3. Test Operation and Adjustment
3-13
5) Starting automatic tuning
Automatic tuning will start when the
key or
key is pressed according to the required
rotation direction. A message indicating starting will appear on the operation panel.
To stop, press the
key or input the emergency stop signal (EMS) from the terminal block.
* Keys other than
and
are disabled during automatic tuning.
6) During automatic tuning execution
The progression state can be confirmed with D22-0.
Refer to section 3-6-4 for details.
7) Normal completion of automatic tuning
The "LCL" LED will end blinking, lighting stable, and a message indicating the end will be
displayed. Refer to section 3-6-2 for the adjustment items.
8) Abnormal completion of automatic tuning
If the automatic tuning ends abnormally, a message will appear. Investigate and check according
to the error codes. Refer to section 3-6-3 for details on the error codes.
9) Additional settings and adjustments
There are some parameter related to load condition or required response control which should be
adjusted manually. The main parameters are shown below.
• A10-0: ASR response
: Set the speed control response in [rad/s] unit.
If the speed tracking is slow, increase this value.
Note that if this value is too high, hunting may occur.
• A10-1: Machine time constant 1 : Set the time required to accelerate from zero to the base
speed with the rated torque.
Tm [msec] = 10.968 × J [kgm
2
] × N base [min
−
1
]/Power [W]
J
: Total inertia [kgm
2
]
N base : Base speed [min
−
1
]
• A10-2: Integral time constant compensation coefficient:
Increase the compensation coefficient if the
overshooting is high during speed control.
• A10-3: ASR drive torque limit
: Increase if a higher drive torque is required.
• A10-4: ASR regenerative torque limit
: Increase if a higher regenerative torque is
required.
9) Adjustment for Induction Motor, sensorless vector control
Adjust the following items, to improve accuracy
• Fine adjustment of primary resistance
With motor unloaded, run the motor at the minimum speed to be used, and finely adjust the
primary resistance (B02-0,1). For Forward run, adjust so that D11-4 (ASR output) is near zero
on the positive side. (Note that B02-0 can be set during run but B20-1 can not)
Make sure that the D11-4 does not reach the negative side during forward run.
• Adjustment of estimated speed integral gain
Confirm that D00-3 (motor speed on % units) is stable (
±
1% or less) during trial operation. If not
decrease (approx. half) the speed estimated proportional gain (B31-1)
