4.7 Auto-Tuning
156
YASKAWA ELECTRIC
SIEP C710636 02B YASKAWA U1000 Technical Manual
lists the data that must be entered for Auto-Tuning. Make sure the data is available before starting
Auto-Tuning.
The information needed is usually listed on the motor nameplate or in the motor test report provided by the motor
manufacturer. Also refer to
Subchart A-3: Operation with Permanent Magnet Motors on page 146
tuning mode selection and the tuning process.
Figure 4.15
Figure 4.16 Example of Motor Nameplate
Table 4.24 Auto-Tuning Input Data
■
Inertia Tuning and Speed Control Loop Auto-Tuning
Inertia Tuning can be performed when the drive is using Closed Loop Vector control for either IM or PM motors. Inertia
Tuning automatically calculates load and motor inertia, and optimizes settings related to the Feed Forward control.
ASR Gain Auto-Tuning performs the same operation as Inertia Tuning, but also optimizes speed control loop settings.
Table 4.25 Inertia and Speed Control Loop Tuning
Note:
Inertia Tuning and ASR Gain Auto-Tuning might not be available if gears are between the machine and the motor shaft.
Input Value
<1> Input the motor code when using the YASKAWA motor. Select FFFF when using the motor by other manufacturers.
<2> Input data is needed for CLV/PM only.
<3> Depends on T2-13 setting.
Input
Parameter
Unit
Tuning Type (T2-01)
0
Motor Parameter Settings
1
Stationary
2
Stationary
Stator
Resistance
3
Z-Pulse
Offset
11
Back EMF
Constant
13
High
Frequency
Injection
14
Rotational
Control Mode
A1-02
–
5, 6, 7
5
6, 7
5
6, 7
5, 6, 7
7
7
6, 7
5
6
7
Motor Code
T2-02
–
FFFF
FFFF
–
–
–
–
–
–
–
–
–
Motor Type
T2-03
–
N/A
N/A
N/A
YES
YES
N/A
N/A
N/A
N/A
YES
YES
YES
Motor Rated Power
T2-04
kW
N/A
YES
YES
YES
YES
N/A
N/A
N/A
N/A
YES
YES
YES
Motor Rated Voltage
T2-05
Vac
N/A
YES
YES
YES
YES
N/A
N/A
N/A
N/A
YES
YES
YES
Motor Rated Current
T2-06
A
N/A
YES
YES
YES
YES
YES
N/A
N/A
N/A
YES
YES
YES
Motor Rated Frequency
T2-07
Hz
N/A
YES
N/A
YES
N/A
N/A
N/A
N/A
N/A
YES
N/A
N/A
Number of Motor Poles
T2-08
–
N/A
YES
YES
YES
YES
N/A
N/A
N/A
N/A
YES
YES
YES
Motor Rated Speed
T2-09
min
-1
N/A
N/A
YES
N/A
YES
N/A
N/A
N/A
N/A
N/A
YES
YES
Stator 1 Phase Resistance
T2-10
Ω
YES
YES
YES
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
d-Axis Inductance
T2-11
mH
YES
YES
YES
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
q-Axis Inductance
T2-12
mH
YES
YES
YES
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
Induced Voltage Constant
Unit Selection
T2-13
–
YES
YES
YES
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
Voltage Constant
T2-14
YES
YES
YES
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
Tuning Pull-in Current
T2-15
%
N/A
N/A
N/A
YES
YES
N/A
N/A
N/A
N/A
YES
YES
YES
PG Number of Pulses Per
Revolution
T2-16
ppr
YES
N/A
YES
N/A
YES
N/A
N/A
N/A
N/A
N/A
N/A
YES
Z Pulse Offset
T2-17
deg
(mech.)
YES
N/A
YES
N/A
YES
N/A
N/A
N/A
N/A
N/A
N/A
N/A
Type
Setting
Control Mode
Application Conditions and Benefits
Inertia Tuning
IM Motor
T1-01 = 8
CLV
Lets the motor rotate at a certain speed and applies a test signal. The response to
the test signals are analyzed, and adjustments are made to parameters controlling
the Feed Forward function.
PM Motor
T2-01 = 8
CLV/PM
ASR Gain Auto-Tuning
IM Motor
T1-01 = 9
CLV
Performs the same operation as Inertia Tuning, but also adjusts the ASR gain
according to the response to the test signal.
PM Motor
T2-01 = 9
CLV/PM
'5,9(
233
(1'
(1'
667
(
̓
SIEP_C710636_02B_1_0.book 156 ページ ２０１５年１１月２５日 水曜日 午後４時５６分
