Flux Vector Control; Pg Speed Control Card Settings - YASKAWA CIMR-MC5A20P4 Instruction Manual

Basic Operation

6.3.1 PG Speed Control Card Settings

6.3

Flux Vector Control

6.3.1 PG Speed Control Card Settings

6
With flux vector control (vector control with PG), make the settings for the PG Speed Control Card, select the
zero-speed operation method, set the various autotuning constants, and then adjust the gain of the speed control
loop.
Always perform auto- -tuning for motor unit separately before vector control operation. Vector control is not
effective without autotuning.
To ensure high-accuracy speed control, use a motor specifically designed for vector control with an integrated
PG.
When setting up a PG (encoder), connect it directly to the motor shaft. If the PG is connected to the motor via
gearing or belts, responses can be delayed by backlash or torsion; the delayed responses can generate oscillation
and make control impossible.
When continuously operating the unit at low speeds with a heavy load, reduce the carrier frequency (C6- -01)
to 2 kHz.
Available PG Speed Control Cards
J
There are 4 models of PG Speed Control Cards, but only 2 models can be used with vector control.
D
PG-B2: Phase-A/Phase-B pulse inputs, complementary output
PG-X2: Phase-A/Phase-B/Phase-Z pulse inputs, line drivers
Select the Card according to the application and install it in the Inverter as described in 3.7 Installing
D
and Wiring PG Speed Control Cards.
PG Constant: F1-01
J
Set the PG (pulse generator or encoder) constant in pulses/revolution.
D
Set the number of phase-A or phase-B pulses in one motor revolution.
D
User User
Constant
Number
F1-01 PG constant
PG Rotation Direction: F1-05
J
This constant is used to coordinate the PG's rotation direction with the motor's rotation direction.
D
The setting for the standard applicable Yaskawa PG (made by Thermtac) is an advanced phase A for
forward rotation.
Generally, phase A leads when the PG rotates in the clockwise direction (looking from the input axis).
D
When a forward reference is output, the motor rotates in the counterclockwise direction (looking from
the output axis).
Set whether phase A or phase B leads when the motor operates in the forward direction.
D
User User
Constant
Number
F1-05 PG rotation
Settings
D
Setting
0
Phase A leads with forward rotation. (Phase B leads with reverse rotation.)
1
Phase B leads with forward rotation. (Phase A leads with reverse rotation.)
Change
during during Setting Setting
Name
Opera- Range
tion
0 to 60000
Change
during during Setting Setting
Name
Opera- Range
tion
0 1
- 22
Valid Access Levels
Factory Factory
Unit
Open Loop
Setting
Vector
p/r 600
Valid Access Levels
Factory Factory
Unit
Open Loop
Setting
Vector
- - 0
Function
Flux Vector
Q
Flux Vector
B