HSD2000 Series Servo Drive. Operation Manual V1.2

Chapter VI Function Code Details

For position instruction given channel of HSD2000 position control mode, refer to refer to P09 group function code detailed description of

function code detailed introduction in chapter VI.

5.3The First Power up

5.3.1Checking before Power up

The connection connection shall be implemented as technical requirements in Chapter IV Servo Drive Connection and EMC

Installation Instructions of chapter IV.

5.3.2The First Power Up Operation

When wiring and power supply is correct, close air switch of AC power supply in servo drive input side; charge to servo drive; “8.8.8.8.8.”

will be displayed on servo drive operation panel; the contactor will be picked closely. When digital tube display symbol is setting

frequency, the initialization of servo drive will be finished.

When LED indicator on digital tube of operation panel is ON state, the operation panel is in control state.

The first power up process is shown as figure below:

Start

Connection according to the

requirements

Check the connections

Check the input voltage

Power up

Display 8.8.8.8.8?

Hear the contactor

closed?

Display set frequency?

Power up ok

Power up failed

Disconnect the

input air switch

Check the circuit

Figure 5-9: servo drive power up

Chapter VI Function Code Details

5.4Pilot running

5.4.1 Sensorless Vector Pilot Running

1．Inspect drive input and output connections. Power up shall be implemented after without error.

2．Enter P03 group to input motor parameter correctly. Set P03.11=2 (remove load) to tune the motor parameters.

3．Set P02.00 as no PG vector control.

4．Running

5.4.2Closed-loop Vector Pilot Running

1． Inspect drive input and output connections. Power up after without error.

2． Enter P03 group to input motor parameter correctly. Set P03.11=2 (remove load) to tune the motor parameters.

3．Set encoder signal feedback source correctly, when expansion PG card is selected as signal feedback, then set P07.00=1. When

select local terminal as signal feedback, then set P07.00=0. The P12 group parameter shall be set as selected signal feedback.

4．The control mode set as V/F control mode of P02.00=2. The operation frequency set as P02.04=10.00Hz.

5．Run the motor and observe P01.13 values. When the value closes to 10Hz, it shows that encoder parameter is correct. When the

value is negative, it shows direction error of encoder. Exchange any two of the three phase motor wires. When the frequency is 0, it

represents that encoder is not connected correctly. Encoder shall use shielding layer and connect to control terminal PE of servo drive.

When the frequency is not correct, it represents that the encoder wires or motor rated speed setting error. The related function code shall be

changed.

6．The control mode set as closed-loop vector of P02.00=1(induction motor close loop vector control).

7．Set the frequency from 0 to rated frequency. The motor stable and vibration shall be noted, especially around 0. When vibration

occurs around 0 frequencies, the encoder low speed wave filter parameter P12.03/P12.14 and speed loop PI parameter P07 group shall

be adjusted. It shall be finished until stable operation without vibration in the entire frequency range.

5.4.3Torque Control Pilot Running

1．Do the step 5.4.1(open-loop mode) or 5.4.2(closed-loop mode) to ensure drive normal.

2．The control mode set as torque control P08.00=1.

3．Set torque instruction given of P11.01=8. AI1 is channel of torque instruction.

4．Set speed limit mode, P07.08=1.

5．Set speed limit channel, P07.09=1。

6．Set speed limit instruction, P11.06=4, AI2 is speed limit channel.

7．Applicable set speed/torque switching point P08.04.

5.4.4Servo Control Pilot Running(X7 and X8 terminal pulse serial control as example)

1．The 5.4.2 methods may be used to ensure drive PG closed-loop vector control for normal operation.

2．Set servo function P09.00＝3.

3．Set position given source P09.03＝0; set X7 and X8 terminal function as P10.06＝71, P10.07＝72; The position given is entered

by terminalX7 and X8input. The X7 represents direction, X8 represents pulse serial. X7 shall be forward when no conducting. X7 shall be

reverse when conducting. The reverse may be taken reverse of X7 by P10.16.

4．Set P10.11 (each pulse number of X8). The follow rotational speed shall be obtained by X8 pulse frequency. The rotational speed

value is not related with electronic gear function (P09.10, P09.11).

5．Set P09.10 and P09.11 (electronic gear numerator, denominator). When motor follows pulse serial, relationship between encoder

feedback number and pulse serial number shall be electronic gear ratio relationship.

Chapter VI Function Code Details

6．Example: the motor shall be 4 degree motor. The encoder shall be 1024-coil. When pulse serial is 100k, the rotational speed of

Corresponding motor is required to be 1500rpm. P10.11＝100k*60/1500＝4000 shall be set; electronic gear ratio＝ (1024*1500/60)

/100K＝256/1000, P09.10＝256 may be set; P09.11＝1000.

7．Adjust speed loop PI parameter and position loop P parameter P09.26 (position loop Kp1), P09.27 (position loop Kp2), P09.28

(position loop increment switch mode). The pulse serial track process shall be fast without overload. The P09.08 may be set as

requirements (pulse instruction wave filter time). The pulse tracking error shall be monitored by function code P01.47 at real time.

8．Before debugging, the P09.34＝0 ( position loop output range) may be set. It is speed tracing mode at this time. The speed shall be

observed for normal. Then the position loop shall be added to monitor position. The P09.33 (Velocity feed forward gain) shall be set as

100.00％. The parameter value shall be not changed.

5.4.5Spindle Positioning Pilot Running

1．According to 5.4.2 method, the drive PG closed-loop vector control shall be ensured for normal.

2．The servo operation mode shall be spindle operation, P09.01=2.

3． Set the X1～X5 terminal function as 84, 77, 78, 79, 37. X1 shall be zero origin. X2 shall be spindle position start. X3 and X4

shall be position selection terminal. X5 shall be prohibited running terminal of servo drive.

4．Set unit digital value of positioning mode P09.02. The electric spindle shall equip encoder Z pulse as reference point. The

non-electric spindle shall equip close switch. The closing switch shall be used to refer zero point. During operation, the spindle will

search reference point automatically. The function code setting is not necessary.

5．When using the X1or X3, X4, the motor will stop after an angle of rotation. The zero position shall be observed for consist. The

degree shall be correct.

6．Adjust speed loop PI parameter and position loop P parameter P09.26 (zero servo locking position loop KP), P09.27 (position

process position loop KP). The position process shall be fast without overshoot.

5.4.6Synchronous Motor Pilot Running(Increment ABZUVW Encoder as Example)

1．Inspect drive input and output wiring; inspect PG card wiring. Power shall be implemented after no error.

2． The control mode shall be set as PG closed-loop vector; P02.00＝11.

3．Set PG parameter correctly; PG feedback resource P07.00;

4．The motor parameter P03 group shall be set correctly. The tuning P03.23 of motor shall be implemented.

5．When tuning the motor, send the DC first, turn the motor to certain position and low speed rotation. When current is smaller with

stable operation, it represents that encoder setting correct with success tuning. When report E025 in tuning process, it represents

encoder wiring problem. The encoder shall be connected again. After tuning, the function code P03.25, P03.26 will save initial angular

of synchronous machine obtained by tuning. When the initial angle difference is smaller than 5

(65536 represents 360°), it represents

the tuning in normal.

6． When the tuning is abnormal without E025 fault, P12.16，P12.19，P12.21 shall be observed to determine for encoder signal

problems. Encoder shall be checked to solve problem. When rotate the motor shaft, when P12.19 count value increases, the P12.16

displays the magnetic signal status order of 5, 1, 3, 2, 6, 4. When the count value reduces, the order of magnetic signal shall be reverse.

When 0 or 7 be happened in P12.16, magnetic signal UVW wiring of encoder shall be not correct. After one round rotation, Z pulse

count value of P12.21 shall be not 0. Otherwise the Z signal has problems.

7． Set the frequency from 0 to rated frequency. The motor stable and vibration shall be noted, especially around 0. When vibration

occurs around 0, the encoder low speed wave filter parameter P12.03/P12.14 and speed loop PI parameter P07 group shall be set.

8． During operation, the encoder Z pulse count value P12.21 shall be observed. When the value jumps higher, it shows disturb of

encoder. The encoder wiring shall be checked.

Note

When P12.08 value is 1, when rotate the motor shaft, if the P12.19 count value reduces, the P12.16 display magnetic signal status

order shall be 5, 1, 3, 2, 6, 4. When the count increases, the magnetic signal order shall be reverse.

Chapter VI Function Code Details

When the user password function is needed: first input four digits

as user password; press DATA/ENTER key to ensure; password

Chapter VI Function Code Details

will take effects automatically when without key operation in 5

minutes.

Password modifying:

6.1 Function Code Description

Press MENU/ESC key to enter password verification status. After

input original four digits password to enter parameter editing

In the section:

status, the P00.02 (at this time P00.02＝00000) shall be selected.

PXX.XX YYYYYYY

N1~N2 [D]

Input new password; enter DATA/ENTER key to ensure. New

password will take effects automatically when without key

operation in 5 minutes.

Function

Function code

code

name

range

Note

Function code

default

Please save setting user password carefully.

Function code

P00.03 Parameter protection setting

0～2【0】

number

name

range

default value

The setting of function code determines protective degree of servo

drive parameter which includes:

0: All the data may be allowed to modify.

6.1.1System management (P00 group)

1: Modify is not allowed except main setting frequency digital

P00.00 Menu mode option

0～4【2】

setting P02.04 and the function code.

0: Shortcut menu mode

2: All the data shall be not allowed to modify except the function

code.

The parameter related with quick operation servo drive shall be

displayed. The servo drive shall be started quickly by modify

When finish modifying parameter, when protect the parameters,

parameter under menu mode.

the function code shall be set as desired protection degree.

1: Basic menu mode

Note

Only the parameters related with basic operation shall be

P00.03 function code may be displayed at all menu modes.

displayed. It doesn’t include basic applicable functions of

enhanced control parameter, expansion card parameter and

P00.04 parameter initialization

0～4【0】

customization features parameter.

0: Parameter modifying status

2: Advanced menu mode

When the function code saves into parameter 0, all the parameters

Display all the parameters

shall be modified.

3: User menu mode

1: Clear fault memory information

Only 32 parameters prepared in P98 group of users shall be

When the function code saves into parameter 1, zero clearing

displayed.

operation shall be implemented to fault record (P20.21～P20.35).

4: Proof menu mode

2: Reset factory setting value

Only parameters different with factory setting value shall be

When save the function code into parameter 2, all the function

displayed.

code parameters shall reset factory parameters except: user

password (P00.02); servo drive status display parameters (P01

P00.01 LCD display language option

0～4【0】

group); motor 1 parameter (P03 group); motor 2 parameter (P04

0: Chinese

group); P20.21~P20.35, P97 group and P98 group.

1: English

3: Only reset quick start function group

2～4: Reserved

When the function code saves into parameter

3, only the

The function is only effective to operation panel configured with

parameters related with quick operation servo drive shall be

LCD.

rested.

4: Only reset customized parameter group

P00.02 user password

00000～65535【00000】

When the function code saves into parameter

4, only the

parameter prepared by user of P98 group shall be set.

The user password setting function is used for stop non-authorized

personnel from referring and modifying function parameter.

When there is no user password, the function code shall be set as

P00.05 parameter copy

0～3【0】

00000.

0: No action

1: Parameter upload

Chapter VI Function Code Details

After setting as

1 and ensure, the servo drive will upload all

non-panel

function codes between control panel P00.00 ～ P98.31 to

control

EPPROM of operation panel for storage.

It is effective in operation panel, terminal,

Stop of

serial port operation command channel.

2: Parameter downloading

non-panel as

Press the key, the servo drive will stop as

After setting as 2 and ensure, the servo drive will download all

stop mode

P05.05 setting.

function codes between operation panel P00.00 ～ P98.31 to

When running command channel on

internal control panel for storage.

operation panel, press the key, servo drive

Non-panel

3: Parameter downloading (except parameter)

will stop as mode of P05.05. When the

control

command channel is operated by terminal

After setting as 3 and ensure, the servo drive will download all

freewheel

or serial port, press the key, the servo drive

function codes between operation panel P00.00 ～ P98.31 to

will be freewheel and report E015 fault.

internal control panel for storage (P03 and P04 group motors

Note

parameters shall be not downloaded).

STOP/RESET key will be effective in any command channel

Note

operation of fault reset key RESET.

１．For operation panel, the parameter uploading shall be

Tens digits: LOCAL key function option

implemented first. Otherwise the operation panel memory will

The item is used for setting working and range of LOCAL key on

be empty. When finish one time parameter loading operation,

operational panel.

operation panel parameter shall be kept in operation panel

memory.

Tens

Function

Description

２．Before the parameters download to servo drive, servo

digits

drive will inspect integrity and version information of function

LOCAL key is invalid. The key shall be not

Invalid

code parameter in operation panel. In the following conditions,

used for switch operation command channel.

the parameter shall be not modified and the error information

Stop

LOCAL key is only effective in stop status.

will be mentioned to copy: when the memory is empty;

status

The key shall be not used for switch operation

parameter is not full; parameter version is not the same as

effective

command channel.

current servo drive software version (different quantities of

Stop

LOCAL key may switch running command

function codes).

operation

channel under stop status and operation

３．After download the parameter, parameter in operation

effective

status.

panel memory is still existed. Multi servo drives shall be

copied repeatedly.

Operation Command Channel Switch Order:

P00.06 key function option

0000～1422H【0000】

Operation panel running command channel

(LOCAL lights)

Tens

Ones

Thousands Hundred

→terminal running command channel

(LOCAL off) →serial

placs

port running command channel (LOCAL flash) →operation panel

Key feature

STOP

running command channel (LOCAL lights)

selection

0 :Panel control method is invalid

1 :Panel control mode in down way down

Note

2 :Panel control mode free parking

After switch to necessary running command channel by

LOCAL Key feature selection

LOCAL key, the DATA/ENTER shall be pressed in 3 seconds

:Nullify

for effective.

1 :Effective stop condition

2 :Stop and run effectively

Hundred digits: operation panel locking function

Operation panel locking

options

The item is used for setting locking range option of operation

0: no lock

1: all lock

panel keys.

2: in addition to the STOP key lock

3: in addition to the SHIFT key lock

Hundr

4: all locked except the RUN, the STOP

Function

Description

button

digits

STOPKey double-click the abrupt stop function

No locking function, any key shall be not

:Double click the STOP key free

No locking

parking

locked.

1: No function

Operation panel key shall be locked fully.

Full locking

After the locking function takes effect, any

Figure 6-1: operation panel

key on operation panel will be invalid.

Unit digit: STOP/RESET key function option

All locking

In addition to STOP/RESET key, other keys

except

are all locked. After the locking function

The item is used for setting operation panel STOP/RESET key as

STOP/RESE

takes effects, only the STOP/RESET key

working range and run mode in STOP of stop key.

T key

may be used.

Unit

Function

Description

All locking

All locking except

key. After the

digit

except SHIFT

locking function takes effect, only

It is effective for operation panel to run

Invalid

key

key may be used.

command channel

Chapter VI Function Code Details

All locking

In addition to STOP, RUN keys, other keys

Monitor servo drive output current.

except RUN,

are all locked. After the locking function

P01.08 torque current

－300.0％～300.0％【0.0％】

STOP/RESE

takes effects, only the STOP, RUN keys

Monitor servo drive percentage of torque current to motor rated

T keys.

may be used.

current.

After setting the items as demands, the specified operation

P01.09 Flux current

0.0％～100.0％【0.0】

methods shall be implemented to make locking effective. Refer to

Monitor percentage of flux current to motor rated current.

05.1.3Operation Mode of Operation Panel operation method.

P01.10 output torque

－300.0％～300.0％【0.0】

The locking method may refer to

05.1.3Operation Mode of

Monitor percentage of servo drive output torque to motor rated

Operation Panel.

torque.

Thousand digits: double click STOP key for emergency stop

P01.11 motor power

0.0％～200.0％【0.0】

function

Monitor percentage of servo drive output power to power rated

Thousand

Function

Description

power.

digits

Double click

Double click STOP key for freewheel.

P01.12 Motor estimate frequency

－600.00～600.00Hz【0.00】

STOP key for

During operation, double click STOP key

Motor rotor frequency estimated under open-loop vector condition

freewheel

for freewheel and report E015 fault.

P01.13 motor measured frequency

－600.00～600.00Hz【0.00】

Double click STOP key for freewheel.

No function

During operation, double click STOP key

Actual motor rotor frequency of closed-loop vector condition by

may stop as normal stop.

encoder

6.1.2Status Display Parameter (P01 group)

P01.14 Energy consumption in high

0～65535*10000kwh【0】

position

P01 group function code parameters are used for monitoring servo

P01.15 Energy consumption in low

drive and motor status parameters. At the same time, the

0～9999kwh【0】

position

frequency given channel, the setting frequency, PID given, PID

Monitor energy consumption output of servo drive.

feedback and PID error shall be checked.

P01.00 Main setting

0～6【0】

frequency channel

P01.16 bus voltage

0～800V【0】

Monitor the main frequency channel under ordinary operation

Monitor servo drive bus voltage.

mode. Non-ordinary operation mode will be displayed as 0.

P01.01 Main given setting

P01.17 servo drive operation status

0000～FFFFH【0000】

－1000.0～1000.0Hz【0.00】

frequency

ThousandsHundreds

Tens

Oncs

Monitor the main setting frequency under ordinary operation

place

placs

mode. Non-ordinary operation mode will be displayed as 0.

BIT0： Run/stop

P01.02 Auxiliary given set

－1000.0～1000.0Hz【0.00】

BIT1： Inverse/forward

frequency

BIT2：Zero speed operation

BIT3 ： Speed

Monitor auxiliary setting frequency under ordinary operation

mode. Non-ordinary operation mode will be displayed as 0.

BIT0： Reduce speed

P01.03 Setting frequency

－1000.0～1000.0Hz【0.00】

BIT1： Constant speed operation

BIT2： Pre-excitation

Monitor the final frequency through primary and secondary

BIT3 ： Tuning

synthesis. The positive value indicates forward; the negative

BIT0： Flow limit

indicates reverse.

BIT1： Dc overvoltage limit

P01.04 Acceleration and

BIT2： Torque limitation

－1000.0～1000.0Hz【0.00】

BIT3： Speed limiter

deceleration frequency instruction

Monitor servo drive output frequency through acceleration and

BIT0： Drive malfunction

deceleration process including frequency direction.

BIT1： Speed control

BIT2： Torque Control

P01.05 Output frequency

－1000.0～1000.0Hz【0.00】

Monitor servo drive output frequency including frequency

Figure 6-2: servo drive run

direction.

LED unit digit BIT0: operation/stop;

When servo drive is in stop status, the BIT0 position shall be 0.

P01.06 output voltage

0～480V【0】

Otherwise it will be 1.

Monitor servo drive output voltage.

LED unit digits BIT1: reverse/forward;

When servo drive forwards, BIT1 position is 0. Otherwise it will

P01.07 output current

0.0～3Ie【0】

be 1.

Chapter VI Function Code Details

When meeting condition, other positions may be set as 1.

Note

P01.18 switch input status

000～3FFH【000】

When analog input is current input, the adjusted AI input

range shall be 4～20mA. The corresponding display range

Hundred

Tens

Ones

s place

place

shall be 2～10.

BIT0： X1 Terminal state of on and off

P01.26 AO1 output

0.0％～100.0％【0.0】

BIT1： X2 Terminal state of on and off

P01.27 AO2 output

0.0％～100.0％【0.0】

BIT2： X3 Terminal state of on and off

BIT3： X4 Terminal state of on and off

P01.26 and P01.27 show percentage of analog output value to full

scale capacity.

BIT0： X5

Terminal state of on and off

For example: when AO1function setting is: output frequency; the

BIT1： X6

Terminal state of on and off

BIT2： X7

Terminal state of on and off

maximum frequency is 100Hz; actual operation frequency is

BIT3： X8

Terminal state of on and off

50Hz; then P01.26 shall display 50％.

BIT0： FWD

Terminal state of on and off

BIT1： REV

Terminal state of on and off

P01.28 process closed-loop given

－100.0％～100.0％【0.0】

:Reserv

BIT2

:Reserve

P01.29 process closed-loop feedback

－100.0％～100.0％【0.0】

BIT3

P01.30 process closed-loop error

－100.0％～100.0％【0.0】

Figure 6-3: Switch input status

P01.31 process closed-loop output

－100.0％～100.0％【0.0】

The figure shows on-off status of 10 terminals, including X1～X8,

P01.28 ～ P01.31 show percentage of P13 group process

FWD, REV. “0” represent the terminal in off status; 1 represents

closed-loop given value, feedback value, error value, output value

the terminal in close status.

to full scale capacity.

P01.19 Switch output status

0～FH【0】

P01.32 rediator 1 temperature

0.0～150.0℃【0.0】

P01.33 rediator 2 temperature

0.0～150.0℃【0.0】

Ones placs

Radiator 1 temperature shows temperature of inverter module.

Different types of inverter modules have different

BIT0：Y1 State of terminal signal

over-temperature protection values.

BIT1： Y2 State of terminal signal

Radiator 2 temperature shows temperature of rectifier module.

BIT2： BR Relay ttracts gathers state

Rectifier bridge temperature below

37kW type shall be not

Relay ttracts gathers state

BIT3： T

inspected.

Temperature display range: 0～150℃; accuracy: 5％

Figure 6-4: Switch output status

Function code P01.19 may display output status of switch

terminal Y1, Y2 and relay BR, T. When output signal is

P01.34～P01.35

Reserved

implemented, the related position of P01.19 will be set as 1.

Reserved function

For example, when signal output only exists in Y1 terminal, the

BIT0 position will be set as 1, the P01.19 display value will be 1.

P01.36 charge cumulative time

0～65535 hours【0】

When signal output only exists in relay T, the P01.19 display

P01.37 operation cumulative time

0～65535 hours【0】

value will be 8.

P01.38 fan operation cumulative time

0～65535hours【0】

P01.36 ～P01.38 shows respectively charge cumulative time,

P01.20 AI1 input

－10.00～10.00V【0.00】

operation cumulative time and fan operation cumulative time of

P01.21 AI2 input

－10.00～10.00V【0.00】

servo drive from factory.

P01.22 AI3 input

－10.00～10.00V【0.00】

P01.20～P01.22 shows analog input signal before adjustment.

P01.39

Reserved

Reserved function.

P01.23 adjusted AI1 input

－10.00～10.00V【0.00】

P01.24 adjusted AI2 input

－10.00～10.00V【0.00】

P01.40 ASR controller output

－300.0％～300.0％【0.0】

P01.25 adjusted AI3 input

－10.00～10.00V【0.00】

Percentage to motor rated torque, it shows ASR controller output.

P01.23～P01.25 shows the adjusted analog input signal through

P01.41 torque given

－300.0％～300.0％【0.0】

increment, deviation.

Percentage to motor rated torque, it shows torque given.

P01.42

Reserved

Reserved function.

Chapter VI Function Code Details

P01.43 given high position

0000～FFFFH【0000】

2．The rotational speed adjuster parameter shall be adjusted

P01.44 given low position

0000～FFFFH【0000】

to ensure good static, dynamic control performance. For

setting and adjusting of rotational speed adjuster, see related

P01.45 feedback high position

0000～FFFFH【0000】

description of P07 parameter.

P01.46 feedback low position

0000～FFFFH【0000】

3．When select the vector control mode, one servo drive shall

Monitor given position and feedback position under servo control

drive only one motor. The difference of capacity between

mode.

servo drive and motor shall be not larger. Power degree of

motor is smaller two-degree (one degree larger) than servo

drive. Otherwise the control performance will be lowered; or

P01.47 position deviation pulse

－9999～9999【0】

the control system could not operate in normal.

Monitor position deviation pulse under servo control mode.

4．When select PG vector control or PG V/F control, the P12

group PG encoder parameters shall be set correctly.

5．When select V/F control, the V/F control specific function

P01.48~P01.57

Reserved

code (P06 parameter group) shall be set correctly.

Reserved function.

P02.01motor option

0～1【0】

6.1.3Basic Operation Parameter

(P02 group)

0: motor 1

P02.00 Motor and mode option

0000～1313H【0002】

1: motor 2

Once

ThousandsHundreds Tens

place

Parameters of motor 1 and motor 2 shall response to function code

place

Motor 1

P03 group and P04 group.

Control mode selection

0： NoPG vector control

1:With PG vector control

P02.02 operation command channel option

0～3【0】

2 :No PG V/F control

3 :With PG V/F

contorl

HSD2000 equips with three types of command channels

Motor1

Type selection

0: operation panel operation command channel

0 :Asynchronous motor

1 : synchronous motor

Start and stop by RUN, STOP and JOG keys in operation panel.

Motor2

Control mode selection

1: Terminal operation command channel

0 :No PG vector control

1:WithPG vector control

2:NO PG V/F control

Start and stop by external controlling terminal FWD, REV, JOG

3:With PG V/F control

forward and JOG reverse.

Motor2

Type selection

0 :Asynchronous motor

2: Serial port operation command channel

1 : synchronous motor

Start and stop by serial port.

Figure 6-5: motor and control mode option

3: Reserved

Motor control mode

Note

0: No PG vector (open-loop vector) control

1．Even in operation process, the following methods may

The no speed sensor vector control operation mode may be used

change operation command channel: modify the function code

in field of high-performance general-purpose variable speed drive.

parameter; using external terminal or LOCAL key. It shall be

used carefully.

1: PG vector control

2．When switch the operation command channel to terminal

The speed sensor vector control operation mode may be used for

control, ensure REV/FWD terminal invalid before command

high control performance requirements fields such as precision

channel switching.

speed control, torque control, simple servo control.

HSD2000 servo drive setting frequency may be integrated by

2: No PG V/F control mode

main setting frequency and auxiliary setting frequency. The

It may control voltage/frequency percentage constantly. The speed

P02.08～P02.10, P14.07 are used for define auxiliary frequency.

may be changed. It may be used for field of one servo drive with

Figure 6-6 shows setting frequency forming process by adjusting

multi motors. It may improve current governing system.

main setting frequency and auxiliary setting frequency in

3: PG V/F control mode

percentage.

It may be used for simple speed feedback control, especially for

Main given

Main, auxiliary

Set the frequency ratio

Set

frenquency

given operations

the fields of PG not on motor shaft.

adjustment P02.12： P02.13

frequency

P02.11

P02.03

Note

Auxiliary a given

PG means optical tachometer pulse encoder.

frequency

P02.08

1．When select vector control mode, the motor automatic

tuning mode shall be implemented to obtain correct motor

parameters before the first operation. When the motor

Figure 6-6: setting frequency schematic diagram

automatic tuning process finishes, the tuning motor parameter

will be storage inside of control panel for control operation

P02.03 main setting frequency source

0～5【0】

later.

option

0: digit given 1, operation panel▼,▲adjustment

Chapter VI Function Code Details

When servo drive powers up, the function code P02.04 value shall

0V～＋10V segments, forward, response to frequency defined in

be as current setting frequency.

P11 group function code.

When servo drive is in operation or stop status, the▼and▲ key of

0V～-10V segments, forward, response to frequency defined in

operation panel shall be used to change current setting frequency

P11 group function code.

of servo drive.

4: Terminal pulse (PULSE) given

1: Digit given 2, terminal UP/DOWN adjustment

Frequency setting shall be defined by terminal pulse frequency.

Under the mode, function code P02.04 value in servo drive

The input shall be X8. Specified refer to P10 group definition.

powers up shall be set as current setting frequency of servo drive.

5: Reserved

By setting external control terminal function, the current setting

Note

frequency shall be implemented in operation or stop status of

servo drive.

Frequency main given mode of 3 and 4 frequency calculation

shall be determined by function code P11.25 ～ P11.41 of

When select the sting mode, the following parameters setting shall

relationship curve. When the main frequency given is analog

be implemented:

or pulse given, positive and negative polarity of output main

1) In parameter P10.00 ～ P10.07, functions of both external

setting frequency shall be determined by analog and pulse

control terminals shall be 13, 14.

value. The value is not related with P02.20 function code. In

reverse, setting frequency positive and negative polarity of

2) According to function code P10.09, P10.10, the value change

other frequency given modes shall be determined by P02.20.

rate of UP/DN terminal in frequency setting.

Select to

Frequency increment

Short as UP terminal

P02.04 main setting frequency

Lower limit frequency～upper

define both

instruction UP

below

digital setting

limit frequency【50.00Hz】

terminals in

Frequency decrement

Short as DOWN

When main setting frequency cannel is defined as digit given

X1～X8

instruction DOWN

terminal below

(P02.03＝0, 1, 2), the function parameter shall be initial setting

frequency of servo drive main setting frequency.

When select digit given-2 mode, the wiring schematic diagram is

shown below:

P02.05 maximum

UPswitch

HSD200

Max (50.00，P02.06) ～1000.0H【50.00Hz】

output frequency

P02.06 upper limit

Lower limit frequency～ maximum

terminal

DOW

frequency

outputfrequency【50.00Hz】

N switch

DOWtermina

P02.07 lower limit

N l

0～ upper limit frequency【0.00Hz】

frequency

CO termina

Maximum output frequency is the highest frequency allowed by

M l

servo drive. As F_axof 0:

Upper limit frequency is the highest frequency allowed by user

setting. As F_Hof 0:

Figure 6-7: Digital setting 2 connection schematic diagram

Lower limit frequency is the lowest frequency allowed by user

Under terminal closes, relationship of two external switch statue

setting. As F_Lin figure 6-8:

setting and servo drive current setting frequency is as follows:

F_bin 0 represents the basic operation frequency. It is the response

External switch status and servo drive current setting frequency

output frequency minimum value of servo drive in V/F output

UP terminal switch status

Break

mode.

DOWN terminal switch status

Break

servo drive current setting

Decreas

Increas

Keep

frequency

2: Digit given 3, serial port communication given

The setting frequency shall be changed by serial port frequency

setting order.

3: AI analog given

Analog given has three separate physical channels: AI1, AI2 and

AI3.

AI is analog signal input channel. When AI inputs as voltage

signal, the voltage input range shall be:

－10V～0V～＋10V. For

Figure 6-8: Limit frequency parameter schematic diagram

adjusted analog input signal (－10V～0V～＋10V), the following

regulations:

Chapter VI Function Code Details

Note

shall be determined by analog or pulse value. It doesn’t matter

with P02.20 function code.

1． Maximum output frequency, upper limit frequency and

2．Main and auxiliary frequency given channel shall be mute

lower limit frequency shall be set carefully as actual controlled

(except the AI channel 0).

motor nameplate parameter and work station demands.

2． Upper limit frequency, lower limit frequency limit range is

P02.09 auxiliary given

invalid to jog JOG operation and motor automatic tuning

0.00～9.99【1.00】

coefficient

operation.

It is only effective to P02.08＝4, 5, 7. The analog and pulse given

3．In addition upper limit frequency, lower limit frequency

limit, output frequency of servo drive operation is limited by

value shall be calculated as auxiliary frequency of defined curve.

start frequency, stop DC braking start frequency, jump

Then the P02.09 shall be used for gain calculation.

frequency.

4． Relationships of maximum output frequency, upper limit

P02.10 auxiliary given digital

frequency, and lower limit frequency are shown in figure 6-8.

0.00～1000.0【0.00Hz】

setting

The order shall be noted in setting.

5．Upper and lower limit frequency is used to limit frequency

P02.10 is only effective to P02.08＝1～3. It is also initial value of

output to motor frequency value. When the setting frequency

auxiliary setting frequency in the three types.

is higher than upper limit frequency, upper limit frequency

P02.11 main and auxiliary

shall be operated. When setting frequency is lower than

0～6【0】

given calculation

lower limit frequency, lower limit frequency shall be

operated. When setting frequency is lower than start

0: “+”

frequency, the zero frequency shall be operated.

Setting frequency shall be sum of main setting frequency and

6．Under vector control mode, the maximum output frequency

auxiliary setting frequency.

shall be 400Hz.

When the positive and negative polarity integrated frequency is

reverse to main setting frequency polarity, the setting frequency

P02.08 auxiliary setting

shall be zero.

0～7【0】

frequency source option

1: “－”

0: No auxiliary given

Setting frequency shall be difference of main setting frequency

Setting frequency is only made up of main setting frequency.

and auxiliary setting frequency.

Default value of auxiliary setting frequency shall be zero.

When the positive and negative polarity integrated frequency is

1: Digit given 1，operation panel▼and▲ keys adjustment

reverse to main setting frequency polarity, the setting frequency

Auxiliary frequency initial setting value shall be P02.10. It shall

shall be zero.

be adjusted by operation panel▼and ▲keys.

2: “*”

2: Digit given 2，terminal UP/DOWN adjustment

Setting frequency shall be product of main frequency and

Auxiliary frequency initial value shall be set as P02.10. It shall

auxiliary frequency.

be adjusted by terminal UP/DOWN.

When the positive and negative polarity integrated frequency is

Terminal UP/DOWN setting may refer to P10 group function

reverse to main setting frequency polarity, the setting frequency

code.

shall be zero.

3: Digit given 3, serial port communication given

3: MAX (main setting frequency, auxiliary setting frequency)

Auxiliary frequency is given by serial port. The frequency

Setting frequency shall be maximum absolute value between

setting initial value shall be P02.10. The auxiliary setting

main setting frequency and auxiliary setting frequency.

frequency shall be changed by setting command.

When positive and negative polarity of auxiliary setting frequency

4: AI analog given

is reverse to main setting frequency, the setting frequency shall be

Auxiliary frequency setting is given by AI terminal (AI1, AI2

main setting frequency.

and AI3).

4: MIN (main setting frequency, auxiliary setting frequency)

5: Terminal pulse (PULSE) given

Setting frequency shall be minimum absolute value between main

Auxiliary frequency setting is determined by terminal pulse

setting frequency and auxiliary setting frequency.

frequency with only X8 input. Specific refer to P10 group of

When the positive and negative polarity integrated frequency is

function code definitions.

reverse to main setting frequency polarity, the setting frequency

6: Reserved

shall be zero.

7、 Process closed-loop output

5: Sqrt

(main setting frequency)

＋ Sqrt

(auxiliary setting

The process closed-loop output shall be given as auxiliary.

frequency)

The setting frequency shall be sum of square root after absolute

Note

value between main setting frequency and auxiliary setting.

1．When auxiliary frequency is given by modes of 4 and 5,

positive and negative polarity of output auxiliary frequency

Chapter VI Function Code Details

When auxiliary setting frequency and main setting frequency

P02.19*P02.16

polarity is reverse, the auxiliary frequency shall be cleared zero.

t1=

P02.05

Setting frequency shall be square root of main setting frequency.

6: Sqrt (main setting frequency ＋ auxiliary setting frequency)

The setting frequency shall be sum of square root after absolute

value between main setting frequency and auxiliary setting.

When main setting frequency and auxiliary setting frequency sum

polarity are reverse to main setting frequency polarity, the setting

frequency shall be zero.

Note

When the P02.08 option 0 auxiliary given is invalid, the main

and auxiliary calculation principle P02.11 shall be invalid.

The setting frequency is determined by main setting

frequency.

Figure 6-9: jog parameter

P02.12 setting frequency

0～2【0】

percentage adjustment option

Jog interval time (P02.19) shall be: from previous jog command

P02.13 setting frequency

canceling to the next jog command taking effect.

0.0％～200.0％【100.0％】

percentage adjustment coefficient

During interval time, the jog command will not make servo drive

The function determines the adjustment mode of setting frequency

operate. The servo drive shall be operated as zero frequency of no

(integrated frequency of main setting frequency and auxiliary

output. When the jog command exists, the jog command will be

setting frequency).

started to implement after interval. Jog command after jog interval

0: No action

shall be implemented immediately.

The main and auxiliary given integrated setting frequency shall be

Note

not adjusted. It is P4＝P3.

1．Jog operation starting and stop shall follow start mode 0

1: Relative maximum output frequency P02.05 adjustment

and stop mode

0. Time unit of jog acceleration and

setting frequency P4＝P3+P02.05× (P02.13-100％)

deceleration shall be second.

2: Relative current frequency adjustment

2．Operation panel, control terminal and serial port shall

implement jog control.

setting frequency P4＝P3+P3× (P02.13-100％) ＝P3×P02.13

P02.20 operation direction setting

0、1【0】

P02.14 acceleration time 1

0.0～3600.0s (min) 【6.0s】

The function is applicable to operation panel running command

P02.15 deceleration time 1

0.0～3600.0s (min) 【6.0s】

channel and serial port running command channel. It is not

effective to terminal operation command channel.

P02.16 Jog frequency

0.01～50.00Hz【5.00Hz】

0: Forward

Set frequency of jog operation.

1: Reverse

Note

Under control panel condition, the jog operation may be

6.1.4 Motor 1 parameter (P03 group)

achieved by JOG on panel. Press the JOG key to operate.

Loss the JOG key, it will implement stop operation of stop

P03.00 asynchronous motor rated

0.4～999.9kW【model

mode. Under terminal control condition, the terminal

power

determination】

function shall be set for jog operation by jog forward

P03.01 asynchronous motor rated

terminal or jog reverse terminal. In addition, the jog

0～P97.04

frequency

operation may be controlled by communication mode.

P03.02 asynchronous motor rated

0.1～999.9A【model

current

determination】

P02.17 Jog acceleration time

0.1～60.0s【6.0】

P03.03 asynchronous motor rated

1.00～100.00Hz【model

P02.18 Jog deceleration time

0.1～60.0s【6.0】

frequency

determination】

P02.19 Jog interval

0.0～100.0s【0.0】

P03.04 asynchronous motor

0～60000RPM【1440RPM】

As shown in Figure 6-9: t₁, t₃ are actual operation jog acceleration

rated rotational speed

and deceleration time; t₂ shall be jog time; t₄ shall be jog interval

P03.05 asynchronous motor

0.001～1.000【model

time (P02.19); P1 shall be jog operation frequency (P02.16).

power factor

determination】

Actual operation jog acceleration time t₁shall be determined by

Set controlled asynchronous motor parameter.

the following formula. Similarly, actual operation jog

For control performance, the P03.00～P03.04 value shall be set as

deceleration time t₃ shall be also determined by the formula.

asynchronous motor nameplate parameters.

Chapter VI Function Code Details

P03.05 is asynchronous motor power factor. The value will be

V: rated frequency;

updated automatically after normal operation tuning. User may

I: asynchronous motor rated current

select to modify P03.05 automatically. The following two

When the asynchronous motor parameters have been known, the

conditions may be modified manually: after all tuning finishes; no

calculation value shall be written as formula above P03.06～

tuning.

P03.09. P03.10 is asynchronous motor empty load current. User

Note

may input empty load value directly.

Asynchronous motor and servo drive power class shall meet 等

When implement self tuning of motor parameter, the P03.06～

the configuration. In general, two-class smaller or one class

P03.10 setting values will be changed after the tuning finishes.

larger of servo drive is allowed. Control performance shall

After modify the asynchronous motor power P03.00, servo drive

not be ensured when exceeding the range.

will set P03.02 ～ P03.10 parameter as related power

asynchronous motor default parameter (P03.01 is asynchronous

P03.06 asynchronous motor

0.00～50.00％【model

stator resistance ％R1

determination】

motor rated frequency value. It is not in asynchronous motor

default parameter. It shall be set by users as nameplate).

P03.07 asynchronous motor

0.00～50.00％【model

leakage inductance ％X

determination】

P03.08 asynchronous motor

0.00～50.00％【model

P03.11 asynchronous motor

0～3【0】

rotor resistance ％R2

determination】

parameter self tuning

P03.09 asynchronous motor

0.0～2000.0％【model

0: No action

mutual inductance ％Xm

determination】

1: Action (asynchronous motor static)

P03.10 asynchronous motor

0.1～999.9A【model

Before self tuning, the nameplate parameters (P03.00～P03.04) of

load current

determination】

controlled asynchronous motor shall be entered.

Specific meanings of motor parameter above may refer to figure

When in static tuning, the motor is in state of static. The

6-10.

asynchronous motor tutor resistance

( ％ R₁), related rated

frequency leakage inductance (％X), rotor resistance (％R₂) shall

^X ¹

be measured automatically. The measured parameters shall be

written into P03.06, P03.07 and P03.08 automatically.

I ²

2: Action (asynchronous motor rotates)

1-S

U ¹

S ^R2

Before self tuning, the nameplate parameters (P03.00～P03.04) of

I ₀

controlled asynchronous motor shall be entered.

X^m

When in static tuning, the motor is in state of static. The

asynchronous motor tutor resistance

( ％ R₁), related rated

Figure 6-10: Asynchronous Motor Static Equivalent Circuit Figure

frequency leakage inductance (％X), rotor resistance (％R₂) shall

In the 0, the R₁, X₁₁, R₂, X₂₁, X_m, I_o represents respectively: stator

be measured automatically. Then the asynchronous motor is in

resistance, the stator leakage inductance, rotor resistance, rotor

rotation status, the motor mutual inductance (％X_m) and empty

leakage inductance, mutual inductance, no-load current. The

load current (I_o) shall be measured automatically. The measured

function code P03.07 shall be sum of stator and rotor leakage

parameters will be written into P03.06, P03.07, P03.08, P03.09

inductance.

and P03.10 automatically. The P03.05 will be updated after rotate

Above P03.06～P03.09 are percentages of asynchronous motor

tuning.

parameters. The formula shall be:

After self tuning, the P03.11 setting value shall be set as

1) Resistor (stator resistance or rotor resistance) formula:

automatically.

Self tuning procedures:

％



100

％



)

1) It is suggested for users to set P06.07 (motor 1torque lifting) as

R: rotor resistance actual value of stator resistance converted to

the stator side;

2) Set function code parameter “P03.00 rated power”, “P03.01

V: rated frequency;

rated frequency”,

“P03.02 rated current”,

“P03.03 rated

I: asynchronous motor rated current

frequency” and “P03.04 rated rotational speed”.

2) Inductive reactance (leakage inductance or mutual inductance)

3) Set P02.06 (upper limit frequency). P02.06 setting value shall

formula:

be not lower than rated frequency。

4) When select P03.11 as 2, remove the motor shaft from loading

％



10

％

V/(

3I)

and ensure its safety. The motor shall not rotate tuning with

(2)

X: sum (inverted to the stator side) or mutual inductance of basic

5) Set P03.11 as 1 or 2. First press DATA/ENTER key, then press

frequency stator and rotor

the RUN key for self tuning.

Chapter VI Function Code Details

6) When the operation indicator of operation panel is off, the self

P03.13 synchronous motors

0.4～999.9kW【model

tuning has been finished.

rated power

determination】

3: Reserved

P03.14 synchronous motors

0～P97.04

rated frequency

Note

P03.15 synchronous motors

0.1～999.9A【model

1．When set P03.11 as 2, the overvoltage or over current fault

rated current

determination】

may be processed by increasing acceleration and deceleration

P03.16 synchronous motors

1.00～100.00Hz【model

time (P02.14 and P02.15).

rated frequency

determination】

2．When select P03.11 as 2, remove the motor shaft from

P03.17 synchronous motors

1～40【2】

loading and ensure its safety. The motor shall not rotate

pole pairs

tuning with loading.

P03.18 synchronous motors

0～60000RPM【1500RPM】

rated rotational speed

3．Before start self tuning, the motor shall be ensured

P03.19 synchronous motors

0.00～50.00％【model

shutdown. Otherwise the self tuning shall not operate

stator resistance

determination】

normally.

P03.20 synchronous motors

0.0～999.9mH【model

4．In conditions of not convenient to rotate or lower motor

control performance requirements (such as motor could be

direct axis inductance

determination】

not removed from loading), the static tuning or no tuning may

P03.21 synchronous

0.0～999.9mH【model

be implemented. When the tuning doesn’t implement, the

motors cross-axis inductance

determination】

motor nameplate parameter shall be entered.

P03.22 synchronous

5．When the self tuning couldn’t be implemented, the motor

0～1000【150】

motors back-EMF constant

parameter has been known by user. The user shall enter

Setting controlled synchronous motors parameter.

correct motor nameplate parameter (P03.00～P03.04). Then

the motor parameter calculation value shall be entered as

For controlling performance, the P03.13～P03.22 value shall be

resistor and inductive reactance formula above (P03.06～

set as nameplate parameter of synchronous motors.

P03.10). The parameters shall be set correctly.

Note

6．When the self tuning is not success, report E024 fault;

Synchronous motors and servo drive power degree shall be

7．When the temperature is higher in motor operation, the

matched. In general, it shall be two-class lower or one class

tuning shall be implemented as hot status. The stator

higher than servo drive. Exceeding the range shall not ensure

resistance and rotor resistance parameter shall be increased to

the control performance.

optimize the control performance.

P03.23 synchronous motors

P03.12 asynchronous motor

0～1【0】

position identification

overload protection coefficient

20.0％～110.0％【100.0％】

The function default value is 0. Press RUN key when 0 changes 1.

setting

Synchronous motors will mark the position. After identification,

For overload protection of different models loading motor, the

the P03.23 may recover to 0 automatically.

maximum value of allowed output current in servo drive shall be

P03.24 synchronous motors identify

adjusted. As shown in figure 6-11:

0～30【10】

current

The function code shows synchronous motors identification

current result. The rated current range shall be 0～30％.

P03.25 synchronous motors initial

0～FFFFH【0】

angle

The function code shows synchronous motors initial angle for

control calculation.

P03.26 Z pulse initial angle

0～FFFFH【0】

The function code shows Z pulse initial angle.

P03.27 synchronous motors

overload protection coefficient

20.0％～110.0％【100.0％】

setting

Figure 6-11: motor overload protection coefficient setting

For overload protection of different models loading motor, the

The value may be set as requirements of users. In the similar

maximum value of allowed output current in servo drive shall be

condition, the P03.12 value shall be set smaller in motor overload

adjusted. As shown in figure 6-11:

faster protection. In reverse, it shall be set larger.

The value may be set as requirements of users. In the similar

Note

condition, the P03.27 value shall be set smaller in motor overload

When rated current of loading motor and servo drive is not

faster protection. In reverse, it shall be set larger.

the same, the motor overload protection may be achieved by

setting P03.12 function code parameter value.

Chapter VI Function Code Details

6.1.5 Motor 2 parameter

(P04 group)

frequency value. It is not in synchronous motor default

parameter range. It shall be set as nameplate by user. ).

P04.00 asynchronous

0.4～999.9kW【model

motor rated power

determination】

P04.11 asynchronous motor

P04.01 asynchronous

0～servo drive rated frequency

0～3【0】

parameter self tuning

motor rated frequency

(P97.04)

0: No action

P04.02 asynchronous

0.1～999.9A【model determination】

1: action (asynchronous motor static)

motor rated current

P04.03 asynchronous

1.00～100.00Hz【model

Before implement the self tuning, the nameplate parameter of

motor rated frequency

determination】

controllers asynchronous motor shall be entered

(P04.00 ～

P04.04 asynchronous motor

P04.04).

0～60000RPM【1440RPM】

rated rotational speed

When in static tuning, the motor is in state of static. The

P04.05 asynchronous motor

0.001～1.00【model determination】

asynchronous motor tutor resistance

( ％ R₁), related rated

power factor

frequency leakage inductance (％X), rotor resistance (％R₂) shall

Set the controlled asynchronous motor parameter.

be measured automatically. The measured parameters shall be

For controlling performance, the P04.00～P04.04 value shall be

written into P04.06, P04.07 and P04.08 automatically.

set as nameplate parameter of synchronous motors.

2: Action (asynchronous motor rotates)

P04.05 is asynchronous motor power factor. The value will be

Before self tuning, the nameplate parameters (P04.00～P04.04) of

updated automatically after normal operation tuning. User may

controlled asynchronous motor shall be entered.

select to modify P04.05 automatically. The following two

When in static tuning, the motor is in state of static. The

conditions may be modified manually: after all tuning finishes; no

tuning.

asynchronous motor tutor resistance

( ％ R₁), related rated

frequency leakage inductance (％X), rotor resistance (％R₂) shall

Note

be measured automatically. Then the asynchronous motor is in

Synchronous motors and servo drive power degree shall be

rotation status, the motor mutual inductance (％X_m) and empty

matched. In general, it shall be two-class lower or one class

higher than servo drive. Exceeding the range shall not ensure

load current (I_o) shall be measured automatically. The measured

the control performance.

parameters will be written into P04.06, P04.07, P04.08, P04.09

and P04.10 automatically. The P04.05 will be updated after rotate

tuning.

P04.06 asynchronous motor

0.00～50.00％【model

After self tuning, the P04.11 setting value shall be set as

stator resistance ％R1

determination】

automatically.

P04.07 asynchronous motor

0.00～50.00％【model

3: Reserved

leakage inductance ％X

determination】

Self tuning procedure:

P04.08 asynchronous motor

0.00～50.00％【model

1) Set the P06.19 torque as 00.0 (if user could not enter P06 group,

rotor resistance ％R2

determination】

the function code parameter value of P00.06 shall be modified

P04.09 asynchronous motor

0.0～2000.0％【model

to0200. Press the DATA/ENTER key, then implement function

mutual inductance ％Xm

determination】

code operation. The P06 function code group may be entered.)

P04.10 asynchronous motor

0.1～999.9A【model

2) Set function code parameter

“P04.00 rated power”,

empty load current

determination】

“P04.01rated frequency”,

“P04.02rated current” and

“P04.03

Specific meaning of above motor parameter may refer to figure

rated frequency”.

6-11.

3) Set P02.06 (upper limit frequency)，P02.06 setting value shall

Function code P04.07 is sum of stator, stator leakage inductance.

be not lower than rated frequency.

Above P04.06～P04.09 are percentage of asynchronous motor

4) When select P04.11 as 2, set acceleration time (P02.14) and

parameter. The calculation formula is shown in formula (1) and

deceleration time

(P02.15). Remove the motor shaft from

(2).

loading and ensure its safety.

When the asynchronous motor parameter has been given, the

5) When set P04.11 as 1 or 2, press the DATA/ENTER. The self

P04.06～P04.09 shall be written into by formula above. The

tuning will be started when press RUN key.

。

P04.10 is asynchronous motor empty load current. The user may

6) When indicator on operation panel is off, the self tuning is

enter empty load current value directly.

finished.

When implement the motor parameter self tuning, the P04.06～

P04.10 setting values will be updated after tuning.

Note

After changing asynchronous motor power P04.00, servo drive

1．When select P04.11 as 2, when overvoltage or over current

will set P04.02～P04.10 parameter as related power asynchronous

fault happens in self tuning, the acceleration and deceleration

shall be increased.

motor default parameter (P04.01 is asynchronous motor rated

Chapter VI Function Code Details

2．When set the P04.11 as 2 in rotate tuning. The motor shall

P04.22 synchronous motors

0～1000【150】

remove the loading. The motor shall not rotate tuning with

back-EMF constant

Set controlled synchronous motors parameter.

3．Before start self tuning, the motor shall be ensured

For control performance, the P04.13～P04.22 values shall be set

shutdown. Otherwise the self tuning shall not operate

as nameplate parameter of synchronous motors.

normally.

4．N conditions of not convenient to rotate or lower motor

Note

control performance requirements (such as motor could be

Synchronous motors and servo drive power degree shall be

not removed from loading), the static tuning or no tuning may

matched. In general, it shall be two-class lower or one class

be implemented. When the tuning does not implement, the

higher than servo drive. Exceeding the range shall not ensure

motor nameplate parameter shall be entered

(P04.00 ～

the control performance.

P04.04).

5．When the self tuning couldn’t be implemented, the motor

P04.23 synchronous motors

0～1【0】

parameter has been known by user. The user shall enter

position identification

correct motor nameplate parameter (P04.00～P04.04). Then

The function default value is 0. Press RUN key when 0 changes 1.

the motor parameter calculation value shall be entered as

Synchronous motors will mark the position. After identification,

resistor and inductive reactance formula above (P04.06～

the P04.23 may recover to 0 automatically.

P04.10). The parameters shall be set correctly.

P04.24 synchronous motors

6．When the self tuning is not success, report E024 fault;

0～30【10】

identification current

7． When the temperature is higher in motor operation, the

The function code shows synchronous motors identification

tuning shall be implemented as hot status. The stator

current result. The rated current range shall be 0～30％.

resistance and rotor resistance parameter shall be increased to

optimize the control performance.

P04.25 synchronous motors

0～FFFFH【0】

initial angle

P04.12 asynchronous motor

The function code shows synchronous motors initial angle for

overload protection coefficient

20.0％～110.0％【100.0％】

control calculation.

setting

P04.26 Z pulse initial angle

0～FFFFH【0】

For effective overload protection to loading motors in different

The function code shows Z pulse initial angle.

types, the servo allowed output current maximum value shall be

P04.27 synchronous motors

adjusted. As shown in figure 6-11.

overload protection coefficient

20.0％～110.0％【100.0％】

The value may be set as requirements of users. In the similar

setting

condition, the P04.12 value shall be set smaller in motor overload

For overload protection of different models loading motor, the

faster protection. In reverse, it shall be set larger.

maximum value of allowed output current in servo drive shall be

Note

adjusted. As shown in figure 6-11:

When rated current of loading motor and servo drive is not

The value may be set as requirements of users. In the similar

the same, the motor overload protection may be achieved by

condition, the P04.27 value shall be set smaller in motor overload

setting P04.12 function code parameter value.

faster protection. In reverse, it shall be set larger.

P04.28 motor 2 PI parameter

0～1【0】

option

P04.13 synchronous motors

0.4～999.9kW【model

The function code shows parameter option function code of PI

rated power

determination】

adjuster in motor 2.

P04.14 synchronous motors

0～P97.04

rated frequency

0: it is the same option with PI adjuster of motor 1.

P04.15 synchronous motors

0.1～999.9A【model

1: it takes P04.29～P04.32 function code value.

rated current

determination】

P04.16 synchronous motors

1.00～100.00Hz【model

P04.29 motor 2 ASR-P

0.1～200.0【20.0】

rated frequency

determination】

P04.30 motor 2 ASR-I

0.010～1.000s【0.200s】

P04.17 synchronous motors

1～40【2】

P04.29 and P04.30 function codes shall be P and I coefficient of

pole pairs

motor 2 ASR.

P04.18 synchronous motors

0～60000RPM【1500RPM】

rated rotational speed

P04.19 synchronous motors

0.00～50.00％【model

P04.31 motor 2 ACR-P

1～5000【1000】

stator resistance

determination】

P04.32 motor 2 ACR-I

0.5～100.0ms【8.0ms】

P04.20 synchronous motors

0.0～999.9mH【model

P04.30 and P04.31 function codes shall be P and I coefficient of

direct axis inductance

determination】

motor 2 ACR.

P04.21 synchronous motors

0.0～999.9mH【model

cross-axis inductance

determination】

P04.33 motor 2 encoder option

0～1【1】

Chapter VI Function Code Details

The function code shall be encoder of select motor 2.

0: select local encoder

1: select expansion encoder

When P04.33 selects 1, the HSD2000 specified PG expansion

card shall be configured.

6.1.6Start and Stop Parameter

(P05 group)

P05.00 Starting mode

0, 1, 2【0】

0: start from start frequency

Figure 6-13: start frequency and start schematic diagram

The starting shall be implemented as setting start frequency

Note

(P05.01) and keeping time (P05.02).

Start frequency is not limited by lower limit frequency.

1: Brake and star

Fisted DC brake (refer to P05.03, P05.04), then start as 0 mode.

P05.03 start DC brake current

0.0～100.0％【0.0％】

2． Rotational speed tracing and start

P05.04 start DC brake time

0.00～30.00s【0.00s】

Trace the rotational speed and direction of motor. The rotate motor

P05.03, P05.04 may be effective in “first braking then starting”

starting shall be smooth. As shown in figure 6-12:

mode (P05.00＝1). As shown in figure 6-14:

Power

Break

Start DC brake current is percentage relative to servo drive rated

Motor

speed

current. When start DC brake time is 0.0s, there is no DC braking

process.

Servo driver

Opposite direction

output

idling

frequency

Forward

Servo drive

Reverse

running

direction

Detection motor

Speed and direction

Figure 6-12: rotational speed track startup schematic diagram

Note

1． Start mode is applicable for small inertia load of forward

and reverse in motor of servo drive stop status. The larger

large inertia load of high speed delivery shall be not

Figure 6-14： start 1 indication

applicable for start mode 1.

P05.05 stop mode

0, 1, 2【0】

2． Start-2 mode is applicable for momentary power outage

0: Deceleration stop

startup for large inertia load of forward and reverse in motor

of servo drive stop status.

When the servo drive receives the stop command, the output

3． Start performance of start mode-2 is related with motor

frequency shall be reduced as deceleration time. Stop shall be

parameter. The parameters related with P03 or P04 group

implemented after the frequency is 0.

shall be set correctly.

1: Freewheel

4．When select start mode 2, the V/F curve shall be straight

After receiving the stop command, servo drive shall stop output

line.

immediately. The loading shall stop as mechanical inertia.

。

5．When driving synchronous motors, the start mode shall be

2: Deceleration stop＋DC brake

When the servo drive receives the stop command, the output

P05.01 start frequency

0.00～60.00Hz【0.00Hz】

frequency shall be reduced as deceleration time. When reach

P05.02 start frequency keep time

0.00～10.00s【0.00s】

initial frequency of stop brake, the DC brake shall be started.

Start frequency represents the initial frequency of servo drive

Stop DC brake related function may refer to P05.06～P05.09

starts, such as f_S in figure 6-13. The start frequency keep time

definitions:

represents keep operation time for servo drive in start process.

Such as t₁in figure 6-13:

P05.06 Stop DC brake start frequency

0.00～60.00Hz【0.00Hz】

P05.07 Stop DC brake interval time

0.00～10.00s【0.00s】

P05.08 Stop DC brake current

0.0～100.0％【0.0％】

P05.09 Stop DC brake time

0.00～30.00s【0.00s】

Chapter VI Function Code Details

Stop brake interval time: during deceleration stop, from operation

Table 6-1 for the various combinations of conditions, after

frequency reaches the brake initial frequency (P05.06) time, to

power up operation when servo drive is in 0: enter standby mode;

time of start adding DC brake values.

1: start automatically. No: power up time without run command;

No output is allowed in stop brake interval time. The time setting

has: power up time has run command.

may prevent over current in brake starting for larger power motor.

Note

Stop DC brake current setting is percentage to servo driver acted

1．When stopped from operation panel, serial port, terminal

current. When the stop brake time is 0.0s, there is no DC brake

controlled by a three-wire, 2 for pulse-type command mode,

process.

power up time without running the command.

2．The stop command shall be priority.

3．Re-start when power outage valid, if not completely

run-down and re-power up (i.e., servo drive LED display

Proof process), then re-start operation in accordance with

rotational speed tracking mode automatically start; If full

power-down (i.e. after the operation panel LED is completely

off) re-power up, then re-start the way P05.00 accordance

start is set up start.

P05.12 anti-reverse option

0、1【0】

0: allow reverse

1: Not allow reverse

Note

The function is effective to command channels.

(Operation

panel operation command channel, terminal operation

command channel and serial port operation command

channel).

Figure 6-15: deceleration stop +DC brake schematic diagram

P05.13 forward-reverse dead time

0～3600s【0.0s】

Note

servo drive forward run by the transition to the reverse

Percentage of stop brake current (P05.08) to relative servo

operation, or the transition from forward to reverse operation

drive rated current.

during the operation, the output transition time waiting at zero

P05.10 Restart after power fault

0、1【0】

frequency,as

shown

figure

6-16.

P05.11 Wating time for restart after

0.0～10.0s【0.0s】

power fault

After this function to achieve servo drive is powered down, when

then power up, under different operating command channel, servo

drive shall automatically start running and interval time before the

automatic operation.

The P05.10 shall be set as 0. The servo drive will not operate

automatically after the power outage powers up.

P05.10 to

1 when the power outage after power up, if the

conditions of the servo drive to meet the start waiting

P05.11-defined time, automatically.

Figure 6-16: Normal/adverse area time

The function code is set, the power-down time running, power up

P05.14 reversible switching mode

0、1【0】

state control commands moment servo drive joint decision

0: Zero-frequency switching

whether to run automatically after power up, see table 6-1.

1: over start frequency switching

Table 6-1: power outage and then start condition feature

P05.15 stop speed

0.00～150.00Hz【0.10Hz】

Status

Operati

Serial

Terminal

When setting the speed detection value stop detection methods

P05.10

before

port

three-wire 1, 2

two-wire 1, 2

see function code P05.16.

setting

power

panel

down

Note

Stop

The speed stopping is only valid in P05.05=0 mode.

Operati

P05.16 stop speed detection method

0, 1【0】

Stop

0: speed setting value

Operati

Only the mode may be used in V/F control mode.

1: Speed inspection value

Chapter VI Function Code Details

When P06.00 Option 1, is 2.0 times the power down torque

P05.17 stop latency

0～10.00s【0.05s】

characteristics; such as in Figure6-18 curve.

When P06.00 select 2, 1.7 power down torque characteristics;

During motor deceleration, when the motor speed reaches the

such as in Figure6-18 curve 2.

stop speed, motor stop running after the delay time. As shown in

Figure6-17, t_d represents stop speed delay time.

When P06.00 Option 3, is 1.2 times the power down torque

characteristics; such as in Figure6-18 curve 3.

These curves apply to variable torque fan and pump loads, the

user can adjust the load characteristics to achieve optimal energy

savings.

Output

Voltage V

Vmax

Figure 6-17: Stop speed test

Note

Stop speed delay time for V / F control mode is invalid and must

Output

be stopped when the speed of detection speed detection value

frequency Hz

Vmax： Maximum output voltage

(P05.16 = 1) is valid.

Fb： The basic operating frequency P06.09

P05.18 energy consumption brake

0, 1【0】

option

Figure 6-18: De-torque curve

0: no use energy consumption brake

When P06.00 select 0, users can customize by P06.01 ~ P06.06 V / F

1: use energy consumption brake

curve, as shown in Figure6-19. By increasing (V1, F1), (V2, F2), (V3, F3)

three points define a line V

/ F curve to apply to specific load

Note

characteristics.

Be sure to use according to the actual situation, this feature is set

The factory default user-defined V / F is a straight line, curve, see

correctly parameter. Otherwise it will affect the control

characteristics.

Figure6-18 curve 0.

P05.19 brake utilization

0.0～100.0％【80.0％】

Voltage%

It is effective to braking unit built-in model.

100%

Note

The function setting shall consider resistance value and power

of braking resistor.

6.1.7V/F Control Parameter

(P06 group)

P06.00 motor 1V/F curve

0～3【0】

setting

Frequency H

V3:

Multistage VF 1-3 paragraphs voltage

P06.01 motor 1V/Ffrequency

V1 ：

P06.03～P02.05【0.00Hz】

Multistage VF 1-3 paragraphs Central

value P3

： F3:

Frequency

F b:

Motor 1 basic operation frequencyP06.09

P06.02 motor 1V/F voltage

P06.04～100.0％【0.0％】

value V3

Figure 6-19: Users set curve of V/F general form

P06.03 motor 1V/Ffrequency

P06.05～P06.01【0.00Hz】

P06.07 motor 1torque lifting

0.0～30.0％【0.0％】

value P2

To compensate for low frequency torque characteristics, can

P06.04 motor 1V/F voltage

P06.06～P06.02【0.0％】

value V2

enhance the output voltage to make some compensation. The

P06.05 motor 1V/Ffrequency

function code is the maximum output voltage relative terms, is set

0.00～P06.03【0.00Hz】

value P1

0 when there is no torque upgrade; set to non-zero when

P06.06 motor 1V/F voltage

manual torque boost mode, such as Figure6-20.

0.0～P06.04【0.0％】

value V1

The group function code defines the V / F setting mode HSD2000

motor 1, in order to meet the needs of different load characteristics.

According to the definition P06.00 can choose three kinds of fixed

curves and a custom curve.

Chapter VI Function Code Details

The group function code defines the HSD2000 motor 2 for V / F

set way to meet the needs of different load characteristics. See

detailed description of function code, in P06.00 ~ P06.06:

P06.19 motor 2 torque lifting

0.0～30.0％【0.0％】

P06.20 motor 2torque lifting

0.0％～50.0％【10.0％】

cut-off point

P06.21 motor 2 base frequency

1.00～1000.0Hz【50.00Hz】

P06.22 motor 2 maximum

0～480V

output voltage

P06.23 motor 2 stability factor

0～255【10】

Refer to P06.07～P06.11 description.

Figure 6-20: torque rise (rise: shadow)

P06.24 AVR function

0～2【1】

Note

0: no action

1．This parameter setting can lead to improper motor heat or

1: action

over current protection.

2．See the definition of fz function code P06.08.

2: only no action in deceleration

3．When driving synchronous motors, torque recommended to

AVR is automatic voltage adjusting.

be used to enhance and adjust V / F curve according to motor

When the input voltage deviates from rated value, the function can

parameter and use the occasion.

be maintained by constant output voltage, so under normal

4．The maximum output voltage Vmax corresponds to the

circumstances should AVR action, especially in the input voltage

motor rated frequency, and thus need to set P03 or P04 group

is higher than the rated value when.

set motor rated frequency correctly according to the selected

When the deceleration stop, select AVR does not operate,

motor.

deceleration time is short, but running current is slightly larger;

P06.08 motor 1 torque lifting

choose AVR always action, smooth motor deceleration, running

0.0％～50.0％【10.0％】

cut-off point

current is small, but the deceleration time longer.

This function defines the percentage of manual torque cutoff

6.1.8Speed Control Parameter (P07 group)

frequency relative to enhance the basic operation frequencyP06.09,

see Figure6-20 in fz. The cutoff frequency determined by any

P07.00 Speed Feedback Option

0, 1【0】

applicable P06.00 V / F curve.

HSD2000 has two speed feedback channel options.

P06.09 motor 1 base frequency

1.00～1000.0Hz【50.00Hz】

0: local PG feedback channel

The basic operation is the minimum frequency when the servo

It is applicable for PG feedback of asynchronous motor.

drive output highest frequency voltage corresponding to the motor

1: Expansion PG feedback channel

is generally rated frequency. As in Figure6-18 fb:

It is suitable for both synchronous and asynchronous motor PG

P06.10 Reserved

Reserved

feedback in setting P07.00 = 1, the need to use PG expansion

Reserved function.

card.

P06.11 motor 1 stability factor

0～255【10】

In with PG vector control, with PG V / F control mode, you need

This function is used to suppress the natural oscillation with servo

to set the correct speed feedback channels, otherwise motor

drive and motor generated. If the output current constant load

cannot operate normally.

changes repeatedly, on the basis of the factory parameter adjusting

Note

the function code size can eliminate oscillation motor running

smoothly.

P07.00 function code parameter only for the default choice of

motor 1, if you select the motor 2 (P02.01 to 1), it should be

P06.12 motor 2V/F curve setting

0～3【0】

selected by function code P04.33 encoder.

P06.13 motor 2V/Ffrequency

P06.15～P02.05【0.00Hz】

P07.01 ASR1-P

0.1～200.0【20.0】

value P3

P07.02 ASR1-I

0.000～10.000s【0.200s】

P06.14 motor 2V/F voltage value

P06.16～100.0％【0.0％】

P07.03 ASR1output wave filter

0～8【0】

P0615 motor 2V/Ffrequency

P07.04 ASR2-P

0.1～200.0【20】

P06.17～P06.13【0.00Hz】

value P2

P07.05 ASR2-I

0.000～10.000s【0.200s】

P0616 motor 2V/F voltage value

P07.06 ASR2output wave filter

0～8【0】

P06.18～P06.14【0.0％】

P07.07 ASR1/2 switching

0～100.0％【10.0%】

P06.17 motor 2V/Ffrequency

frequency

0.00～P06.15【0.00Hz】

value P1

Function code P07.00 ～P07.07 may be effective in control

P06.18 motor 2V/F voltage value

0.0～P06.16【0.0％】

modes of vector control and PG V/F control modes.

Chapter VI Function Code Details

In vector control mode by setting the speed regulator, proportional

gain P and integral time I may change the vector control speed

response characteristics.

1．Speed regulator (ASR) constituted as Figure6-21 shows. Figure

in KP is the proportional gain P; TI is the integral time I.

转矩电流

频率指令

+ 速度误差

给定+

)

输出

p(1+T

滤波

i S

转矩偏

Figure 6-23: Step response with fine dynamic performance

实际速度

转矩限定

置给定

P08.10 P08.11

Note

PI parameter was not selected, the system quickly start to the

Figure 6-21: Speed adjustor Figure

high-speed, over-voltage fault may occur

(if no external

The integration time is set 0 (P07.02 = 0, P07.05 = 0) when no

braking resistor or brake unit), which is due to overshoot in

integral action, speed loop is a simple proportional regulator.

the rate of decline over the medium-range regenerative brake

system of the state energy feedback cause. It can be avoided

3． Speed regulator (ASR) P proportional gain and integral time

by adjusting PI parameter.

I is tuning.

3．Speed regulator (ASR) adjustment PI parameter in high / low

speed situations.

If the system is on high and low load operation has a rapid

response requirements, you can set ASR switching frequency

(P07.07). Usually the system is running at low frequencies, to

improve the dynamic response characteristics, can increase

proportional gain P and reduce integration time I. Generally in the

following order to adjust the speed regulator parameter:

1) Select the appropriate switch frequency P07.07.

2) Scaling at high speed and integration time gain P07.01

P07.02, ensure that the system does not occur and the

oscillation characteristics of a good dynamic response.

3) P07.04 proportional gain and integration time adjustment at

low speeds P07.05, to ensure that no low-frequency

oscillation and good dynamic response characteristics.

4．Speed regulator (ASR) of output after a delay wave filter to

obtain a given torque current. P07.03, P07.06, respectively, is the

time constant of ASR1 and ASR2outputwave filter.

Figure 6-22 speed

(ASR) step response and PI parameter

P07.08 speed limit mode

0～2【0】

Increase the proportional gain P, can speed up the dynamic

P07.09 speed limit channel 1

0～1【0】

response of the system; But P is too large, the system tends to

P07.10 speed limit channel 2

0～1【0】

oscillate.

P07.11 speed limit value 1

0.0％～100.0％【100.0％】

Reducing the integral time I, can accelerate the dynamic response

P07.12 speed limit value 2

0.0％～100.0％【100.0％】

of the system; But I too small, the overshoot is large and easy to

Function code P07.08 ~ P07.12 only valid in torque control

produce oscillations.

mode, the rest of the control is invalid.

Usually first adjust the proportional gain P, to ensure the system

By setting function code P07.08 ~ P07.12 under torque control

does not oscillate maximize the premise P; then adjust the

motor's speed limit value. In torque control mode if the motor

integration time I make the system both fast response without

rotational speed limit value. Internal torque instruction to switch

overshoot. Figure6-23 is P, I select a good speed step response

to the speed regulator (ASR) output, control motor speed is not

time curve

(velocity response curve can be analog output

out of control.

terminalAO1, AO2 observation, see P11 parameter group).

Speed limit mode:

0: Forward limit value by the speed limit channel 1 (P07.09)

setting, reverse limit value by the speed limit channel 2 (P07.10)

setting.

1: Reversible limit value is limited by the speed channel 1 (P07.09)

setting.

HSD2000 Series Servo Drive. Operation Manual V1.2 - page 3