5.9 n: Special Adjustments
244 YASKAWA ELECTRIC SIEP C710616 38F YASKAWA AC Drive - L1000A Technical Manual
Calculation
The motor acceleration time can be calculated by,
Measuring Acceleration Time
Take the following steps when measuring the motor acceleration time.
1.
Decouple motor and load.
2. Perform Auto-Tuning or manually enter the correct motor data.
3. Properly set up the speed loop (ASR).
4. Set the acceleration time to zero.
5. Set the forward torque limit in parameter L7-01 to 100%.
6. Set the speed reference equal to the motor rated speed.
7. While monitoring the motor speed in U1-05, start the motor in the forward direction and measure the time it takes
to reach the rated speed.
8. Reverse the parameter settings above and set the measured time to parameter n5-02.
■ n5-03: Inertia Compensation Gain
Parameter n5-03 sets the inertia ratio of the load connected to the motor.
Calculate the value for n5-03 as explained below.
■
Speed Feedback Compensation: Speed Observer
Enabling the Speed Feedback Compensation can reduce oscillation and increase responsiveness to the speed reference by
compensating for phase delay.
Note: 1. Set n5-07 to 1 to use the Speed Feedback Compensation.
2. Set C5-17 (motor inertia) and C5-18 (load inertia ratio) to the correct values before using the Speed Feedback Compensation.
3. If the product of C5-17 × C5-18 is relatively large, the estimated speed will be very slow.
4. Reduce the products of C5-17 × C5-18 if oscillation is a problem.
5. C5-18 to at least 1.1 when using the Speed Feedback Compensation. A setting of 1.0 or less disables the Speed Feedback
Compensation.
Where:
•J
Motor
is the motor inertia in kgm
2
.
•n
rated
is the rated speed of the motor in r/min
•T
rated
is the rated torque of the motor in N⋅m.
No. Parameter Name Setting Range Default
n5-03 Inertia Compensation Gain 0.00 or 100.00 1.00
•J
Mot
- Motor inertia in kgm
2
•n
r_Mot
- Rated motor speed in r/min
•T
r_Mot
- Rated motor torque in Nm
•J
TS
- Traction sheave inertia in kgm
2
• i - Gear ratio (n
Load
/n
Mot
)
•v
r_Elev
- Rated elevator speed in m/s
• Σm - Mass of all moved parts (car, counterweight, ropes, load
<1>
) in kg
<1> Insert 0 kg for the load to calculate the lowest setting, insert the elevator rated load to calculate the maximum setting for
n5-03. Use the lower of calculated values for initial trials and increase n5-03 gradually until the desired performance is
achieved.
n5-02 =
π J
Motor
n
rated
30 T
rated
ΣJ
= J
TS
i
2
+ Σm
30 v
r_Elev
π n
r_Mot
2
SIEP_C710616_38F_5_0.book 244 ページ ２０１５年１１月９日 月曜日 午後３時３６分
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