Input Value
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 (Hex.) T2-02 –
<1> <1> <1> <2> <2> <2> <2>
Stator single-phase
resistance
T2-10 Ω YES YES YES – – – –
d-Axis inductance T2-11 mH YES YES YES – – – –
q-Axis inductance T2-12 mH YES YES YES – – – –
Voltage constant
<3>
T2-13
mVs/rad
(el.)
YES YES YES – – – –
Voltage constant
<3>
T2-14
mVmin
(mech.)
YES YES YES – – – –
Tuning pull-in current T2-15 A – – – YES YES – –
PG Number of pulses
per revolution
T2-16 –
YES
<4>
–
YES
<4>
N/A
YES
<4>
– –
Z Pulse offset T2-17
deg
(mech.)
YES
<4>
–
YES
<4>
N/A
YES
<4>
– –
<1> Input the motor code when using a Yaskawa motor. Select “FFFF” when using a motor from another manufacturer.
<2> T2-02 is not available.
<3> It is only necessary to input either T2-13 or T2-14. Select one and leave the other empty.
<4> Input data is needed for CLV/PM only.
n
Inertia Tuning and Speed Control Loop Auto-Tuning
Inertia Tuning can be performed when the drive is using CLV 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, while also optimizing speed control loop settings.
Table 4.19 Inertia and Speed Control Loop Tuning
Type
Setting
Application Conditions and Benefits
Control Mode
IM Motor PM Motor CLV CLV/PM
Inertia Tuning T1-01 = 8 T2-01 = 8
Allows the motor to rotate at a certain speed and applies a test signal.
The response to the test signal is analyzed and the necessary
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, while also adjusting
the ASR gain according to the test signal response.
YES YES
Table 4.20 explains the data that must be entered to perform the Inertia Tuning and ASR Gain Auto-Tuning. Refer to Auto-
Tuning for Permanent Magnet Motors on page 101 for details.
Table 4.20 Auto-Tuning Input Data
Input Value
Input
Parameter
Unit
Tuning Type (T1-01 or T2-01)
8
Inertia Tuning
9
ASR Gain Tuning
Test signal frequency T3-01 Hz YES YES
Test signal amplitude T3-02 rad YES YES
Motor inertia T3-03
kgm
2
YES YES
System response frequency T3-04 Hz – YES
4.7 Auto-Tuning
102
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
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