i-MO HD2-3.7A-43 User manual

INSTRUCTION MANUAL
HD2
AC Variable Speed Inverter Drives
IMO Precision Controls Ltd. www.imopc.com

HD2 Series Inverter Preface
i
Preface
Thank you for choosing HD2 series inverter.
If not otherwise specified in this manual, the inverter always indicates HD2 series inverter, which is a
high-performance and multi-function inverter aiming to integrate the capability to drive both
synchronous motors and asynchronous motors, and support torque control, speed control, and
position control. The inverter is armed with advanced vector control technology and the latest digital
processor dedicated to motor control, thus enhancing product reliability and adaptability to the
environment. The inverter adopts customized and industrialized design to realize excellent control
performance through optimized functions and flexible applications.
To meet diversified customer demands, the inverter provides abundant expansion cards including
programmable card, PG card, communication card and I/O card to achieve various functions as
needed.
The programmable card adopts the mainstream development environment for customers to carry out
secondary development easily, fulfilling varied customized needs and reducing customer cost.
The PG card supports a variety of encoders like incremental encoders and resolver-type encoders, in
addition, it also supports pulse reference and frequency-division output. The PG card adopts digital
filter technology to improve EMC performance and to realize stable transmission of the encoder
signal over a long distance. It is equipped with encoder offline detection function to contain the impact
of system faults.
The inverter supports multiple types of popular communication modes to realize complicated system
solutions. It can be connected to the internet with the optional wireless communication card, by which
you can monitor the inverter state anywhere any time through mobile APP.
The inverter uses high power density design. Some power ranges carry built-in DC reactors and
braking units to save installation space. Through overall EMC design, it can satisfy the low noise and
low electromagnetic interference requirements to cope with challenging grid, temperature, humidity,
and dust conditions, thus greatly improving product reliability.
This operation manual presents installation wiring, parameter setup, fault diagnosis and trouble
shooting, and precautions related to daily maintenance. Read through this manual carefully before
installation to ensure the inverter is installed and operated in a proper manner to give full play to its
excellent performance and powerful functions.
We reserve the right to update the manual information without prior notice and have the
final interpretation for the manual content.

HD2 Series Inverter Contents
ii
Contents
Preface.............................................................................................................................................i
Contents.......................................................................................................................................... ii
1 Safety Precautions........................................................................................................................1
1.1 What this chapter contains ...............................................................................................1
1.2 Safety definition................................................................................................................1
1.3 Warning symbols..............................................................................................................1
1.4 Safety guidelines..............................................................................................................2
1.4.1 Delivery and installation.......................................................................................2
1.4.2 Commissioning and running.................................................................................3
1.4.3 Maintenance and component replacement...........................................................4
1.4.4 What to do after scrapping...................................................................................4
2 Quick Startup................................................................................................................................5
2.1 What this chapter contains ...............................................................................................5
2.2 Unpack inspection............................................................................................................5
2.3 Application confirmation....................................................................................................5
2.4 Environment confirmation.................................................................................................5
2.5 Installation confirmation....................................................................................................6
2.6 Basic commissioning........................................................................................................6
2.7 Safety standard related data.............................................................................................7
3 Product Overview..........................................................................................................................8
3.1 What this chapter contains ...............................................................................................8
3.2 Basic principle..................................................................................................................8
3.3 Product specifications.......................................................................................................9
3.4 Product nameplate.........................................................................................................11
3.5 Type designation key......................................................................................................12
3.6 Ratings of a single inverter.............................................................................................12
3.7 Parallel inverter models..................................................................................................13
3.8 Ratings of parallel products............................................................................................13
3.9 Structure diagram...........................................................................................................13
4 Installation Guidelines.................................................................................................................15
4.1 What this chapter contains .............................................................................................15
4.2 Mechanical installation ...................................................................................................15
4.2.1 Installation environment.....................................................................................15
4.2.2 Installation direction...........................................................................................16
4.2.3 Installation mode ...............................................................................................17
4.2.4 Single-unit installation........................................................................................18
4.2.5 Multiple-unit installation......................................................................................18
4.2.6 Vertical installation.............................................................................................19
4.2.7 Tilted installation................................................................................................20
4.3 Standard wiring of main circuit........................................................................................21

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4.3.1 Wiring diagram of main circuit for a single inverter .............................................21
4.3.2 Wiring diagram of main circuit for parallel inverters ............................................22
4.3.3 Main circuit terminal diagram .............................................................................22
4.3.4 Wiring procedure of the main circuit terminals....................................................25
4.4 Standard wiring of control circuit.....................................................................................26
4.4.1 Wiring diagram of basic control circuit................................................................26
4.4.2 Wiring diagram of control circuit for parallel inverters..........................................28
4.4.3 Input/output signal connection diagram..............................................................29
4.5 Wiring protection............................................................................................................30
4.5.1 Protect the inverter and input power cable in short-circuit...................................30
4.5.2 Protect the motor and motor cable in short circuit...............................................30
4.5.3 Protect motor and prevent thermal overload.......................................................30
4.5.4 Bypass connection.............................................................................................31
5 Basic Operation Guidelines.........................................................................................................32
5.1 What this chapter contains .............................................................................................32
5.2 Keypad introduction........................................................................................................32
5.3 Keypad display...............................................................................................................35
5.3.1 Displaying stopped-state parameters .................................................................35
5.3.2 Displaying running-state parameters..................................................................36
5.3.3 Displaying fault information................................................................................37
5.4 Operating the inverter through the keypad......................................................................37
5.4.1 Enter/exit menu .................................................................................................37
5.4.2 Editing a parameter list ......................................................................................42
5.4.3 Adding parameters to the parameter list displayed in stopped/running state .......43
5.4.4 Adding parameters to the user defined parameter list.........................................44
5.4.5 Editing user defined parameters ........................................................................45
5.4.6 Editing parameters in parameter groups ............................................................45
5.4.7 Monitoring states ...............................................................................................46
5.4.8 Autotuning motor parameters.............................................................................46
5.4.9 Backing up parameters......................................................................................47
5.4.10 System settings ...............................................................................................47
5.4.11 Power-on setup wizard.....................................................................................47
5.5 Basic operations.............................................................................................................48
5.5.1 What this section contains .................................................................................48
5.5.2 Common commissioning procedures .................................................................49
5.5.3 Vector control ....................................................................................................52
5.5.4 SVPWM control mode........................................................................................57
5.5.5 Torque control....................................................................................................66
5.5.6 Motor parameter................................................................................................71
5.5.7 Start/stop control ...............................................................................................76
5.5.8 Frequency setup................................................................................................81

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5.5.9 Analog input.......................................................................................................85
5.5.10 Analog output...................................................................................................88
5.5.11 Digital input......................................................................................................92
5.5.12 Digital output .................................................................................................102
5.5.13 Simple PLC ...................................................................................................107
5.5.14 Multi-step speed running................................................................................109
5.5.15 PID control......................................................................................................111
5.5.16 Run at wobbling frequency............................................................................. 116
5.5.17 Local encoder input ....................................................................................... 118
5.5.18 Commissioning procedures for closed-loop control, position control and spindle
positioning................................................................................................................ 118
5.5.19 Fault handling................................................................................................124
5.5.20 Tension control solutions................................................................................129
6 Function Parameter List............................................................................................................134
6.1 What this chapter contains ...........................................................................................134
6.2 Function parameter list.................................................................................................134
P00––Basic functions...............................................................................................135
P01––Start/stop control ............................................................................................139
P02––Parameters of motor 1....................................................................................145
P03––Vector control of motor 1 ................................................................................149
P04––V/F control......................................................................................................156
P05––Input terminals................................................................................................164
P06––Output terminals.............................................................................................172
P07––HMI................................................................................................................177
P08––Enhanced functions........................................................................................183
P09––PID control .....................................................................................................191
P10––Simple PLC and multi-step speed control .......................................................196
P11––Protection parameters ....................................................................................199
P12––Parameters of motor 2....................................................................................206
P13––Control parameters of synchronous motor ......................................................209
P14––Serial communication function........................................................................ 211
P15––Functions of communication expansion card 1................................................216
P16––Functions of communication expansion card 2................................................220
P17––Status viewing................................................................................................227
P18––Closed-loop control state check......................................................................232
P19––Expansion card state check............................................................................234
P20––Encoder of motor 1.........................................................................................236
P21––Position control...............................................................................................240
P22––Spindle positioning .........................................................................................246
P23––Vector control of motor 2 ................................................................................249
P24––Encoder of motor 2.........................................................................................251

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P25––Extension I/O card input functions ..................................................................254
P26––Output functions of expansion I/O card ...........................................................258
P27––Programmable expansion card functions ........................................................261
P28––Master/slave control functions ........................................................................264
P90––Tension control in speed mode .......................................................................267
P91––Tension control in torque mode.......................................................................271
P92––Customized tension control functions..............................................................274
P93––Tension control status viewing ........................................................................276
7 Troubleshooting........................................................................................................................279
7.1 What this chapter contains ...........................................................................................279
7.2 Indications of alarms and faults ....................................................................................279
7.3 Fault reset....................................................................................................................279
7.4 Fault history .................................................................................................................279
7.5 Inverter faults and solutions..........................................................................................279
7.5.1 Details of faults and solutions...........................................................................279
A fault occurred on the customized position..................................................................................287
Perform troubleshooting based on actual customized faults. ........................................................287
Device or ambient temperature is too high. ..................................................................................287
Lower the device or ambient temperature.....................................................................................287
Device or ambient temperature is too high. ..................................................................................287
Lower the device or ambient temperature.....................................................................................287
There is no data transmission between the communication card and the host controller (or PLC). 287
Check whether the communication card wiring is loose or dropped. .............................................287
The upgrade bootloader is missing...............................................................................................287
Contact us. ..................................................................................................................................287
AI1 wiring is disconnected............................................................................................................287
Check the wiring or replace the cables.........................................................................................287
AI2 wiring is disconnected............................................................................................................288
Check the wiring or replace the cables.........................................................................................288
AI4 wiring is disconnected............................................................................................................288
Check the wiring or replace the cables.........................................................................................288
7.5.2 Other state ......................................................................................................288
7.6 Analysis on common faults...........................................................................................288
7.6.1 Motor fails to work ...........................................................................................288
7.6.2 Motor vibrates..................................................................................................289
7.6.3 Overvoltage.....................................................................................................290
7.6.4 Undervoltage...................................................................................................290
7.6.5 Unusual heating of motor.................................................................................291
7.6.6 Inverter overheating.........................................................................................292
7.6.7 Motor stalls during ACC ...................................................................................293
7.6.8 Overcurrent .....................................................................................................294

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7.7 Countermeasures on common interference ..................................................................295
7.7.1 Interference on meter switches and sensors ....................................................295
7.7.2 Interference on communication........................................................................296
7.7.3 Failure to stop and indicator shimmering due to motor cable coupling ..............297
7.7.4 Leakage current and interference on RCD .......................................................297
7.7.5 Live device chassis..........................................................................................298
8 Maintenance and Hardware Fault Diagnosis .............................................................................299
8.1 What this chapter contains ...........................................................................................299
8.2 Periodical inspection ....................................................................................................299
8.3 Cooling fan...................................................................................................................301
8.4 Capacitor .....................................................................................................................302
8.4.1 Capacitor reforming .........................................................................................302
8.4.2 Electrolytic capacitor replacement....................................................................303
8.5 Power cable.................................................................................................................304
9 Communication.........................................................................................................................305
9.1 What this chapter contains ...........................................................................................305
9.2 Modbus protocol introduction........................................................................................305
9.3 Application of Modbus ..................................................................................................305
9.3.1 RS485.............................................................................................................305
9.3.2 RTU mode.......................................................................................................308
9.4 RTU command code and communication data.............................................................. 311
9.4.1 Command code 03H, reading N words (continuously up to 16 words) .............. 311
9.4.2 Command code 06H, writing a word.................................................................313
9.4.3 Command code 08H, diagnosis .......................................................................313
9.4.4 Command code 10H, continuous writing ..........................................................314
9.4.5 Data address definition ....................................................................................315
9.4.6 Fieldbus scale .................................................................................................319
9.4.7 Error message response..................................................................................320
9.4.8 Read/Write operation example.........................................................................322
9.5 Common communication faults.....................................................................................326
Appendix A Expansion Cards .......................................................................................................328
A.1 Model definition............................................................................................................328
A.2 Dimensions and installation..........................................................................................332
A.3 Wiring..........................................................................................................................334
A.4 IO expansion card (HD2-E-IO) .....................................................................................335
A.5 IO expansion card 2 (HD2-E-IO2) ................................................................................337
A.6 Programmable expansion card (HD2-E-PLC)...............................................................339
A.7 Communication cards ..................................................................................................342
A.7.1 Bluetooth communication card (HD2-E-BTP) and WIFI communication card
(HD2-E-WFP)...........................................................................................................342
A.7.2 PROFIBUS-DP communication card (HD2-E-PDP)..........................................344

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A.7.3 Ethernet communication card (HD2-E-ENET)..................................................345
A.7.4 CANopen communication card (HD2-E-COP) and CAN master/slave control
communication card (HD2-E-CAN) ...........................................................................346
A.7.5 PROFINET communication card (HD2-E-PRF)................................................348
A.7.6 Ethernet/IP communication card (HD2-E-EIP) and Modbus TCP communication
card (HD2-E-MTCP).................................................................................................350
A.8 PG expansion card function description........................................................................352
A.8.1 Sin/Cos PG card (HD2-E-PGISC)....................................................................352
A.8.2 UVW incremental PG card (HD2-E-PGI)..........................................................355
A.8.3 Resolver PG card (HD2-E-PGR)......................................................................357
A.8.4 Multifunction incremental PG card (HD2-E-PGIM) ...........................................359
A.8.5 24V incremental PG card (HD2-E-PGIM24).....................................................363
Appendix B Technical Data ..........................................................................................................366
B.1 What this chapter contains...........................................................................................366
B.2 Derated application......................................................................................................366
B.2.1 Capacity..........................................................................................................366
B.2.2 Derating ..........................................................................................................366
B.3 Grid specifications........................................................................................................367
B.4 Motor connection data..................................................................................................367
B.4.1 EMC compatibility and motor cable length .......................................................367
B.5 Application standards...................................................................................................368
B.5.1 CE marking .....................................................................................................368
B.5.2 EMC compliance declaration ...........................................................................368
B.6 EMC regulations..........................................................................................................368
B.6.1 inverter category C2........................................................................................369
B.6.2 inverter category C3 ........................................................................................369
Appendix C Dimension Drawings.................................................................................................370
C.1 What this chapter contains...........................................................................................370
C.2 Keypad structure .........................................................................................................370
C.2.1 Structure diagram ...........................................................................................370
C.2.2 Keypad installation bracket..............................................................................370
C.3 Inverter structure .........................................................................................................371
C.4 Dimensions ofAC 3PH 380V (-15%)–440V (+10%)......................................................371
C.4.1 Wall mounting dimensions...............................................................................371
C.4.2 Flange mounting dimensions...........................................................................373
C.4.3 Floor mounting dimensions .............................................................................375
C.6 Dimensions for parallel inverters ..................................................................................376

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C.6.1 Dimensions with the recommended mounting method.....................................376
C.6.2 Dimensions with the close mounting method ...................................................377
Appendix D Optional PeripheralAccessories................................................................................379
D.1 What this chapter contains...........................................................................................379
D.2 Wiring of peripheral accessories ..................................................................................379
D.3 Power supply...............................................................................................................381
D.4 Cables.........................................................................................................................381
D.4.1 Power cables ..................................................................................................381
D.4.2 Control cables.................................................................................................382
D.4.3 Recommended cable sizes .............................................................................382
D.4.4 Cable sizes for parallel inverters......................................................................383
D.4.5 Cable configuration for parallel inverters..........................................................384
D.4.6 Cable arrangement .........................................................................................385
D.4.7 Insulation inspection........................................................................................385
D.5 Breaker and electromagnetic contactor........................................................................386
D.5.1 For a single inverter ........................................................................................386
D.5.2 For parallel inverters .......................................................................................386
D.6 Reactors......................................................................................................................387
D.6.1 For a single inverter ........................................................................................388
D.6.2 For parallel inverters .......................................................................................389
D.7 Filters..........................................................................................................................390
D.7.1 Filter model description ...................................................................................391
D.7.2 Filter model selection ......................................................................................391
D.8 Braking system............................................................................................................392
D.8.1 Braking component selection...........................................................................392
D.8.2 Braking resistor cable selection.......................................................................394
D.8.3 Braking resistor installation..............................................................................394
Appendix E STO Function Description .........................................................................................396
E.1 STO function logic table...............................................................................................396
E.2 STO channel delay description.....................................................................................396
E.3 STO function installation checklist................................................................................397
Appendix F Further Information....................................................................................................398
F.1 Product and service queries .........................................................................................398
F.2 Feedback on IMO inverter manuals..............................................................................398
F.3 Documents on the Internet............................................................................................398

HD2 Series Inverter Safety Precautions
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1 Safety Precautions
1.1 What this chapter contains
Read this manual carefully and follow all safety precautions before moving, installing, operating, and
servicing the inverter. If these safety precautions are ignored, physical injury, death, or equipment
damage may occur.
Electrical equipment should be installed, operated, service and maintained only by competent
personnel. No responsibility is assumed by IMO Precision Controls Ltd for any consequences arising
out of the use of this product.
1.2 Safety definition
Danger: Serious physical injury or even death may occur if related requirements are not followed.
Warning: Physical injury or damage to the equipment may occur if related requirements are not
followed.
Note: Actions taken to ensure proper operation.
Qualified electricians: People working on the device should take part in professional electrical and
safety training, receive the certification and be familiar with all steps and requirements of installing,
commissioning, operating, and maintaining the device to prevent any emergencies.
1.3 Warning symbols
Warnings caution you about conditions which can result in serious injury or death and/or damage to
the equipment, and advice on how to avoid the danger. The following warning symbols are used in
this manual.
Symbols
Name
Instruction
Abbreviation
Danger
Danger
Serious physical injury or even death
may occur if related requirements
are not followed.
Warning
Warning
Physical injury or damage to the
equipment may occur if related
requirements are not followed.
Forbid
Electrostatic
discharge
The PCBA may be damaged if
related requirements are not followed
Hot
Hot sides
The inverter base may become hot.
Do not touch.
Electric
shock
As high voltage still presents in the
bus capacitor after power off, wait for
at least five minutes (or 15 min / 25
min, depending on the warning
symbols on the machine) after power
off to prevent electric shock.

HD2 Series Inverter Safety Precautions
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Symbols
Name
Instruction
Abbreviation
Read
manual
Read the operation manual before
operating on the equipment.
Note
Note
Actions taken to ensure proper
operation.
Note
1.4 Safety guidelines
Only trained and qualified electricians are allowed to carry out related
operations.
Do not perform wiring, inspection, or component replacement when power
supply is applied. Ensure all the input power supplies are disconnected
before wiring and inspection and wait for at least the time designated on the
inverter or until the DC bus voltage is less than 36V. The minimum waiting
time is listed in the table below.
Inverter model
Minimum waiting time
380V
1.5kW–110kW
5 min
380V
132kW–315kW
15 min
380V
Above 355kW
25 min
Do not refit the inverter unless authorized; otherwise, fire, electric shock or
other injuries may occur.
The base of the radiator may become hot during running. Do not touch to
avoid hurt.
The electrical parts and components inside the inverter are electrostatic.
Take measures to prevent electrostatic discharge during related operation.
1.4.1 Delivery and installation
Install the inverter on fire-retardant material and keep the inverter away from
combustible materials.
Connect the optional braking parts (such as braking resistors, braking units,
or feedback units) according to the wiring diagram.
Do not operate on a damaged or incomplete inverter.
Do not touch the inverter with wet items or body parts; otherwise, electric
shock may occur.
Note:
Select appropriate tools for delivery and installation to ensure a safe and proper running of the
inverter and avoid physical injury or death. To ensure physical safety, the installation staff should
take mechanical protective measures like wearing safety shoes and working uniforms.
Protect the inverter against physical shock or vibration during delivery and installation.
Do not carry the inverter by its front cover only as the cover may fall off.
Installation site should be away from children and public places.

HD2 Series Inverter Safety Precautions
-3-
The inverter should be used in proper environment (see section 4.2.1 Installation environment for
details).
Prevent the screws, cables, and other conductive parts from falling into the inverter.
As leakage current of the inverter during running may exceed 3.5mA, ground properly and
ensure the grounding resistance is less than 10Ω. The conductivity of PE grounding conductor is
the same with that of the phase conductor (with the same cross-sectional area).
R, S and T are the power input terminals, while U, V and W are output motor terminals. Connect
the input power cables and motor cables properly; otherwise, damage to the inverter may occur.
1.4.2 Commissioning and running
Disconnect all power sources applied to the inverter before terminal wiring and
wait for at least the time designated on the inverter after disconnecting the
power sources.
High voltage presents inside the inverter during running. Do not carry out any
operation on the inverter during running except for keypad setup. For products
at voltage levels of 4 or 6, the control terminals form extra-low voltage circuits.
Therefore, you need to prevent the control terminals from connecting to
accessible terminals of other devices.
The inverter may start up by itself when P01.21 (restart after power outage) is
set to 1. Do not get close to the inverter and motor.
The inverter cannot be used as "Emergency-stop device".
The inverter cannot act as an emergency brake for the motor; it is a must to
install mechanical brake device.
During driving permanent magnet synchronous motor, besides
above-mentioned items, the following work must be done before installation
and maintenance.
•Disconnect all the input power sources including main power and control
power.
•Ensure the permanent-magnet synchronous motor has been stopped, and
the voltage on output end of the inverter is lower than 36V.
•After the permanent-magnet synchronous motor is stopped, wait for at least
the time designated on the inverter, and ensure the voltage between "+" and
"-" is lower than 36V.
•During operation, it is a must to ensure the permanent-magnet synchronous
motor cannot run again by the action of external load; it is recommended to
install effective external brake device or disconnect the direct electrical
connection between permanent-magnet synchronous motor and the
inverter.
Note:

HD2 Series Inverter Safety Precautions
-4-
Do not switch on or switch off input power sources of the inverter frequently.
If the inverter has been stored for a long time without use, set the capacitance and carry out
inspection and pilot run on the inverter before use. For details about capacitor reforming, see
chapter 8 Maintenance and Hardware Fault Diagnosis.
Close the front cover before running; otherwise, electric shock may occur.
1.4.3 Maintenance and component replacement
Only well-trained and qualified professionals are allowed to perform
maintenance, inspection, and component replacement on the inverter.
Disconnect all the power sources applied to the inverter before terminal
wiring and wait for at least the time designated on the inverter after
disconnecting the power sources.
Take measures to prevent screws, cables, and other conductive matters
from falling into the inverter during maintenance and component
replacement.
Note:
Use proper torque to tighten the screws.
Keep the inverter and its parts and components away from combustible materials during
maintenance and component replacement.
Do not carry out insulation voltage-endurance test on the inverter or measure the control
circuits of the inverter with megameter.
Take proper anti-static measures on the inverter and its internal parts during maintenance and
component replacement.
1.4.4 What to do after scrapping
The heavy metals inside the inverter should be treated as industrial effluent.
When the life cycle ends, the product should enter the recycling system.
Dispose of it separately at an appropriate collection point instead of placing it
in the normal waste stream.

HD2 Series Inverter Quick Startup
-5-
2 Quick Startup
2.1 What this chapter contains
This chapter introduces the basic principles required during installation commissioning. You can
realize quick installation commissioning by following these principles.
2.2 Unpack inspection
Check as follows receiving products.
1. Check whether the packing box is damaged or dampened.
2. Check the model identifier on the exterior surface of the packing box is consistent with the
purchased model.
3. Check whether the interior surface of packing box is improper, for example, in wet
condition, or whether the enclosure of the inverter is damaged or cracked.
4. Check whether the nameplate of the inverter is consistent with the model identifier on the
exterior surface of the packing box.
5. Check whether the accessories (including user's manual, control keypad and expansion
card units) inside the packing box are complete.
If any problems are found, contact the local IMO dealer or office.
2.3 Application confirmation
Check the following items before operating on the inverter.
1. Check the load mechanical type to be driven by the inverter, and check whether the inverter
will be overloaded during actual use and whether the inverter power class needs to be
enlarged?
2. Check whether the actual running current of load motor is less than rated inverter current.
3. Check whether the control precision required by actual load is the same with the control
precision provided by the inverter.
4. Check whether the grid voltage is consistent with rated inverter voltage.
5. Check whether the functions required need an optional expansion card to be realized.
2.4 Environment confirmation
Check the following items before use.
1. Check whether the ambient temperature of the inverter during actual application exceeds
40°C. If yes, derate 1% for every additional 1°C. In addition, do not use the inverter when
the ambient temperature exceeds 50°C.
2. Check whether ambient temperature of the inverter during actual application is below -10°C.
If yes, install heating facility.
3. Check whether the altitude of the application site exceeds 1000m. If yes, derate 1% for
every increase of 100m; when the installation site altitude exceeds 3000m, consult the local
IMO dealer or office.

HD2 Series Inverter Quick Startup
-6-
4. Check whether the humidity of application site exceeds 90%, if yes, check whether
condensation occurred, if condensation does exist, take additional protective measures.
5. Check whether there is direct sunlight or animal intrusion in the application site, if yes, take
additional protective measures.
6. Check whether there is dust, explosive, or combustible gases in the application site, if yes,
take additional protective measures.
Note: For a cabinet installed inverter, its ambient temperature is the air temperature inside the
cabinet.
2.5 Installation confirmation
After the inverter is installed properly, check the installation condition of the inverter.
1. Check whether the input power cable and current-carrying capacity of the motor cable fulfill
actual load requirements.
2. Check whether peripheral accessories (including input reactors, input filters, output
reactors, output filters, DC reactors, braking units, and braking resistors) of the inverter are
of correct type and installed properly; check whether the installation cables fulfill
requirements on current-carrying capacity.
3. Check whether the inverter is installed on fire-retardant materials; check whether the hot
parts (reactors, braking resistors, and so on) are kept away from combustible materials.
4. Check whether all control cables are routed separately from power cables based on EMC
requirements.
5. Check whether all grounding systems are properly grounded according to requirements.
6. Check whether inverter installation clearances meet the requirements in the operation
manual.
7. Check whether the inverter installation mode complies with the requirements in the
operation manual. Vertical installation should be adopted whenever possible.
8. Check whether inverter external connection terminals are securely wired with proper
moment.
9. Check whether there are redundant screws, cables, or other conductive objects inside the
inverter. If yes, take them out.
2.6 Basic commissioning
Carry out basic commissioning according to the following procedures before operating on the
inverter.
1. Select motor type, set motor parameters, and select inverter control mode according to
actual motor parameters.
2. Check whether autotuning is needed? If possible, disconnect the motor load to perform
dynamic parameter autotuning. If the load cannot be disconnected, perform static
autotuning.
3. Adjust the acceleration and deceleration time based on actual load working conditions.

HD2 Series Inverter Quick Startup
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4. Perform device commissioning by means of jogging. Check whether the motor runs in the
direction required. If no, it is recommended to change the motor running direction by
exchanging the motor wiring of any two phases.
5. Set all the control parameters and carry out actual operation.
2.7 Safety standard related data
IEC/EN 61508 (Class A system)
ISO 13849**
SIL
PFH
HFT
SFF
λdu
λdd
PTI*
PL
CCF
MTTFd
DC
Category
2
8.73x10-10
1
71.23%
1.79x10-9
0
1 year
d
57
343.76
years
60%
3
* PTI: Proof test interval
** Depends on the the classification defined on the EN ISO 13849-1.

HD2 Series Inverter Product Overview
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3 Product Overview
3.1 What this chapter contains
This chapter mainly introduces the operation principles, product features, layouts, nameplates, and
model instructions.
3.2 Basic principle
The inverter is used to control asynchronous AC induction motor and permanent-magnet
synchronous motor. The figure below shows the main circuit diagram of the inverter. The rectifier
converts 3PH AC voltage into DC voltage, and the capacitor bank of intermediate circuit stabilizes the
DC voltage. The inverter converts DC voltage into the AC voltage used by AC motor. When the circuit
voltage exceeds the maximum limit value, external braking resistor will be connected to intermediate
DC circuit to consume the feedback energy.
R
S
T
U
V
W
（+）
（-）
PE PE
PB
Figure 3-1380V (15kW and lower) main circuit diagram
R
S
T
U
V
W
（+）
（-）
PE PE
PB
Figure 3-2380V (18.5kW–110kW, 110kW included) main circuit diagram

HD2 Series Inverter Product Overview
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R
S
T
U
V
W
（+）
（-）
DC reactor
P1
PE PE
Figure 3-3380V (132kW and higher) main circuit diagram
Note:
⚫The 380V 132kW and higher inverter models can be connected to external DC reactors. Before
connection, remove the copper bar between P1 and (+). The 380V 132kW and higher inverter
models can be connected to external braking units. DC reactors and braking units are optional
parts.
⚫The 380V 18.5kW–110kW (inclusive) inverter models are equipped with built-in DC reactors.
⚫The 380V 37kW and lower inverter models carry built-in braking units, which are optional for the
45kW–110kW (inclusive) models. The models with built-in braking units can also be connected to
external braking resistors. Braking resistors are optional parts.
3.3 Product specifications
Function description
Specification
Power input
Input voltage (V)
AC 3PH 380V (-15%)–440V (+10%) Rated voltage: 380V
AC 3PH 520V (-15%)–690V (+10%) Rated voltage: 660V
Input current (A)
Refer to section 3.6 Ratings.
Input frequency (Hz)
50Hz or 60Hz, allowable range: 47–63Hz
Power
output
Output voltage (V)
0–input voltage
Output current (A)
Refer to section 3.6 Ratings.
Output power (kW)
Refer to section 3.6 Ratings.
Output frequency (Hz)
0–400Hz
Technical
control
performance
Control mode
Space voltage vector control, sensorless vector control
(SVC), and feedback vector control (FVC)
Motor type
Asynchronous motor, permanent-magnet synchronous
motor
Speed regulation ratio
Asynchronous motor 1: 200 (SVC); Synchronous motor 1:
20 (SVC), 1:1000 (FVC)
Speed control precision
±0.2% (SVC), ±0.02% (FVC)
Speed fluctuation
± 0.3% (SVC)

HD2 Series Inverter Product Overview
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Function description
Specification
Torque response
< 20ms (SVC); <10ms (FVC)
Torque control precision
10% (SVC); 5% (FVC)
Starting torque
Asynchronous motor: 0.25Hz/150% (SVC)
Synchronous motor: 2.5 Hz/150% (SVC)
0Hz/200% (FVC)
Overload capacity
150% of rated current: 1min
180% of rated current: 10s
200% of rated current: 1s
Running
control
performance
Frequency setup mode
Digital, analog, pulse frequency, multi-step speed
running, simple PLC, PID, Modbus communication,
PROFIBUS communication, and so on.
Realizes switchover between the set combination and the
set channel
Automatic voltage
regulation function
Keeps the output voltage constant when grid voltage
changes.
Fault protection function
Fault protection function
Provides over 30 fault protection functions: overcurrent,
overvoltage, undervoltage, over-temperature, phase loss
and overload, and so on
Speed tracking restart
function
Realizes impact-free starting of the motor in rotating.
Note: Only available for the 4kW and higher inverter
models.
Retention at transient
voltage drop
Keeps running with regenerative energy when the grid
transiently drops.
Motor switchover
Supports two groups of motor parameters to control
motor switchover.
Peripheral
interface
Terminal analog input
resolution
No more than 20mV
Terminal digital input
resolution
No more than 2ms
Analog input
2 inputs. AI1: 0–10V/0–20mA; AI2: -10–10V
Analog output
1 output. AO1: 0–10V/0–20mA
Digital input
Four regular inputs; max. frequency: 1kHz; internal
impedance: 3.3kΩ
Two high-speed inputs; max. frequency: 50kHz; supports
quadrature encoder input; with speed measurement
function
Digital output
One high-speed pulse output; max. frequency: 50kHz
One Y terminal open collector output

HD2 Series Inverter Product Overview
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Function description
Specification
Relay output
Two programmable relay outputs
RO1A: NO, RO1B NC, RO1C: common
RO2A: NO, RO2B: NC, RO2C: common
Contact capacity: 3A/AC250V, 1A/DC30V
Extension interface
Three extension interfaces: SLOT1, SLOT2, and SLOT3
(only on the control boards of 7.5kW and higher inverter
models)
Expandable PG card, programmable expansion card,
communication card, I/O card, and so on
Others
Installation mode
Supports wall mounting, floor mounting and flange
mounting.
Temperature of running
environment
-10–50°C; Derating is required when the ambient
temperature exceeds 40°C.
IP rating
IP20
Pollution degree
Degree 2
Cooling mode
Forced air cooling
Braking unit
For 380V 37kW and lower: standard part, already built in
For 380V 45kW–110kW (inclusive): optional part, built-in
only
For all 660V models: optional part, externally connected
only
EMC filter
The conductivity and transmission of all 380V inverter
models can meet the IEC61800-3 C3 requirements.
Optional external filters can be used to meet the
IEC61800-3 C2 requirements.
Note: Comply with the EMC regulations in the appendix
in the manual and select the motor and motor cables
according to the technical requirements in the appendix in
the manual.
3.4 Product nameplate
Figure 3-4 Product nameplate