Delta C2000 Series User Manual page 603

Chapter 12 Description of Parameter SettingsC2000
 bit1 = 0: no function.
bit1 = 1: Inertia estimation function is enabled. bit1 setting would not activate the estimation
process, set Pr. 05-00 = 12 to begin FOC / TQC Sensorless inertia estimating.
Per Unit of System Inertia
Settings
To get the system inertia from Pr.11-01, user needs to set Pr.11-00 to bit1=1 and execute

continuous forward / reverse running.
When Pr. 11-01 = 256, it is 1PU. So if you use a 2HP motor, the 2HP motor inertia is 4.3 kg-cm

according to the table below. If Pr. 11-01 = 10000 after tuning, the system inertia is (10000 / 256)
x 4.3 kg-cm
2
Perform the operation test with load based on the inertia after tuning. Run the motor in

acceleration, deceleration, and steady speed and observe the values. If values between speed
feedback and speed command are close, steady-state error is small and overshoot is less, then
this inertia is a better one.
When using torque mode as the control mode, perform the tuning with speed mode first to see

if the tuned inertia can work normally. After verifying with speed mode, change the control mode
to torque mode.
If the Iq current command from ASR has high-frequency glitch, then decrease the setting. If the

response time of sudden loading is too slow, then increase the setting.
1–65535 (256=1PU)
.
12.2-00-8
Default: 256
2