Parameter Settings During Inertia And Speed Control Loop Auto-Tuning: T3 - YASKAWA AC Drive-A1000 Technical Manual

n T2-17: Encoder Z Pulse Offset (ΔΘ)
Note: PM motor control modes are not available on 600 V class drives, CIMR-Ao5oooooooo.
Sets the amount of compensation or offset in 0.1 degree units to fine-tune the home position. Perform Z Pulse tuning when
the amount of offset needed for the Z Pulse is unknown or if the PG encoder is replaced.
No.
T2-17
u

Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3

These tuning methods apply a sine wave test signal to the system. The drive estimates the system inertia by the measuring the
response and automatically sets the parameters listed in
Parameter
C5-01
C5-17 (C5-37)
C5-18 (C5-38)
L3-24
L3-25
n5-03
n
T3-01: Inertia Tuning Frequency Reference
Sets the frequency of the test signal applied to the motor during Inertia Tuning. Although this setting rarely needs to be changed,
increasing the value may be beneficial when working with high inertia loads.
No.
T3-01
n T3-02: Inertia Tuning Reference Amplitude
Enter the amplitude of the test signal applied to the motor during Inertia Tuning. Although this setting rarely needs to be
changed, decrease the setting if a large load inertia causes problems during Inertia Tuning. Adjust T3-02 if a fault occurs when
T3-01 is set to a low value.
No.
T3-02
n 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: Capacities 0.1 to 37 kW are set in units of 0.001 kgm
are set in units of 0.01 kgm
n 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 C710616 31B YASKAWA AC Drive – A1000 Technical Manual
Name
Encoder Z Pulse Offset
Table 4.22 Parameters Adjusted by Inertia and Speed Loop Auto-Tuning
Description
ASR Proportional Gain 1
Motor Inertia
Motor Inertia Ratio
Motor Acceleration Time
for Inertia Calculations
Load Inertia Ratio
Feed Forward Control Ratio Gain
Name
Inertia Tuning Frequency Reference
Name
Inertia Tuning Reference Amplitude
Name
Motor Inertia
2
.
Name
ASR Response Frequency
Table 4.22.
8
Inertia Tuning
–
YES
YES
YES
YES
YES
2 . Capacities 5.5 to 45 kW are set in units of 0.001 kgm
4.7 Auto-Tuning
Setting Range
-180.0 to 180.0 deg
T1-01 or T2-01
Speed Control Loop (ASR)
Tuning
Setting Range
0.1 to 20.0 Hz
Setting Range
0.1 to 10.0 rad
Setting Range
2 Determined by E2-11
0.0001 to 600.00 kgm
2 . Capacities 55 kW and above
Setting Range
0.1 to 50.0 Hz
Default
0.0 deg
9
YES
YES
YES
YES
YES
YES
Default
3.0 Hz
Default
4
0.5 rad
Default
Default
10.0 Hz
111