Sensorless Vector Control Operation Setting

To run sensorless vector control operation, set dr.09 (Control Mode) to 4 (IM sensorless), select the capacity of the motor you will use at dr.14 (Motor Capacity), and select the appropriate codes to enter the rating plate information of the motor.

Code Input (Motor Rating Plate Information) drv.18 Base Freq Base frequency

bA.11 Pole Number Motor pole number bA.12 Rated Slip Rated slip

bA.13 Rated Curr Rated current bA.15 Rated Volt Rated voltage

bA.16 Efficiency Efficiency (when no information is on the rating plate, default values are used.)

After setting each code, set bA.20 (Auto tuning) to 1 (All - rotation type) or 2 (All - static type) and run auto tuning. Because rotation type auto tuning is more accurate than static type auto tuning, select 1 (All - rotation type) and run auto tuning if you can rotate the motor.

Note

Excitation Current

A motor can be operated only after magnetic flux is generated by current flowing through a coil. The power supply used to generate the magnetic flux is called the excitation current. The stator coil that is used with the inverter does not have a permanent magnetic flux, so the magnetic flux must be generated by supplying an excitation current to the coil before operating the motor.

Sensorless Vector Control Operation Setting Details

Code Description

Cn.20 SL2 G View Sel Setting Function

0 No Does not display sensorless (II) vector control gain code. 1 Yes Allows the user to set various gains applied when the motor

rotates faster than medium speed (approx. 1/2 of the base frequency) through sensorless (II) vector control.

Codes available when setting to 1 (Yes): Cn.23 ASR-SL P Gain2/Cn.24 ASR-SL I Gain2/Cn.26 Flux P Gain/Cn.27 Flux I Gain Gain3/Cn.28 S-Est P Gain1/Cn.29 S- Est I Gain1/Cn.30 S-Est I Gain1/Cn.31 ACR SL P Gain/Cn.32 ACR SL I Gain Cn.09 PreExTime Sets pre-excitation time. Pre-excitation is used to start the operation after

performing excitation up to the motor’s rated flux.

Cn.10 Flux Force Allows for the reduction of the pre-excitation time. The motor flux increases up to the rated flux with the time constant as shown in the following figure. To reduce the time taken to reach the rated flux, a higher motor flux base value than the rated flux must be provided. When the magnetic flux reaches the rated flux, the provided motor flux base value is reduced.

Cn.11 Hold Time Sets the zero-speed control time (hold time) in the stopped position. The output is blocked after zero-speed operation for a set period when the motor decelerates and is stopped by a stop command.

Cn.21 ASR-SL P Gain1, Cn.22 ASR-SL I Gain1

Changes the speed PI controller gain during sensorless vector control. For a PI speed controller, P gain is a proportional gain for the speed deviation. If speed deviation becomes higher than the torque the output command

Cn.09 PreExTime Cn.10 Flux Force Magnetic flux Excitation current Run cmd Output voltage

Hold time at stop cmd

Frequency Run cmd

Learning Advanced Features

Code Description

increases accordingly. As the value increases, the faster the speed deviation decreases. The speed controller I gain is the integral gain for speed deviation. It is the time taken for the gain to reach the rated torque output command while a constant speed deviation continues. The lower the value becomes, the faster the speed deviation decreases.

Cn.23 ASR-SL P Gain2, Cn.24 ASR-SL I Gain2

Appears only when 1 (Yes) is selected for Cn.20 (SL2 G view Sel). The speed controller gain can be increased to more than the medium speed for sensorless vector control. Cn.23 ASR-SL P Gain2 is set as a percentage of the low speed gain Cn.21 ASR-SL P Gain1 - if P Gain 2 is less than 100.0%, the responsiveness decreases. For example, if Cn.21 ASR-SL P Gain1 is 50.0% and Cn.23 ASR-SL P Gain2 is 50.0%, the actual middle speed or faster speed controller P gain is 25.0%.

Cn.24 ASR-SL I Gain2 is also set as a percentage of the Cn.22 ASR-SL I Gain1. For I gain, the smaller the I gain 2 becomes, the slower the response time becomes. For example, if Cn.22 ASR-SL I Gain1 is 100ms and Cn.24 ASR-SL I Gain2 is 50.0%, the middle speed or faster speed controller I gain is 200 ms. The controller gain is set according to the default motor parameters and Acc/Dec time.

Cn.26 Flux P Gain, Cn.27 Flux I Gain, Cn.85-87 Flux P Gain13, Cn.88-90 Flux I Gain1-3

Sensorless vector control requires the rotor flux estimator. For the adjustment of flux estimator gain, refer to 5.10.2 Sensorless Vector Control Operation Guide to on page 152.

Cn.28 S-Est P Gain1, Cn.29 S-Est I Gain1, Cn.30 S-Est I Gain2

Speed estimator gain for sensorless vector control can be adjusted. To adjust speed estimator gain, refer 5.10.2 Sensorless Vector Control Operation Guide to on page 152.

Cn.31 ACR SL P Gain, Cn.32 ACR SL I Gain

Adjusts the P and I gains of the sensorless current controller. For the adjustment of sensorless current controller gain, refer to 5.10.2 Sensorless Vector Control Operation Guide to on page 152.

Cn.53 Torque Lmt Src Select a type of torque limit setting, using the keypad, terminal block analog input (V1 and I2) or communication power. When setting torque limit, adjust the torque size by limiting the speed controller output. Set the retrograde and regenerative limits for forward and reverse operation.

Setting Function

0 KeyPad-1 Sets the torque limit with the keypad. 1 KeyPad-2

2 V1 Sets the torque limit with the analog input terminal of the terminal block.

4 V2 5 I2

6 Int 485 Sets the torque limit with the communication terminal of the terminal block.

8 FieldBus Sets the torque limit with the FieldBus communication option.

12 Pulse Sets the torque limit with the pulse input of the terminal block.

Code Description

The torque limit can be set up to 200% of the rated motor torque. Cn.54 FWD +Trq Lmt Sets the torque limit for forward retrograde (motoring) operation. Cn.55 FWD –Trq Lmt Sets the torque limit for forward regenerative operation.

Cn.56 REV +Trq Lmt Sets the torque limit for reverse retrograde (motoring) operation. Cn.57 REV –Trq Lmt Sets the torque limit for reverse regenerative operation.

In.02 Torque at 100% Sets the maximum torque. For example, if In.02 is set to 200% and an input voltage (V1) is used, the torque limit is 200% when 10V is entered. However, when the VI terminal is set up with the factory default setting and the torque limit setup uses a method other than the keypad, check the parameter settings in the monitor mode. In the Config Mode CNF.21-23 (only displayed when using LCD keypad), select 21(Torque limit).

Cn.91-93 SL Volt Comp1-3

Adjust output voltage compensation values for sensorless vector control. For output voltage compensation, refer to 5.10.2 Sensorless Vector Control Operation Guide to on page 152.

Cn.52 Torque Out LPF Sets the time constant for torque command by setting the torque controller output filter.

Adjust the controller gain according to the load’s characteristics. However, the motor can overheat or the system may become unstable depending on the controller gain settings.

Note

Speed controller gain can improve the speed control waveform while monitoring the changes in speed. If speed deviation does not decrease quickly, increase the speed controller P gain or decrease I gain (time in ms). However, if the P gain is increased too high or I gain is decreased too low, severe vibration may occur. If oscillation occurs in the speed waveform, try to increase I gain (ms) or reduce P gain to adjust the waveform.