YASKAWA L1000E - Page 69

4 Start-Up Programming
YASK AWA TOEPYAIL1E01A YASKAWA AC Drive L1000E Quick Start Guide 69
Start-Up Programming
4
Table 23 Auto-Tuning Input Data
Properly set the motor and PG encoder data before performing PG Encoder Offset Tuning.
Table 24 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).
Input Value
<1> Depends on T2-13 setting.
Input
Parameter
Unit
Tuning Type (T2-01)
0
Motor
Parameter
Settings
1
Stationary
2
Station-ary
Stator
Resist-ance
3
Initial
Magnet
Pole Search
Param-
eters 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
Motor Rated Power T2-04 kW Yes Yes N/A N/A N/A N/A N/A N/A
Motor Rated Voltage T2-05 V Yes Yes N/A N/A N/A N/A N/A N/A
Motor Rated Current T2-06 A Yes Yes Yes N/A N/A N/A N/A N/A
Number of Motor Poles T2-08 N/A Yes Yes N/A N/A N/A N/A N/A N/A
Motor Rated Speed T2-09 r/min Yes Yes N/A N/A N/A N/A N/A N/A
Stator 1 Phase Resistance T2-10 Ω Yes N/A N/A N/A N/A N/A N/A N/A
d-Axis Inductance T2-11 mH Yes N/A N/A N/A N/A N/A N/A N/A
q-Axis Inductance T2-12 mH Yes N/A N/A N/A N/A N/A N/A N/A
Induced Voltage Constant
Unit Selection
T2-13 N/A Yes N/A N/A N/A N/A N/A N/A N/A
Voltage Constant T2-14 <1> Yes N/A N/A N/A N/A N/A N/A N/A
PG Number of Pulses per
Revolution
T2-16 N/A Yes Yes N/A N/A N/A N/A N/A N/A
Z Pulse Offset T2-17
deg
(mech.)
Yes N/A N/A N/A N/A N/A N/A N/A
Speed Reference for
Auto-Tuning of PG-E3
Encoder Characteristics
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
T2-19 N/A N/A N/A N/A N/A N/A N/A N/A Yes
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 incremental 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).