YASKAWA A1000 Series Technical Manual

4.7 Auto-Tuning
110 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual
■ Auto-Tuning for Permanent Magnet Motors
Automatically sets the V/f pattern and motor parameters E1- and E5- when a PM motor is used. In Closed Loop
Vector Control, the Auto-Tuning process will also set some F1- parameters for speed feedback detection.
Table 4.21 Types of Auto-Tuning for Permanent Magnet Motors
Table 4. 22 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 page 101 for details on the tuning mode selection and the tuning process.
Table 4.22 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 KEB Ride-Thru function
(KEB 2) and Feed Forward control.
ASR Gain Auto-Tuning performs the same operation as Inertia Tuning, but also optimizes speed control loop settings.
Table 4.23 Inertia and Speed Control Loop Tuning
Table 4. 24 explains that data that must be entered in order to perform the Inertia Tuning and ASR Gain Auto-Tuning.
Refer to Auto-Tuning for Permanent Magnet Motors on page 110 for details.
Type Setting Application Conditions and Benefits
Control Mode
OLV/PM AOLV/PM CLV/PM
PM Motor Parameter Settings
T2-01 = 0
• Motor does not rotate during Auto-Tuning
• Motor test report or motor data like listed in Table 4.22 are available.
YES YES YES
PM Stationary Auto-Tuning
T2-01 = 1
• A motor test report listing motor data is not available. Drive
automatically calculates and sets motor parameters.
YES YES YES
PM Stationary Auto-Tuning for
Stator Resistance
T2-01 = 2
• Useful to tune the drive when the motor data were set up manually or by
motor code and the cable is longer than 50 m. Should also be performed if
the cable has changed after earlier tuning.
YES YES YES
Z Pulse Offset Tuning
T2-01 = 3
• PG encoder has been replaced. Calculates the Z pulse offset.
• Requires the motor to rotate with no or very low load.
N/A N/A YES
Input Value
<1> Input the motor code when using the YASKAWA motor. Select FFFF when using the motor by other manufacturers.
<2> T2-02 is not available.
<3> Only parameter T2-13 or T2-14 has to be input. Select one and leave the other empty.
<4> Input data is needed for CLV/PM only.
Input
Parameter
Unit
Tuning Type (T2-01)
0
Parameter Calculation
1
Stationary
2
Phase
Resistance
3
Z-Pulse
Offset
Control Mode A1-02 - 5, 6, 7 5 6, 7 5 6, 7 5, 6, 7 7
Motor Code T2-02 - <1> <1> <1> <2> <2> <2> <2>
Motor Type T2-03 - N/A N/A N/A YES YES N/A N/A
Motor rated power T2-04 kW N/A YES YES YES YES N/A N/A
Motor rated voltage T2-05 Vac N/A YES YES YES YES N/A N/A
Motor rated current T2-06 A N/A YES YES YES YES YES N/A
Motor rated frequency T2-07 Hz N/A YES N/A YES N/A N/A N/A
Number of motor poles T2-08 - N/A YES YES YES YES N/A N/A
Motor rated Speed T2-09 r/min N/A N/A YES N/A YES N/A N/A
Stator 1 Phase resistance T2-10 Ω YES YES YES 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
q-axis inductance T2-12 mH YES YES YES N/A N/A N/A N/A
Voltage constant <3> T2-13 mVs/rad (el.) YES YES YES N/A N/A N/A N/A
Voltage constant <3> T2-14 mVmin (mech.) YES YES YES N/A N/A N/A N/A
Tuning pull-in current T2-15 A N/A N/A N/A YES YES N/A N/A
PG Number of pulses per revolution T2-16 - YES <4> N/A YES <4> N/A YES <4> N/A N/A
Z Pulse Offset T2-17 deg (mech.) YES <4> N/A YES <4> N/A YES <4> N/A N/A
Type
Setting
Application Conditions and Benefits
Control Mode
IM Motor PM Motor CLV CLV/PM
Inertia Tuning
T1-01 = 8 T2-01 = 8
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 and KEB Ride-Thru functions (KEB 2, L2-29 = 1).
YES YES
ASR Gain Auto-Tuning
T1-01 = 9 T2-01 = 9
Performs the same operation as Inertia Tuning, but also adjusts the ASR gain according
to the response to the test signal.
YES YES

YASKAWA A1000 Series Specifications

General

Series	A1000
Type	AC Drive
Altitude	Up to 1000m without derating
Output Frequency	0-400 Hz
Control Method	V/f Control
Overload Capacity	150% for 60 seconds
Communication Options	Modbus, DeviceNet, Profibus, Ethernet/IP
Ambient Temperature	-10 to 50°C
Storage Temperature	-20 to 60°C
Humidity	5% to 95% (non-condensing)
Enclosure Rating	IP20
Horsepower	0.5 to 1000 HP
Power Range	0.4 - 630 kW (varies by voltage and model)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overheat
Cooling Method	Fan Cooled
Safety	Safe Torque Off (STO)