invt EC-PG Series PG Encoder Interface Card
Litaelo tsa tšebeliso ea karete ea encoder ea PG
Mohlala le litlhaloso
Khoutu ea mohlala
Lethathamo la 1-1 Tlhaloso ea Mohlala
| Letšoao | Tlhaloso | Ho reha example |
| ① | Sehlopha sa lihlahisoa | EC: Karete ea ho atolosa |
| ② | Sehlopha sa karete ea boto | PG: Karete ea P/G |
| ③ | Phetolelo ea theknoloji | Indicates the generation of a technical version by using odd numbers, for example, 1, 3, and 5 indicate the 1st, 2nd, and 3rd generations of the technical version. |
| ④ | Khoutu |
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| ⑤ | Phepelo ea motlakase e sebetsang |
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Litlhaloso tsa tekheniki
Lethathamo la 1-2 Litlhaloso tsa tekheniki
| Mohlala tlhaloso | EC-PG101-05 | EC-PG101-12 | EC-PG101-24 |
| Phepelo ea motlakase e tsoang | Phetolelo e ka fetolehangtage range: 4.75V–7V Default setting: 5V±5%Max. out put current: 300mA | Supports the voltage output of 11.75V– 16V. Default: 12V±5%. Max. output current:350mA | Moqtage output: 24V±5%Max. output current: 300mA |
| Lets'oao la ho kenya | 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 |
| Letshwao la tlhahiso | Output frequency: 0–80kHzOutput type: Differential output, push-pull output, open collector output, and frequency-divided output. Range: 1–256 Output impedance:70Ω |
Output frequency: 0–80kHzOutput type: Differential output, push-pull output, open collector output, and frequency-divided output. Range: 1–256 Output impedance:70Ω |
Output frequency: 0–80kHzOutput type: Differential output, push-pull output, open collector output, and frequency-divided output. Range: 1–256 Output impedance:70Ω |
Installation and dimensions of incremental encoder PG card 
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.
Litaelo tsa tšebeliso ea karete ea encoder ea PG
Mosebetsi
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.
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.
Lethathamo la 1-3 Li-coefficients tsa karohano ea khafetsa
| Decimal | Binary | Khafetsa karohano coefficient |
| 0 | 00000000 | 1 |
| 1 | 00000001 | 2 |
| 2 | 00000010 | 3 |
| … | … | … |
| m | … | m+1 |
| 255 | 11111111 | 256 |
Wiring principles
Litlhokomelo tsa wiring
- A PG card signal cable and a power cable must be routed separately and disallow parallel routing.
- To avoid interference from encoder signals, use a shielded cable for the PG card signal cable.
- 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.
- 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.
- O ka seta bophahamo ba modumotage by adjusting the 12–15V incremental encoder PG card potentiometer (clockwise for voltage eketseha) ho ea ka litlhoko tsa sebele, 'me matla ha aa lokela ho ba a maholo haholo ha a potoloha potentiometer.
Application connection
Input application connection
- Differential output encoder connection
- Open collector output encoder connection
- Push-pull output encoder connection
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.
Output application connection
- PG card frequency-divided differential output connection
- PG card frequency-divided open collector output connection
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. - PG card frequency-divided push-pull output connection
Hlokomela:
- 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.
Litaelo tsa tšebeliso ea karete ea Sin/Cos le UVW encoder PG
Model description and technical parameters
See Table 2-1 for the specifications of Sin/Cos encoder and UVW encoder PG cards.
Lethathamo la 2-1 Litekanyetso tsa tekheniki
| Mohlala tobilengion | EC-PG102-05 | EC-PG103-05 |
| Karohano ea khafetsa coefficient | 1 (Without afrequency-division switch) | 1–256 (With frequency-division switch) |
| Phepelo ea motlakase e tsoang | Phetolelo e ka fetolehangtagboholo: 4.75V–7V Default setting: 5V±5% Max. tlhahiso ea hona joale: 300mA |
Phetolelo e ka fetolehangtagboholo: 4.75V–7V Default setting: 5V±5% Max. tlhahiso ea hona joale: 300mA |
| Letshwao la tlhahiso | 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 |
U ka khetha bophahamo ba modumotage 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.
Installation and dimensions of UVW encoder PG card 
Hlokomela:
- 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 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.
Terminal and switch description
Karete ea PG ea encoder ea UVW e na le sehokelo se le seng sa li-cable le li-terminals tse supileng tsa basebelisi, joalo ka ha ho bonts'itsoe setšoantšong sa 2-3.
Karete ea Sin/Cos encoder PG e na le terminal e le 'ngoe ea mohala oa lets'oao le terminal e le 'ngoe ea mosebelisi, joalo ka ha ho bonts'itsoe ho Setšoantšo sa 2-6.
Setšoantšo sa 2-6 Wiring interface le li-terminals tsa karete ea Sin/Cos PG
OA+, OA-, OB+, and OB- are differential output signal terminals (LVDS differential level), while OA, OB, and COM1 are open collector signal output terminals.
Hlokomela:
- 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.
Lethathamo la 2-2 DB15 tatellano ea tlhophiso ea pontšo ea sebopeho
| Khokahano ea karete ea PG | 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 | Ha ho letho |
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.
Absolute encoder PG card use instructions
Model description and technical parameters
See Table 1-1 for the specifications of absolute encoder PG card (mainly applicable to ECN1313, ECN413 encoders).
Lethathamo la 3-1 Litekanyetso tsa tekheniki
| Mohlalatlhaloso | EC-PG106-05 |
| Karohano ea khafetsa coefficient | 1 (Ntle le phetoho ea frequency-division) |
| Lets'oao la ho kenya | Supports two differential A and B (sine signal, 1Vpp) inputs with the response speed of 0–50kHz; Supports the transmission of absolute position value signal, fault and other information in Endat2.1 protocol. |
| Output powersupply | Default setting: 5V±5% Max. tlhahiso ea hona joale: 300mA |
| Letshwao la tlhahiso | Output form: Two quadrature frequency division differential outputs (LVDS electrical level), and one open collector output Open collector output impedance: 70Ω |
Installation and dimensions of 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.
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 + | Lintlha | CLK+ | CLK- | GND | OA | OB | COM1 | PE |
Setšoantšo sa 3-3 Boema-kepe le liteishene tsa karete ea PG
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.
Ho laela
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.
Tafole ea khoutu ea ts'ebetso e na le:
Kholomo ea 1 "Khoutu ea tšebetso": Khoutu ea sehlopha sa tšebetso le paramethara.
Kholomo 2 "Lebitso": Lebitso le felletseng la paramethara ea ts'ebetso.
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.
Kholomo 4 "Default": Boleng ba pele bo behiloe fekthering.
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.
| Mosebetsi khoutu | Lebitso | Tlhaloso | Ea kamehla | Fetola |
| P00 sehlopha Mesebetsi ea motheo | ||||
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| P00.00 | Mokhoa oa ho laola lebelo |
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2 | ◎ |
| P00.01 | Channel of | 0: Keypad (the indicator is running commands | 1 | ◎ |
| Mosebetsikhoutu | Lebitso | Tlhaloso | Ea kamehla | Fetola |
tima)
|
||||
| P00.02 | Rated speed ofthe lift | 0.100–4.000m/s | 1.500m/s | ◎ |
| P00.03 | Khetho ea taelo ea lebelo |
|
3 | ◎ |
| P00.04 | Max. sekhahla sa tlhahiso | 10.00-600.00Hz | 50.00Hz | ◎ |
| P00.05 | Keypad setspeed | 0m/s–P00.02 (lift ratedspeed) | 1.500m/s | ○ |
| P00.09 | Autotuning parameter parameter |
|
0 | ◎ |
| Mosebetsi khoutu | Lebitso | Tlhaloso | Ea kamehla | Fetola |
| P00.10 | Phetoho ea paramethara ea ts'ebetso |
|
0 | ◎ |
| P2 sehlopha Motor parameters | ||||
| P02.00 | Khetho ea mofuta oa koloi |
|
0 | ◎ |
| P02.01 | Matla a lekantsoeng ka motlakase |
|
Mohlala o ne o itšetlehile | ◎ |
| Mosebetsi khoutu | Lebitso | Tlhaloso | Ea kamehla | Fetola |
| P02.02 | Maqhubu a lekantsoeng ka motlakase | 0.01Hz–P00.04 (Max. output frequency) | 50.00Hz | ◎ |
| P02.03 | lebelo la koloi | 1 ~ 36000rpm | Mohlala o ne o itšetlehile | ◎ |
| P02.04 | Mothapo o lekantsoeng voltage | 0 ~ 1200V | Mohlala o ne o itšetlehile | ◎ |
| P02.05 | Enjene e lekanyelitsoe hona joale | 0.8~6000.0A | Mohlala o ne o itšetlehile | ◎ |
| P02.14 | Bophara ba pulley | 100-2000 limilimithara | 500 limilimithara | ◎ |
| P02.15 | DEC tekanyo | 1~460V | 1.00 | ◎ |
| P03 sehlopha sa taolo ea Vector | ||||
| P03.00 | Speed loop proportional gain1 | 0-200 | 20 | ○ |
| P03.01 | Nako ea bohlokoa ea loop 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 gain2 | 0-200 | 20 | ○ |
| P03.04 | Nako ea bohlokoa ea loop 2 | 0.000-10.000s | 0.200s | ○ |
| P03.05 | High-point frequency for switching | P03.02~P00.04 (Max. maqhubu a tlhahiso) | 10.00Hz | ○ |
| Mosebetsi khoutu | Lebitso | Tlhaloso | Ea kamehla | Fetola |
| P03.06 | Speed loop out put filter | 0–8 (corresponds to 0–2^8*125μs) | 0 | ○ |
| P03.09 | Current-loop proportional coefficient | Hlokomela:
|
1000 | ○ |
| P03.10 | Current-loop integral coefficient I | 1000 | ○ | |
| P20 sehlopha sa Encoder parameters | ||||
| P20.00 | Encoder type encoder pulse count |
|
0 | ◎ |
| P20.01 | Number of pulses generated when the encoder revolves for one circle. Setting range: 0–60000 |
1024 | ◎ | |
| Mosebetsi khoutu | Lebitso | Tlhaloso | Ea kamehla | Fetola |
| P20.02 | Tataiso ea encoder | Ones: AB direction 0: Forward1: Reverse Tens: Reserved Hundreds: CD/UVW pole signal direction0: Forward1: 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 | ○ |
| Mosebetsi khoutu | Lebitso | Tlhaloso | Ea kamehla | Fetola |
| 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 angle ea pele | Indicates the relative electrical angle of encoder position to motor magnetic pole position. Setting range: 0.00–359.99 | 0 | ○ |
Examples
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 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.
Commissioning procedure for closed-loop vector control on SMs|
- Set P0.09=1 to restore to default settings.
- Set P0.00=1 (FVC), set P0.03=3, P0.04, and motor nameplate parameters in group P2.
- Set the encoder parameters P4.00 and P4.01. 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.
- 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. - 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.- 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. - 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%.
- Rotary autotuning (P0.08=1)
- 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 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.
- E-mail: mose ho maoatle@invt.com.cn
- Websebaka: www.invt.com
Lihlahisoa ke tsa Shenzhen INVT Electric Co., Ltd.
Likhamphani tse peli li laetsoe ho etsa: (Bakeng sa khoutu ea sehlahisoa, sheba sebaka sa 2/3 sa S/N setlapeng sa mabitso.)
INVT Power Electronics (Suzhou) Co., Ltd. (khoutu ea tšimoloho: 06)
Aterese: No. 1 Kunlun Mountain Road, Saense & Technology Town, Setereke sa Gaoxin, Suzhou, Jiangsu, Chaena
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LBH
What should I do if the PG card does not power up?
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.
Can I use the PG card with different types of encoders?
Yes, the PG card supports various types of encoders including A, B, and Z signal inputs of differential, open collector, and push-pull encoders.
Litokomane / Lisebelisoa
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invt EC-PG Series PG Encoder Interface Card [pdf] Buka ea Taelo 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 |