12.12 T: Auto-Tuning
968 YASKAWA SIEPC71061705H GA700 Series Technical Manual
◆ T3: ASR and Inertia Tuning
■ T3-00: Control Loop Tuning Selection
No.
(Hex.)
Name Description
Default
(Range)
T3-00
(1198)
Control Loop Tuning
Selection
Sets the type of Control Auto-Tuning.
0
(0 - 3)
0 : Inertia Tuning
1 : ASR (Speed Regulator)
2 : Deceleration Rate Tuning
3 : KEB Tuning
Note:
Settings 0 and 1 are available only when A1-02 = 3, 7 [Control Method Selection = CLV, CLV/PM].
■ T3-01: Test Signal Frequency
No.
(Hex.)
Name Description
Default
(Range)
T3-01
(0760)
Test Signal Frequency
Sets the frequency of the test signal applied to the motor during Inertia Tuning. Usually it is not
necessary to change this setting.
3.0 Hz
(0.1 - 20.0 Hz)
If the load inertia is too large and the drive detects a fault after Inertia Tuning, decrease the setting.
■ T3-02: Test Signal Amplitude
No.
(Hex.)
Name Description
Default
(Range)
T3-02
(0761)
Test Signal Amplitude
Sets the amplitude of the test signal applied to the motor during Inertia Tuning. Usually it is not
necessary to change this setting.
0.5 rad
(0.1 - 10.0 rad)
If the load inertia is too large and the drive detects a fault after Inertia Tuning, decrease the setting. If the drive
detects a fault when T3-01 [Test Signal Frequency] is set to a low value, adjust this parameter.
■ T3-03: Motor Inertia
No.
(Hex.)
Name Description
Default
(Range)
T3-03
(0762)
Motor Inertia
Sets the inertia of the motor. This value uses the test signal response to calculate the load inertia.
Determined by o2-04, C6-
01, and E5-01
(0.0001 - 600.00 kgm
2
)
The default setting is for a Yaskawa standard motor as shown in the motor inertia table. Actual values will be
different when you use induction motors or PM motors.
Note:
The display units for the default setting and setting range are different for different models:
• 0.0001 kgm
2
units (setting range: 0.0001 kgm
2
to 6.0000 kgm
2
): 2004 to 2021, 4002 to 4012
• 0.001 kgm
2
units (setting range: 0.001 kgm
2
to 60.000 kgm
2
): 2030 to 2211, 4018 to 4103
• 0.01 kgm
2
units (setting range: 0.01 kgm
2
to 600.00 kgm
2
): 2257 to 2415, 4140 to 4675
■ T3-04: System Response Frequency
No.
(Hex.)
Name Description
Default
(Range)
T3-04
(0763)
System Response
Frequency
This parameter uses the load inertia value from the Inertia Tuning process to automatically
calculate and set C5-01 [ASR Proportional Gain 1].
10.0 Hz
(0.1 - 50.0 Hz)
If this input value is too high, it can cause oscillation.
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