Learning Advanced Features
After entering the codes, set bA.20 (Auto tuning) to 7 [All(PM)] and perform a static auto tuning
operation. When auto tuning is complete, the bA.21 (Rs), bA.28 Ld (PM), bA. 29 Lq (PM), and bA. 30
(PM Flux Ref) parameters are automatically measured and saved.
Sensorless Vector Control Operation Setting Details
Cn.4 Carrier Freq
Sets the PWM interrupter cycle and sampling frequency cycle for a PM
synchronous motor operation in sensorless vector control mode. The
default carrier frequency is set at 5 kHz, and the setting range is 2–10 kHz.
Cn.11 Hold Time
Sets the zero-speed control time (hold time) in the stopped position.
The output is blocked after zero-speed operation for a set period when
the motor decelerates and is stopped by a stop command.
Cn.12 ASR P Gain1,
Cn.13 ASR I Gain1
Cn.15 ASR P Gain2
Cn.16 ASR I Gain2
Changes the speed PI controller gain during a PM synchronous motor
operation in sensorless vector control mode. For a PI speed controller, P
gain is a proportional gain for the speed deviation. If the speed
deviation becomes greater than the torque, the output command will
increase accordingly. The higher the value becomes, the faster the
speed deviation will decrease.
The speed controller I gain is the integral gain for speed deviation. It is
the time taken for the gain to reach the rated torque output command
while constant speed deviation continues. The lower the value
becomes, the faster the speed deviation will decrease.
As the motor inertia varies by motor, the gain values should be changed
according to the motor speeds. Cn.12 and Cn. 13 set the low speed P/I
controller gain values, while Cn.15 and Cn.16 set the high speed P/I
controller gain values, so that an appropriate gain value can be used for
Cn.33 PM EdGain Perc,
Cn.34 PM EqGain Perc
To ensure that the back-EMF with rotor position information can be
appropriately estimated during a PM synchronous motor operation in
sensorless vector control mode, set these values as a percentage of the
proportional gain, which is designed to have stable estimator polarity.
Higher values result in faster responses, with higher chances of increased
motor vibration.
Excessively low values may result in motor startup failure due to slow
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