n
T2-17: Encoder Z Pulse Offset (ΔΘ)
Note:
PM motor control modes are not available on 600 V class drives, CIMR-Ao5oooooooo.
Sets the amount of compensation or offset in 0.1 degree units to fine-tune the home position. Perform Z Pulse tuning when
the amount of offset needed for the Z Pulse is unknown or if the PG encoder is replaced.
No. Name Setting Range Default
T2-17 Encoder Z Pulse Offset -180.0 to 180.0 deg 0.0 deg
u
Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3
These tuning methods apply a sine wave test signal to the system. The drive estimates the system inertia by the measuring the
response and automatically sets the parameters listed in Table 4.22.
Table 4.22 Parameters Adjusted by Inertia and Speed Loop Auto-Tuning
Parameter Description
T1-01 or T2-01
8
Inertia Tuning
9
Speed Control Loop (ASR)
Tuning
C5-01 ASR Proportional Gain 1 – YES
C5-17 (C5-37) Motor Inertia YES YES
C5-18 (C5-38) Motor Inertia Ratio YES YES
L3-24
Motor Acceleration Time
for Inertia Calculations
YES YES
L3-25 Load Inertia Ratio YES YES
n5-03 Feed Forward Control Ratio Gain YES YES
n
T3-01: Inertia Tuning Frequency Reference
Sets the frequency of the test signal applied to the motor during Inertia Tuning. Although this setting rarely needs to be changed,
increasing the value may be beneficial when working with high inertia loads.
No. Name Setting Range Default
T3-01 Inertia Tuning Frequency Reference 0.1 to 20.0 Hz 3.0 Hz
n
T3-02: Inertia Tuning Reference Amplitude
Enter the amplitude of the test signal applied to the motor during Inertia Tuning. Although this setting rarely needs to be
changed, decrease the setting if a large load inertia causes problems during Inertia Tuning. Adjust T3-02 if a fault occurs when
T3-01 is set to a low value.
No. Name Setting Range Default
T3-02 Inertia Tuning Reference Amplitude 0.1 to 10.0 rad 0.5 rad
n
T3-03: Motor Inertia
Enter the inertia of the motor. This value is used to determine the load inertia using the test signal response. The default setting
is for a Yaskawa standard motor as listed in the motor inertia table.
No. Name Setting Range Default
T3-03 Motor Inertia
0.0001 to 600.00 kgm
2
Determined by E2-11
Note:
Capacities 0.1 to 37 kW are set in units of 0.001 kgm
2
. Capacities 5.5 to 45 kW are set in units of 0.001 kgm
2
. Capacities 55 kW and above
are set in units of 0.01 kgm
2
.
n
T3-04: ASR Response Frequency
Sets the response frequency (reciprocal of the step response time constant) of the system or the connected machine. The drive
uses this value and the load inertia to fine-tune the speed control loop gain (C5-01, ASR Gain 1). Oscillation may result if the
value input here is higher than the actual response frequency of the system.
No. Name Setting Range Default
T3-04 ASR Response Frequency 0.1 to 50.0 Hz 10.0 Hz
4.7 Auto-Tuning
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
111
4
Start-Up Programming
& Operation
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