Chapter 12 Description of Parameter SettingsC2000
12.2-00-8
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
Default: 256
Settings 1–65535 (256=1PU)
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
2
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.
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