Parameter Settings During Inertia And Speed Control Loop Auto-Tuning: T3 - YASKAWA A1000 Technical Manual

4.7 Auto-Tuning

T2-13: Induced Voltage Constant Unit Selection
Selects the units used for setting the induced voltage coefficient.
No.
T2-13
Setting 0: mV (min -1 )
Setting 1: mV (rad/s)
Note: If T2-13 is set to 0, then the drive will use E5-24 (Motor Induction Voltage Constant 2 (for PM Motors)), and will automatically
set E5-09 (Motor Induction Voltage Constant 1 (for PM Motors)) to 0.0. If T2-13 is set to 1, then the drive will use E5-09 and
will automatically set E5-25 to 0.0.

T2-14: PM Motor Induced Voltage Constant (Ke)
Enter the motor induced voltage constant (Ke).
No.
T2-14

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

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

T2-17: Encoder Z-Pulse Offset ()
Sets the amount of compensation or offset in 0.1 degree units in order to fine-tune the home position. If the amount of
offset needed for the Z pulse is unknown or if the PG encoder is replaced, perform Z pulse tuning.
No.
T2-17
 Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3
These tuning methods apply a sine wave test signal to the system. By the measuring the response the drive estimates the
system inertia. It automatically sets parameters listed in
Table 4.28 Parameters Adjusted by Inertia and Speed Loop Auto-Tuning
Parameter
C5-01
C5-17 (C5-37)
C5-18 (C5-38)
L3-24 Motor Acceleration Time for Inertia Calculations
L3-25
n5-02
n5-03
132
Name
Induced Voltage Constant Unit Selection
Name
PM Motor Induced Voltage Constant
Name
Pull-In Current Level for PM Motor Tuning
Name
PG Number of Pulses Per Revolution for PM Motor Tuning
Name
Encoder Z-Pulse Offset
Description
ASR Proportional Gain 1
Motor Inertia
Motor Inertia Ratio
Load Inertia Ratio
Motor Acceleration Time
Feed Forward Control Ratio Gain
Table 4.28.
8
Inertia Tuning
N/A
YES
YES
YES
YES
YES
YES
YASKAWA ELECTRIC SIEP C710616 27G YASKAWA AC Drive A1000 Technical Manual
Setting Range
0, 1
Setting Range
0.0 to 2000.0 Depending on T2-02
Setting Range
0 to 120%
Setting Range
1 to 15000 ppr
Setting Range
-180.0 to 180.0 deg
T1-01 or T2-01
Speed Control Loop (ASR) Tuning
YES
YES
YES
YES
YES
YES
YES
Default
1
Default
Default
30%
Default
1024 ppr
Default
0.0 deg
9