YASKAWA A1000 Technical Manual page 124

4.7 Auto-Tuning
Stationary Auto-Tuning 1 and 2
• Perform these tuning methods when using a vector control mode but Rotational Auto-Tuning cannot be performed.
• Check the area around the motor to ensure that nothing will accidentally cause the motor to rotate during the
Auto-Tuning process.
• Perform Stationary Auto-Tuning 1 when the motor test report is not available. If the motor test report is available,
perform Stationary Auto-Tuning 2 instead.
Stationary Auto-Tuning 3
NOTICE: Electrical Shock Hazard. When executing Stationary Auto-Tuning 3, voltage is applied to the motor even before it rotates. Do
not touch the motor until Auto-Tuning is completed. Failure to comply may result in injury from electrical shock.
NOTICE: When performing Stationary Auto-Tuning 3 for a motor while it is connected to the machine, such as a conveyor, do not
release the holding brake during Auto-Tuning.
Stationary Auto-Tuning 3 can be used in either Open Loop Vector control or Closed Loop Vector control. Set T1-01 to 5
and enter the input data from the motor nameplate. If the RUN key is pressed, the motor will remain stopped for
approximately one minute to automatically calculate the motor parameters that are needed. When the motor is used for
the first time in Drive Mode after Auto-Tuning has been performed, the motor parameters (E2-02 and E2-03) are set
automatically.
After Stationary Auto-Tuning 3 has been performed, make sure the following conditions are met and use the following
procedures to perform the operation in test mode.
1.
Check the values of E2-02 and E2-03 in Verify Menu or Parameter Setting Mode.
2.
Operate the motor once in Drive Mode with the following conditions.
• Do not disconnect the wiring between the motor and drive.
• Do not lock the motor shaft with a mechanical brake or other device.
• The maximum motor load should be 30% of the rated load.
• Maintain a constant speed of 30% of E1-06 (base frequency, default value = maximum frequency) or higher
for one second or longer.
3.
After the motor is stopped, recheck the values of E2-02 and E2-03 in Verify Mode or Parameter Setting Mode.
4.
Confirm that the input data is correct.
Note: 1. If the aforementioned conditions are not met when using the motor for the very first use, there will be large discrepancies between the
values set for the motor rated slip (E2-02) and the motor no-load current (E2-03), and the motor test report and the data given in
Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01) on page
insufficient torque, or overcurrent. For hoist applications, this could result in the cage falling or serious injury. Either perform
Stationary Auto-Tuning 3 again and then perform operation with the above procedure and conditions, or perform Stationary
Auto-Tuning 1 or 2, or rotational Auto-Tuning.
2. If midway initialization is performed, restart the entire procedure from the beginning.
3. Use the following guidelines for a general-purpose motor: Motor rated slip (E2-02): 1 Hz to 3 Hz, No-load current (E2-03): 30% to
65% of the rated current. Generally speaking, for larger motor capacities the rated slip is smaller and the no-load current as a
percentage of the rated current is smaller. Refer to
details.
Stationary Auto-Tuning for Line-to-Line Resistance and PM Motor Stator Resistance
• Perform when entering motor data manually while using motor cables longer than 50 m.
• If the motor cables have been replaced with line over 50 m long after Auto-Tuning as already been performed, then
execute Stationary Auto-Tuning for line-to-line resistance.

Notes on Inertia Tuning and ASR Gain Auto-Tuning
WARNING! Electrical Shock Hazard. When executing Inertia Tuning or ASR Gain Auto-Tuning, voltage is applied to the motor even
before it rotates. Do not touch the motor until Auto-Tuning is completed. Failure to comply may result in injury from electrical shock.
• Both tuning methods must be performed with the machine connected to the motor but without load applied.
• The motor will rotate during the Auto-Tuning process. Make sure the areas around the motor and connected machinery
are clear.
• The drive will let the system rotate at a certain speed while superimposing a sine wave test signal. Make sure this
tuning process does not cause any problem or malfunction in the machine before using it.
• Ensure the motor-mounted brake is fully released if installed.
• Connected machinery should be allowed to rotate the motor.
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523. This could result in motor vibration, hunting,
Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01) on page 523
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