YASKAWA U1000 Series - Parameter Settings During Inertia and Speed Control Loop Auto-Tuning: T3

4.7 Auto-Tuning
YASKAWA ELECTRIC SIEP C710636 02B YASKAWA U1000 Technical Manual 167
Start-Up Programming & Operation
4
◆ Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3
These tuning methods apply a sine wave test signal to the system. By the measuring the response the drive estimates the
system inertia. It automatically sets parameters listed in Table 4.28.
Table 4.28 Parameters Adjusted by Inertia and Speed Loop Auto-Tuning
■ T3-01: Inertia Tuning Frequency Reference
There is normally no need to change this parameter from the default value.
Sets the frequency of the test signal applied to the motor during Inertia Tuning. Increasing the value may be beneficial
when working with high inertia loads.
■
T3-02: Inertia Tuning Reference Amplitude
There is normally no need to change this parameter from the default value.
Enter the amplitude of the test signal applied to the motor during Inertia Tuning. If the load inertia is too large and causes
problems during Inertia Tuning, try decreasing the value. If a fault occurs when T3-01 is set to low value, the situation
may be remedied by adjusting T3-02.
■
T3-03: Motor Inertia
Enter the inertia of the motor. This value is used to determine the load inertia using the test signal response. The default
setting is for a Yaskawa standard motor as listed in the motor inertia table.
Note: Display is in the following units.
 CIMR-U40011 to 40014: 0.0001 kgm
2
units
 CIMR-U20028 to 20192, 40021 to 40124: 0.001 kgm
2
units
 CIMR-U20248, 40156 to 40930: 0.01 kgm
2
units
The display resolution depends on the rated output current of the drive after the Drive Duty has been set in parameter C6-01.
■ T3-04: ASR Response Frequency
Sets the response frequency (reciprocal of the step response time constant) of the system or the connected machine. The
drive uses this value and the load inertia to fine-tune the speed control loop gain (C5-01, ASR Gain 1). Oscillation may
result if the value input here is higher than the actual response frequency of the system.
Parameter Description
T1-01 or T2-01
8
Inertia Tuning
9
Speed Control Loop (ASR) Tuning
C5-01 ASR Proportional Gain 1 N/A YES
C5-17 (C5-37) Motor Inertia YES YES
C5-18 (C5-38) Motor Inertia Ratio YES YES
n5-02 Motor Acceleration Time YES YES
n5-03 Feed Forward Control Ratio Gain YES YES
No. Name Setting Range Default
T3-01 Inertia Tuning Frequency Reference 0.1 to 20.0 Hz 3.0 Hz
No. Name Setting Range Default
T3-02 Inertia Tuning Reference Amplitude 0.1 to 10.0 rad 0.5 rad
No. Name Setting Range Default
T3-03 Motor Inertia
0.0001 to 600.00 kgm
2
Depending on
o2-04, C6-01, E5-01
No. Name Setting Range Default
T3-04 ASR Response Frequency 0.1 to 50.0 Hz 10.0 Hz
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