | Low-point frequency for switching | 0.00Hz–P03.05 | 5.00Hz | ● |
| P03.03 | Speed loop proportional gain 2 | 0–200 | 20 | ● |
| P03.04 | Speed loop integral time 2 | 0.000–10.000s | 0.200s | ● |
| P03.05 | High-point frequency for switching | P03.02–P00.04 (Max. output frequency) | 10.00Hz | ● |
| P03.06 | Speed loop output filter | 0–8 (corresponds to 0–2^8*125μs) | 0 | ● |
| P03.09 | Current-loop proportional coefficient P | Note: 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. | 1000 | ● |
| P03.10 | Current-loop integral coefficient I | Note: 2. Applicable to SVC mode (P00.00=0) only. Setting range: 0–20000 | 1000 | ● |
P20 group Encoder parameters
| Function code | Name | Description | Default | Modify |
|---|---|---|---|---|
| P20.00 | Encoder type | 0: Incremental encoder (AB) 1: ABZUVW encoder 2: Resolver encoder 3: Sin/Cos encoder without CD signals 4: Sin/Cos encoder with CD signals 5: EnDat | 0 | ● |
| P20.01 | Encoder pulse count | Number of pulses generated when the encoder revolves for one circle. Setting range: 0–60000 | 1024 | ● |
| P20.02 | Encoder direction | Ones: AB direction (0: Forward, 1: Reverse) Tens: Reserved Hundreds: CD/UVW pole signal direction (0: Forward, 1: Reverse) | 0x000 | ● |
| P20.03 | Detection time of encoder disconnection fault | Indicates the detection time of encoder disconnection fault. Setting range: 0.0–10.0s | 1.0s | ● |
| P20.04 | Detection time of encoder reversal fault | Indicates the detection time of encoder reversal fault. Setting range: 0.0–100.0s | 0.8s | ● |
| P20.05 | Filter times of encoder detection | Setting range: 0x000–0x999 Ones: Low-speed filter times, corresponding to 2^(0-9)×125μs Tens: High-speed filter times, corresponding to 2^(0-9)×125μs. Hundreds: Subdivision speed filter times, corresponding to 2^(0-9)×125μs. | 0x133 | ● |
| P20.09 | Initial angle of Z pulse | Indicates the relative electrical angle of encoder Z pulse to motor magnetic pole position. Setting range: 0.00–359.99 | 0 | ● |
| P20.10 | Pole initial angle | Indicates the relative electrical angle of encoder position to motor magnetic pole position. Setting range: 0.00–359.99 | 0 | ● |
4.2 Examples
1. Commissioning procedure for closed-loop vector control on AMs
- Set P0.09=1 to restore to default settings.
- Set P0.03, P0.04, and motor nameplate parameters in group P02.
- Verify encoder installation and settings. Slowly rotate or oscillate the motor. If it's a resolver, Pb.02 or Pb.04 should change uniformly between 0 and 359.9, indicating correct wiring.
2. Commissioning procedure for closed-loop vector control on SMs
- Set P0.09=1 to restore to default settings.
- Set P0.00=1 (FVC), P0.03=3, P0.04, and motor nameplate parameters in group P2.
- Set encoder parameters P4.00 and P4.01. For resolver-type encoders, set pulse count to (resolver pole pair count x 1024); e.g., for 4 pole pairs, set P4.01 to 4096.
- Verify encoder installation and settings. Slowly rotate the motor. If it's a resolver, Pb.02 or Pb.04 should change uniformly between 0 and 359.9, indicating correct wiring.
- Autotune initial position of magnetic pole: Set P0.08 to 1 (rotary autotuning) or 2 (static autotuning), then press RUN.
- Rotary autotuning (P0.08=1): Detects magnetic pole position, accelerates to set speed, then decelerates to stop. If a PCE fault occurs (encoder disconnection/wiring error), repeat step (4). If no issues, set P4.02 = 1 and restart autotuning.
- Static autotuning: Detects pole position without rotating the motor. The result is saved to P4.03. Perform multiple times. If the identified pole angle varies by >30°, check Pb.03 (SM static identification current). If not near 100%, adjust P4.10 and repeat static autotuning until Pb.03 is close to 100%.
- Perform closed-loop vector pilot-run:
- If current oscillation (noise) occurs, adjust current loop parameters P3.08 and P03.09. Start with smaller values and increase gradually until noise disappears.
- If speed oscillation occurs, adjust speed loop parameters P3.00 and P3.04 similarly.
- If current oscillation noise occurs at low speed, adjust P3.02.
