11.16 T: Motor Tuning
644 YASKAWA SIEPC71061737D GA800 Drive Technical Reference
No.
(Hex.)
Name Description
Default
(Range)
Ref.
T2-12
(0736)
PM Motor q-Axis
Inductance
Sets the q-Axis inductance of the motor on a per phase basis.
Determined by T2-02
(0.00 - 600.00 mH)
1062
T2-13
(0755)
Back-EMF Units
Selection
Sets the units that the drive uses to set the induced voltage constant.
0 : mV/(rev/min)
1 : mV/(rad/sec)
0
(0, 1)
1062
T2-14
(0737)
Back-EMF Voltage
Constant (Ke)
Sets the motor induced voltage constant (Ke).
Determined by T2-13
(0.0 - 2000.0)
1062
T2-15
(0756)
Pull-In Current Level
Sets the level of the pull-in current as a percentage of E5-03 [PM Motor Rated Current
(FLA)]. Usually it is not necessary to change this setting.
30%
(0 - 120%)
1063
T2-16
(0738)
Encoder Pulse Count
(PPR)
Sets the number of PG (pulse generator, encoder) pulses.
1024 ppr
(1 - 15000 ppr)
1063
T2-17
(0757)
Encoder Z-Pulse Offset
Sets the encoder Z-pulse offset (Δθ) (pulse generator, encoder) that is listed on the motor
nameplate.
0.0 °
(-180.0 - +180.0°)
1063
◆ T3: ASR and Inertia Tuning
No.
(Hex.)
Name Description
Default
(Range)
Ref.
T3-00
(1198)
Control Loop Tuning
Selection
Sets the type of Control Auto-Tuning.
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].
0
(0 - 3)
1063
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)
1063
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)
1063
T3-03
(0762)
Motor Inertia
Sets the inertia of the motor. This value uses the test signal response to calculate the load
inertia.
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, T103
• 0.01 kgm
2
units (setting range: 0.01 kgm
2
to 600.00 kgm
2
): 2257 to 2415, 4140 to
4720, T140 to T720
Determined by o2-04,
C6-01, and E5-01
(0.0001 - 600.00 kgm
2
)
1064
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)
1064
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