YASKAWA L1000A Quick Start Manual page 24

5 Start Up
Motor Data Tuning Modes for Permanent Magnet Motors (A1-02 = 7)
Type
Motor Data Input
Stationary Auto-
Tuning
Stationary Auto-
Tuning for Stator
Resistance
Rotational Back EMF
Constant Auto-Tuning
Auto-Tuning of PG-
E3 Encoder
Characteristics
<1>
<1> Available in drive software versions PRG: 7017 or later.
Auto-Tuning of PG-E3 encoder characteristics requires a PG-E3 option with software version 1102 or later. To identify the PG-E3 software
version, refer to the PG-E3 labeling on the option, in the field designated "C/N" (S + four digit number).
Encoder Offset Tuning Modes for Permanent Magnet Motors (A1-02 = 7)
Encoder Offset Tuning measures the angle between the encoder zero pulse and the rotor orientation. It needs to be
performed when a drive is setup the first time or after initialization, when the motor rotation direction or encoder rotation
direction has been changed or when the encoder was replaced.
Type
Initial Magnet Pole
Search Parameters
Auto-Tuning
Stationary Encoder
Offset Auto-Tuning
Rotational Encoder
Offset Auto-Tuning

Auto-Tuning of PG-E3 Encoder Characteristics
This feature optimizes the drive settings for the characteristics of the PG-E3 speed-control option card for the ERN1387
encoder (manufactured by HEIDENHAIN) while rotating the motor. Perform Auto-Tuning to obtain accurate position
data from the motor rotor for driving a PM motor. This type of Auto-Tuning automatically sets the characteristics of the
PG-E3 option card for the ERN1387 encoder in parameters F1-66 to F1-81 (Encoder Adjust 1 to 16).
Note:
The motor rotates during execution of Auto-Tuning of PG-E3 encoder characteristics. Before starting, refer to the drive technical
manual.
Note:
Auto-Tuning of PG-E3 encoder characteristics adjusts the unique characteristics of the ERN1387 encoder connected to the drive
by using a PG-E3 option card. This type of tuning should be performed when setting up the drive or after replacing the encoder
or drive. The signal lines between the PG-E3 option card and the ERN1387 encoder must be connected between the R+ and R-
terminals while this type of tuning is performed.
Note:
The setting values of parameters F1-66 to F1-81 are reset to factory default values when A1-03 is set to 2220. The setting values
of parameters F1-66 to F1-81 are modified at completion of Auto-Tuning of PG-E3 encoder characteristics.

Tuning Mode Selection and Data Input
For Auto-Tuning, enter the Auto-Tuning menu (via the T parameters) and perform the steps shown in the figure below.
Data required from the motor nameplate will vary depending on the type of Auto-Tuning selected. This example shows
the procedure for performing Rotational Auto-Tuning of an induction motor in Open Loop Vector control.
EN 24
Setting
• Use if a motor test report is available.
T2-01 = 0
• Input motor data like on test report. Make sure to convert data into the correct unit before if necessary.
• Use if a motor test report is not available.
T2-01 = 1 • Input motor data like on name plate. Make sure to convert data into the correct unit before. The drive
automatically calculates the motor data.
• Tunes stator resistance only.
T2-01 = 2
• Should be performed if the motor cable has changed.
• Used the Motor Induction Voltage (E5-24) if no data are available.
T2-01 = 11 • Should be performed after Motor data have been set and the encoder offset has been adjusted.
• The motor must be uncoupled from the mechanical system (remove ropes).
T2-01 = 12 Perform this Auto-Tuning to obtain accurate position data from the motor rotor for driving a PM motor.
Setting
• Attempts to detect the motor rotor position, judges if the encoder offset can be tuned using Stationary
Encoder Offset Tuning and sets parameters needed for Initial Magnet Pole Search (n8-36, n8-37).
• Should be performed after motor Auto-Tuning in order to decide the encoder tuning method.
T2-01 = 3
Note:
When using a PG-X3 card with an incremental encoder and this tuning fails, the motor cannot be
driven using and incremental encoder. Change the encoder to an absolute encoder.
• Tunes the encoder offset without rotating the motor.
T2-01 = 4
• If the encoder offset cannot be tuned properly by this method run Rotating Encoder Offset Tuning.
• Tunes the encoder offset while rotating the motor.
T2-01 = 10
• Motor and mechanical system must be uncoupled (ropes must be removed from traction sheave).
Requirements and Benefits
Requirements and Benefits
YASKAWA ELECTRIC TOEP C710616 33G AC Drive L1000A - Quick Start Guide