Before Auto-Tuning The Drive - YASKAWA U1000 Technical Manual

4.7 Auto-Tuning
n Inertia Tuning and Speed Control Loop Auto-Tuning
Inertia Tuning can be performed when the drive is using CLV control for either IM or PM motors. Inertia Tuning automatically
calculates load and motor inertia, and optimizes settings related to Feed Forward control.
ASR Gain Auto-Tuning performs the same operation as Inertia Tuning, while also optimizing speed control loop settings.
Type
IM
Motor
Inertia Tuning
PM
Motor
IM
Motor
ASR Gain Auto-
Tuning
PM
Motor
Note: Inertia Tuning and ASR Gain Auto-Tuning may not be available when gears are between the machine and the motor shaft.
Table 4.20 explains the data that must be entered to perform the Inertia Tuning and ASR Gain Auto-Tuning.
Tuning for Permanent Magnet Motors on page 158
Input Value
Control Mode
Test signal frequency
Test signal amplitude
Motor inertia
System response frequency
u

Before Auto-Tuning the Drive

Check the items below before Auto-Tuning the drive.
n Basic Auto-Tuning Preparations
• Auto-Tuning requires the user to input data from the motor nameplate or motor test report. Make sure this data is available
before Auto-Tuning the drive.
• For best performance, the drive input supply voltage must be at least equal to or greater than the motor rated voltage.
Note: Better performance is possible when using a motor with a base voltage that is lower than the input supply voltage (20 V for 200 V class
models and 40 V for 400 V class models). This is particularly important when operating the motor above 90% of base speed, where high
torque precision is required.
• To cancel Auto-Tuning, press the STOP key on the digital operator.
• When using a motor contactor, make sure it is closed throughout the Auto-Tuning process.
• When using Auto-Tuning for motor 2, make sure motor 2 is connected to the drive output when performing the tuning.
Table 4.21 describes digital input and output terminal operation while Auto-Tuning is executed.
160
Table 4.19 Inertia and Speed Control Loop Tuning
Setting Control Mode
T1-01 = 8 CLV
T2-01 = 8 CLV/PM
T1-01 = 9 CLV
T2-01 = 9 CLV/PM
Table 4.20 Auto-Tuning Input Data
Input Parameter
A1-02
T3-01
T3-02
T3-03
T3-04
Application Conditions and Benefits
Allows the motor to rotate at a certain speed and applies a test signal. The response
to the test signal is analyzed and the necessary adjustments are made to parameters
controlling the Feed Forward function.
Performs the same operation as Inertia Tuning, while also adjusting the ASR gain
according to the test signal response.
for details.
Unit
–
Hz
rad
2
kgm
Hz
YASKAWA ELECTRIC SIEP C710636 04D U1000 Industrial MATRIX Drive Technical Manual
Tuning Type (T1-01 or T2-01)
8
Inertia Tuning ASR Gain Tuning
3, 7
YES
YES
YES
–
Refer to Auto-
9
3, 7
YES
YES
YES
YES