Precautions To Note Before Auto-Tuning - YASKAWA GA700 Technical Manual

3.8 Auto-Tuning
Method
Inertia Tuning
ASR Tuning
Input Data
Test Signal Frequency
Test Signal Amplitude
Motor Inertia
System Response Frequency
■
Inertia Tuning
Inertia Tuning measures the motor load inertia value based on the motor speed and torque reference. It then
automatically sets the drive parameters related to the inertia ratio of the machinery and motor. Inertia Tuning is
used when carrying out Feed Forward control or when set to H1-xx = 7A [MFDI = KEB Ride-Thru 2 (N.C.)].
Through identification of load inertia and optimization of speed loop gain and feed-forward gain, even higher
level control capabilities can be achieved. Moreover, speed response can be set without regard to the load, so
accuracy when synchronizing multiple drives is enhanced. Since motor operation can continue without
interruption even if power outages occur, the deceleration curve for features such as the KEB Ride-Thru function,
which produces a ramp to stop, can be maintained in an optimal way.
■
ASR Tuning
In a manner similar to that of Inertia Tuning, ASR Tuning measures the load inertia value of the motor and
automatically sets the parameters accordingly. Additionally, an automatic adjustment is carried out after
calculating the proportional gain of speed control (ASR), based on the measured load inertia value.
The following parameters are set automatically when Inertia Tuning or ASR Tuning is carried out.
Parameters that are set automatically
C5-01 [ASR Proportional Gain 1 (P)]
C5-17 [Motor Inertia]
C5-37 [Motor 2 Inertia]
C5-18 [Load Inertia Ratio]
C5-38 [Motor 2 Load Inertia Ratio]
L3-24 [Motor Accel Time for Inertia Cal]
L3-25 [Load Inertia Ratio]
n5-02 [Motor Acceleration Time]
n5-03 [Feed Forward Control Gain]
◆

Precautions to Note before Auto-Tuning

Check the following points before starting Auto-Tuning.
158
Table 3.13 Method of Control Auto-Tuning
Parameter
Applicable When/Advantages
Settings
• To perform Feed Forward control
• When set to L2-29 = 1 [KEB Method Selection =
T3-00 = 0 Single Drive KEB Ride-Thru 2].
• When set to MFDI H1-xx = 7A [KEB Ride-Thru 2 (N.
C.)].
Performing ASR gain Auto-Tuning based on the set
T3-00 = 1
response frequency (including Inertia Tuning)
Table 3.14 Input Data for Control Auto-Tuning
Parameters
T3-01
T3-02
T3-03
T3-04
YASKAWA ELECTRIC SIEP C710617 01B YASKAWA AC Drive GA700 Technical Manual
Unit
Hz
Rad
Kg・m 2
Hz
Inertia Tuning
-
x
x
x
x
x
x
x
x
Applicable Control
Methods
(Value set in A1-02)
CLV CLV/PM
(3)
x
x
Auto-Tuning Method
(Value set in T3-00)
Inertia Tuning ASR Tuning
(0) (1)
x
x
x
-
ASR Tuning
x
x
x
x
x
x
x
x
x
(7)
x
x
x
x
x
x