4.7 Auto-TuningYASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual 111Start-Up Programming& Operation4Table 4.24 Auto-Tuning Input Data◆ Before Auto-Tuning the DriveCheck the items below before Auto-Tuning the drive.■ Basic Auto-Tuning Preparations• Auto-Tuning requires the user to input data from the motor nameplate or motor test report. Make sure this data isavailable before Auto-Tuning the drive.• For best performance, the drive input supply voltage must be greater than the motor rated voltage.Note: Better performance is possible when using a motor with a base voltage that is 20 V (40 V for 400 V class models) lower than theinput supply voltage. This is particularly important when operating the motor above 90% of base speed, where high torqueprecision is required.• To cancel Auto-Tuning, press the STOP key on the digital operator.• When using a motor contactor, make sure it is closed throughout the Auto-Tuning process.• When using Auto-Tuning for motor 2, make sure motor 2 is connected to the drive output when performing the tuning.• Table 4.25 describes digital input and output terminal operation while Auto-Tuning is executed.Table 4.25 Digital Input and Output Operation During Auto-Tuning■ Notes on Rotational Auto-Tuning• To achieve optimal performance from Rotational Auto-Tuning, the load should be decoupled from the motor.Rotational Auto-Tuning is best suited for applications requiring high performance over a wide speed range.• If motor and load can not be decoupled, reduce the load so that it is no greater than 30% of the rated load. PerformingRotational Auto-Tuning with a higher load will set motor parameters incorrectly, and can cause irregular motorrotation.• Ensure the motor-mounted brake is fully released if installed.• Connected machinery should be allowed to rotate the motor.■ Notes on Stationary Auto-TuningStationary Auto-Tuning modes analyze motor characteristics by injecting current into the motor for about one minute.WARNING! Electrical Shock Hazard. When executing stationary Auto-Tuning, the motor does not rotate, however, power is applied.Do not touch the motor until Auto-Tuning is completed. Failure to comply may result in injury from electrical shock.WARNING! Sudden Movement Hazard. If installed, do not release the mechanical brake during stationary Auto-Tuning. Inadvertentbrake release may cause damage to equipment or injury to personnel. Ensure that the mechanical brake release circuit is notcontrolled by the drive multi-function digital outputs.Stationary Auto-Tuning 1 and 2• Perform these tuning methods when using a vector control mode but Rotational Auto-Tuning cannot be performed.• Check the area around the motor to ensure that nothing will accidentally cause the motor to rotate during the Auto-Tuning process.Input Value Input Parameter UnitTuning Type (T1-01 or T2-01)8Inertia Tuning9ASR Gain TuningTest signal frequency T3-01 Hz YES YESTest signal Amplitude T3-02 rad YES YESMotor inertia T3-03 kgm 2 YES YESSystem response frequency T3-04 Hz N/A YESMotor Type Auto-Tuning Type Digital Input Digital OutputIM MotorRotational Auto-TuningDigital input functions are disabled.Functions the same as during normal operationStationary Auto-Tuning 1Maintains the status at the start of Auto-TuningStationary Auto-Tuning 2Stationary Auto-Tuning for Line-to-Line ResistanceRotational Auto-Tuning for V/f Control Functions the same as during normal operationPM MotorPM Motor Parameter Settings Digital output functions are disabled.PM Stationary Auto-TuningMaintains the status at the start of Auto-TuningPM Stationary Auto-Tuning for Stator ResistanceZ Pulse Offset TuningIM and PMMotorsInertia Tuning Functions the same as during normal operationASR Gain Auto-Tuning
