4.5 Auto-Tuning
114 YASKAWA ELECTRIC SIEP C710616 38F YASKAWA AC Drive - L1000A Technical Manual
■ PG Encoder Offset Auto-Tuning
PG encoder Offset Tuning is used for PM motors (A1-02 = 7). It measures the angle between the PG encoder zero
position and the rotor magnet orientation. PG encoder offset tuning should be performed when:
• setting up the drive for the first time,
• after initialization,
• after changing the motor rotation direction (b1-14),
• after changing the encoder rotation direction (F1-05),
• or after replacing the encoder.
Properly set the motor and PG encoder data before performing PG Encoder Offset Tuning.
Table 4.9 Types of Auto-Tuning for PG Encoder Offset
■ Auto-Tuning of PG-E3 Encoder Characteristics
This feature optimizes the drive settings for the characteristics of the PG-E3 speed-control option card for the ERN1387
encoder (manufactured by HEIDENHAIN) while rotating the motor. Perform Auto-Tuning to obtain accurate position
data from the motor rotor for driving a PM motor. This type of Auto-Tuning automatically sets the characteristics of the
PG-E3 option card for the ERN1387 encoder in parameters F1-66 to F1-81 (Encoder Adjust 1 to 16).
Note: 1. The motor rotates during execution of Auto-Tuning of PG-E3 encoder characteristics. Before starting, refer to the drive technical
manual.
2. Auto-Tuning of PG-E3 encoder characteristics adjusts the unique characteristics of the ERN1387 encoder connected to the drive by
using a PG-E3 option card. This type of tuning should be performed when setting up the drive or after replacing the encoder or drive.
The signal lines between the PG-E3 option card and the ERN1387 encoder must be connected between the R+ and R- terminals while
this type of tuning is performed.
3. The setting values of parameters F1-66 to F1-81 are reset to factory default values when A1-03 is set to 2220. The setting values of
parameters F1-66 to F1-81 are modified at completion of Auto-Tuning of PG-E3 encoder characteristics.
Speed Reference for
Auto-Tuning of PG-E3 Encoder
Characteristics
<1>
T2-18 r/min N/A N/A N/A N/A N/A N/A N/A Yes
Rotation Direction for
Auto-Tuning of PG-E3 Encoder
Characteristics
<1>
T2-19 N/A N/A N/A N/A N/A N/A N/A N/A Yes
<1> Available in drive software versions PRG: 7017 or later.
<2> Depends on T2-13 setting.
Type Setting Requirements and Benefits
Initial Magnet Pole Search
Parameters Auto-Tuning
T2-01 = 3
• Should be performed after motor Auto-Tuning in order to determine the PG encoder tuning method.
• Attempts to detect the motor rotor position, determines whether PG encoder offset can be tuned using Stationary Encoder Offset
Tuning and sets parameters needed for Initial Magnet Pole Search (n8-36, n8-37).
• When using the Rescue Operation mode, perform this tuning to let the drive automatically set the parameters needed for Initial
Magnet Pole Search with power supply from a battery or UPS (n8-81, n8-82).
• Must be performed when using an incremental PG encoder.
Important: If this tuning fails when using a PG-X3 card with an incremental PG encoder the motor cannot be driven using an incre-
mental PG encoder. Change the PG encoder to an absolute PG encoder.
Stationary PG Encoder Offset
Auto-Tuning
T2-01 = 4
• Tunes the PG encoder offset without rotating the motor.
• If the PG encoder offset cannot be tuned properly by this method, try Rotating PG Encoder Offset Tuning.
Rotational PG Encoder Offset
Auto-Tuning
T2-01 = 10
• Tunes the PG encoder offset while rotating the motor.
• Motor and mechanical system must be uncoupled (ropes must be removed from traction sheave).
Input Value
Input
Parameter
Unit
Tuning Type (T2-01)
0
Motor
Parameter
Settings
1
Stationary
2
Stationary
Stator
Resistance
3
Initial
Magnet Pole
Search
Parameters
Auto-Tuning
4
Encoder
Offset
Stationary
Auto-Tuning
10
Encoder
Offset
Rotational
Auto-Tuning
11
Back EMF
Constant
12
Auto-
Tuning of
PG-E3
Encoder
Character-
istics
Control Mode A1-02 – 7 7 7 7 7 7 7 7
SIEP_C710616_38F_5_0.book 114 ページ ２０１５年１１月９日 月曜日 午後３時３６分
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