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

◆ 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)
n5-02
n5-03
■ T3-01: Inertia Tuning Frequency Reference
There is normally no need to change this parameter from the default value.
Sets the frequency of the test signal applied to the motor during Inertia Tuning. Increasing the value may be beneficial
when working with high inertia loads.
No.
T3-01
T3-02: Inertia Tuning Reference Amplitude
■
There is normally no need to change this parameter from the default value.
Enter the amplitude of the test signal applied to the motor during Inertia Tuning. If the load inertia is too large and causes
problems during Inertia Tuning, try decreasing the value. If a fault occurs when T3-01 is set to low value, the situation
may be remedied by adjusting T3-02.
No.
T3-02
■ 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.
No.
T3-03
Note: Display is in the following units.
 CIMR-U40011 to 40014: 0.0001 kgm
 CIMR-U20028 to 20192, 40021 to 40124: 0.001 kgm
 CIMR-U20248, 40156 to 40930: 0.01 kgm
The display resolution depends on the rated output current of the drive after the Drive Duty has been set in parameter C6-01.
T3-04: ASR Response Frequency
■
Sets the response frequency (reciprocal of the step response time constant) of the system or the connected machine. The
drive uses this value and the load inertia to fine-tune the speed control loop gain (C5-01, ASR Gain 1). Oscillation may
result if the value input here is higher than the actual response frequency of the system.
No.
T3-04
YASKAWA ELECTRIC SIEP C710636 02B YASKAWA U1000 Technical Manual
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
Name
Motor Inertia
2 units
2
Name
ASR Response Frequency
Table 4.28.
8
Inertia Tuning
N/A
YES
YES
YES
YES
0.0001 to 600.00 kgm
units
2
units
4.7 Auto-Tuning
T1-01 or T2-01
9
Speed Control Loop (ASR) Tuning
YES
YES
YES
YES
YES
Setting Range
0.1 to 20.0 Hz
Setting Range
0.1 to 10.0 rad
Setting Range
Depending on
2
o2-04, C6-01, E5-01
Setting Range
0.1 to 50.0 Hz
Default
3.0 Hz
Default
0.5 rad
Default
4
Default
10.0 Hz
167