YASKAWA CIMR-LC2A0018 Quick Start Manual page 21

Type
Stationary Auto-Tuning for
Stator Resistance
Rotational Back EMF
Constant Auto-Tuning
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
Parametes Auto-Tuning
Stationary Encoder Offset
Auto-Tuning
Rotational Encoder Offset
Auto-Tuning
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.
Drive mode display
- MODE -
Speed Ref (OPR)
U1-01= 0.00%
U1-02= 0.00%
U1-03= 0.00A
JOG FWD
- A.TUNE -
Mtr Rated Power
T1-02= X.XXkW
(0.00 ~ 650.00)
"X.XXkW"
ESC
If Auto-Tuning can not be performed for some reason (no-load operation impossible, etc.), then set the maximum
frequency and voltage in the E1-
induction motors or E5-
Precautions
• Always try to perform Rotational Auto-Tuning as it gives more accurate results than Non-Rotating Auto-Tuning.
Perform Non-Rotating Auto-Tuning if the load can not be disconnected (e.g. ropes can not be removed).
• Make sure that the mechanical brake is closed for all Auto-Tuning methods except for Rotational Auto-Tuning.
• Motor contactors must be closed during the Auto-Tuning process.
• H1 and H2 signals must be ON when performing Auto-Tuning.
• Confirm that the motor is mechanically fixed.
• Do not touch the motor until the Auto-Tuning process is complete. Voltage is applied to the motor during the tuning
process, even though the motor may not be rotating.
• To cancel Auto-Tuning, press the STOP key on the digital operator.
• During Auto-Tuning the motor is started and stopped repeatedly and may also rotate. When the tuning is finished,
"END" will appear on the operator panel. Do not touch the motor until this display is shown and the motor has
completely stopped.
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Setting
• 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).
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).
T2-01 = 3 • Should be performed after motor Auto-tuning in order to decide the encoder tuning method.
Important: When using a PG-X3 card with an incremental encoder and this tuning fails, the motor can
not 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 can not 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).
Enter the Auto-Tuning Mode
DRV Rdy
- MODE - PRG
Auto-Tuning
RSEQ AUTO
LREF
HELP FWD DATA
FWD/REV
PRG - A.TUNE - PRG
Rated Speed
T1-07= 1450RPM
(0 ~ 24000)
"1450RPM"
FWD DATA ESC FWD DATA
Enter the correct data as listed
on the nameplate
parameters and enter the motor data manually into the E2-
parameters for PM motors. Refer to
Requirements and Benefits
Requirements and Benefits
Select the tuning method
- A.TUNE - PRG - A.TUNE -
Tuning Mode Sel Tuning Mode Sel
T1-01= 0 T1-01= 0
∗0∗
Standard Tuning Standard Tuning
"0"
ESC FWD DATA FWD
- A.TUNE -
- A.TUNE - DRV
Auto-Tuning Tune Proceeding
0.00 %/ 0.00A X.XX %/ X.XXA
Tuning Ready ?
Press RUN key
ESC FWD
RUN
Drive asks if it should start Display flashes while the
tuning drive parameters drive measures and sets
motor parameter values
Auto-Tuning Errors on page
PRG
∗0∗
Entry Accepted
DRV - MODE - DRV
End
Tune Successful
FWD
FWD RESET
"End" appears when the
process is complete
parameters for
39.
5 Start Up
21