4 start-up programming – Yaskawa L1000E AC Drive CIMR-LEA User Manual
Page 69
4 Start-Up Programming
YASKAWA TOEPYAIL1E01A YASKAWA AC Drive L1000E Quick Start Guide
69
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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
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).