4.7 Auto-Tuning132 YASKAWA ELECTRIC SIEP C710616 27G YASKAWA AC Drive A1000 Technical Manual T2-13: Induced Voltage Constant Unit SelectionSelects the units used for setting the induced voltage coefficient.Setting 0: mV (min-1)Setting 1: mV (rad/s)Note: If T2-13 is set to 0, then the drive will use E5-24 (Motor Induction Voltage Constant 2 (for PM Motors)), and will automaticallyset E5-09 (Motor Induction Voltage Constant 1 (for PM Motors)) to 0.0. If T2-13 is set to 1, then the drive will use E5-09 andwill automatically set E5-25 to 0.0. T2-14: PM Motor Induced Voltage Constant (Ke)Enter the motor induced voltage constant (Ke). T2-15: Pull-In Current Level for PM Motor TuningSets the amount of pull-in current used to tune the d-axis and q-axis inductance. Set as a percentage of the motor ratedcurrent. 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 ()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 4.28.Table 4.28 Parameters Adjusted by Inertia and Speed Loop Auto-TuningNo. Name Setting Range DefaultT2-13 Induced Voltage Constant Unit Selection 0, 1 1No. Name Setting Range DefaultT2-14 PM Motor Induced Voltage Constant 0.0 to 2000.0 Depending on T2-02No. Name Setting Range DefaultT2-15 Pull-In Current Level for PM Motor Tuning 0 to 120% 30%No. Name Setting Range DefaultT2-16 PG Number of Pulses Per Revolution for PM Motor Tuning 1 to 15000 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 YESn5-02 Motor Acceleration Time YES YESn5-03 Feed Forward Control Ratio Gain YES YES
