Parameter Settings During Inertia And Speed Control Loop Auto-Tuning: T3 - YASKAWA U1000 Technical Manual

n T2-15: Pull-In Current Level for PM Motor Tuning
Sets the amount of pull-in current used to tune the d-Axis and q-Axis inductance. Set as a percentage of the motor rated current.
No.
T2-15
n T2-16: PG Number of Pulses Per Revolution for PM Motor Tuning
Enter the number of pulses from the PG encoder per motor rotation. Set the actual number of pulses for one full motor rotation.
No.
T2-16 PG Number of Pulses Per Revolution for PM Motor Tuning
n
T2-17: Encoder Z Pulse Offset (ΔΘ)
Sets the amount of compensation or offset in 0.1 degree units to fine-tune the home position. Perform Z Pulse tuning when
the amount of offset needed for the Z Pulse is unknown or if the PG encoder is replaced.
No.
T2-17
u

Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3

These tuning methods apply a sine wave test signal to the system. The drive estimates the system inertia by the measuring the
response and automatically sets the parameters listed in
Parameter
C5-01
C5-17 (C5-37)
C5-18 (C5-38)
n5-02
n5-03
n T3-01: Inertia Tuning Frequency Reference
Sets the frequency of the test signal applied to the motor during Inertia Tuning. Although this setting rarely needs to be changed,
increasing the value may be beneficial when working with high inertia loads.
No.
T3-01
n T3-02: Inertia Tuning Reference Amplitude
Enter the amplitude of the test signal applied to the motor during Inertia Tuning. Although this setting rarely needs to be
changed, decrease the setting if a large load inertia causes problems during Inertia Tuning. Adjust T3-02 if a fault occurs when
T3-01 is set to a low value.
No.
T3-02
n T3-03: Motor Inertia
Enter the inertia of the motor. This value is used to determine the load inertia using the test signal response. The default setting
is for a Yaskawa standard motor as listed in the motor inertia table.
YASKAWA ELECTRIC SIEP C710636 04D U1000 Industrial MATRIX Drive Technical Manual
Name
Pull-In Current Level for PM Motor Tuning
Name
Name
Encoder Z Pulse Offset (ΔΘ)
Table 4.22 Parameters Adjusted by Inertia and Speed Loop Auto-Tuning
Description
ASR Proportional Gain 1
Motor Inertia
Motor Inertia Ratio
Motor Acceleration Time
Feed Forward Control Ratio Gain
Name
Inertia Tuning Frequency Reference
Name
Inertia Tuning Reference Amplitude
Setting Range
Setting Range
Setting Range
-180.0 to 180.0 deg
Table 4.22.
8
Inertia Tuning
–
YES
YES
YES
YES
Setting Range
Setting Range
4.7 Auto-Tuning
0 to 120%
1 to 15000 ppr 1024 ppr
T1-01 or T2-01
9
Speed Control Loop (ASR)
Tuning
YES
YES
YES
YES
YES
0.1 to 20.0 Hz
0.1 to 10.0 rad
Default
30%
Default
Default
0.0 deg
4
Default
3.0 Hz
Default
0.5 rad
169