YASKAWA A1000 Technical Manual page 122
High performance vector control drive
type: cimr-a series
models: 200 v class: 0.55 to 110 kw,
400 v class: 0.55 to 630 kw
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Also See for A1000:
- Technical manual (544 pages) ,
- Quick start manual (358 pages) ,
- Installation manual (70 pages)
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4.7 Auto-Tuning
Input
Input Value
Parameter
Control Mode
A1-02
Motor Code
T2-02
Motor Type
T2-03
Motor rated power
T2-04
Motor rated voltage
T2-05
Motor rated current
T2-06
Motor rated frequency
T2-07
Number of motor poles
T2-08
Motor rated Speed
T2-09
Stator 1 Phase resistance
T2-10
d-axis inductance
T2-11
q-axis inductance
T2-12
Induced Voltage constant
T2-13
Unit Selection
Voltage constant
T2-14
Tuning pull-in current
T2-15
PG Number of pulses per
T2-16
revolution
Z Pulse Offset
T2-17
<1> Input the motor code when using the YASKAWA motor. Select FFFF when using the motor by other manufacturers.
<2> Input data is needed for CLV/PM only.
<3> Depends on T2-13 setting.
Inertia Tuning and Speed Control Loop Auto-Tuning
Inertia Tuning can be performed when the drive is using Closed Loop Vector control for either IM or PM motors. Inertia
Tuning automatically calculates load and motor inertia, and optimizes settings related to the KEB Ride-Thru function
(KEB 2) and Feed Forward control.
ASR Gain Auto-Tuning performs the same operation as Inertia Tuning, but also optimizes speed control loop settings.
Type
Inertia Tuning
ASR Gain Auto-Tuning
Note: Inertia Tuning and ASR Gain Auto-Tuning might not be available if gears are between the machine and the motor shaft.
Table 4.26
explains that data that must be entered in order to perform the Inertia Tuning and ASR Gain Auto-Tuning.
Refer to
Auto-Tuning for Permanent Magnet Motors on page 121
Input Value
Control Mode
Test signal frequency
Test signal Amplitude
Motor inertia
System response frequency
122
Table 4.24 Auto-Tuning Input Data
Unit
0
Motor Parameter Settings
–
5, 6, 7
5
–
FFFF
FFFF
<1>
–
N/A
N/A
kW
N/A
YES
Vac
N/A
YES
A
N/A
YES
Hz
N/A
YES
–
N/A
YES
-1
N/A
N/A
min
YES
YES
mH
YES
YES
mH
YES
YES
–
YES
YES
YES
YES
<3>
%
N/A
N/A
–
YES
N/A
YES
<2>
deg
YES
N/A
YES
<2>
(mech.)
Table 4.25 Inertia and Speed Control Loop Tuning
Setting
IM Motor
T1-01 = 8
PM Motor
T2-01 = 8
IM Motor
T1-01 = 9
PM Motor
T2-01 = 9
Table 4.26 Auto-Tuning Input Data
Input Parameter
A1-02
T3-01
T3-02
T3-03
T3-04
Tuning Type (T2-01)
2
1
Stationary
Stationary
Stator
Resistance
6, 7
5
6, 7
5, 6, 7
–
–
–
N/A
YES
YES
N/A
YES
YES
YES
N/A
YES
YES
YES
N/A
YES
YES
YES
YES
N/A
YES
N/A
N/A
YES
YES
YES
N/A
YES
N/A
YES
N/A
YES
N/A
N/A
N/A
YES
N/A
N/A
N/A
YES
N/A
N/A
N/A
YES
N/A
N/A
N/A
YES
N/A
N/A
N/A
N/A
YES
YES
N/A
N/A
YES
N/A
<2>
<2>
N/A
YES
N/A
<2>
<2>
Control Mode
CLV
Lets the motor rotate at a certain speed and applies a test signal. The response to
the test signals are analyzed, and adjustments are made to parameters controlling
CLV/PM
the Feed Forward and KEB Ride-Thru functions (KEB 2, L2-29 = 1).
CLV
Performs the same operation as Inertia Tuning, but also adjusts the ASR gain
according to the response to the test signal.
CLV/PM
for details.
Unit
–
Hz
rad
2
kgm
Hz
YASKAWA ELECTRIC SIEP C710616 27G YASKAWA AC Drive A1000 Technical Manual
13
3
11
High
Z-Pulse
Back EMF
Frequency
Offset
Constant
Injection
7
7
6, 7
–
–
–
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
Application Conditions and Benefits
Tuning Type (T1-01 or T2-01)
8
Inertia Tuning
3, 7
YES
YES
YES
N/A
14
Rotational
5
6
7
–
–
–
YES
YES
YES
YES
YES
YES
YES
YES
YES
YES
YES
YES
YES
N/A
N/A
YES
YES
YES
N/A
YES
YES
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
YES
YES
YES
N/A
N/A
YES
N/A
N/A
N/A
9
ASR Gain Tuning
3, 7
YES
YES
YES
YES
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