4.7 Auto-TuningYASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual 119Start-Up Programming& Operation4■ T2-16: PG Number of Pulses Per Revolution for PM Motor TuningEnter the number of pulses from the PG encoder per motor rotation. Set the actual number of pulses for one full motorrotation.■ T2-17: Encoder Z-Pulse Offset (Δθ)Sets the amount of compensation or offset in 0.1 degree units in order to fine-tune the home position. If the amount ofoffset needed for the Z pulse is unknown or if the PG encoder is replaced, perform Z pulse tuning.◆ Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3These tuning methods apply a sine wave test signal to the system. By the measuring the response the drive estimates thesystem inertia. It automatically sets parameters listed in Table 4.26.Table 4.26 Parameters Adjusted by Inertia and Speed Loop Auto-Tuning■ T3-01: Inertia Tuning Frequency ReferenceSets the frequency of the test signal applied to the motor during Inertia Tuning. Although this setting rarely needs to bechanged, increasing the value may be beneficial when working with high inertia loads.■ T3-02: Inertia Tuning Reference AmplitudeEnter the amplitude of the test signal applied to the motor during Inertia Tuning. Although this setting rarely needs to bechanged, try decreasing the value if the load inertia is too large and causes problems during Inertia Tuning. If a faultoccurs when T3-01 is set to low value, the situation may be remedied by adjusting T3-02.■ T3-03: Motor InertiaEnter the inertia of the motor. This value is used to determine the load inertia using the test signal response. The defaultsetting is for a Yaskawa standard motor as listed in the motor inertia table.Note: The display resolution depends on the rated output power of the drive after the Drive Duty has been set in parameter C6-01.Drives with a maximum output up to 37 kW will display this value in units of 0.0001 kgm2 . Drives with a maximum output 37 to185 kW will display this value in units of 0.001 kgm2 . Refer to A1000 Model Selection on page 27 for details.No. Name Setting Range DefaultT2-16 PG Number of Pulses Per Revolution for PM Motor Tuning 0 to 60000 ppr 1024 pprNo. Name Setting Range DefaultT2-17 Encoder Z-Pulse Offset -180.0 to 180.0 deg 0.0 degParameter DescriptionT1-01 or T2-018Inertia Tuning9Speed Control Loop (ASR) TuningC5-01 ASR Proportional Gain 1 N/A YESC5-17 (C5-37) Motor Inertia YES YESC5-18 (C5-38) Motor Inertia Ratio YES YESL3-24 Motor Acceleration Time for Inertia Calculations YES YESL3-25 Load Inertia Ratio YES YESn5-03 Feed Forward Control Ratio Gain YES YESNo. Name Setting Range DefaultT3-01 Inertia Tuning Frequency Reference 0.1 to 20.0 Hz 3.0 HzNo. Name Setting Range DefaultT3-02 Inertia Tuning Reference Amplitude 0.1 to 10.0 rad 0.5 radNo. Name Setting Range DefaultT3-03 Motor Inertia 0.0001 to 600.00 kgm 2 Depending on E2-11
