Quick Tuning Guide

Source: 03.ES750N_驱动器快调手册.html (the “Quick Tuning Guide” chapter of the ES750N series servo-drive manual)

Commissioning preparation

Power-on checks

Confirm the following before applying power.

Item	Content
Supply voltage	Confirm the supply voltage is correct (380 V AC–480 V AC, 50/60 Hz). Ensure input terminals (R/S/T) are firmly wired.
Grounding	Confirm the drive and motor are grounded correctly.
Drive output and motor terminals	Confirm the drive output (U1V1W1/U2V2W2) to motor wiring is firm and verify that each motor’s terminals match its encoder connection.
Control-circuit wiring	Confirm the control-circuit terminals are firmly wired to other control devices.
Control-terminal state	Confirm all control-circuit terminals are OFF (drive is not running).
Load	Confirm the motor is unloaded and disconnected from the mechanical system.

Power on

In a normal state the operator display after power-up is:

State	Display	Notes
Normal	Factory default displays 1500 rpm	Standby
Fault	Fault code (E xxx.y format)	Drive stops on a fault

Quick tuning flow

Setting the command mode

Set the command source to the LED operator panel (F0-02=0) so commissioning can be performed from the panel.

Motor-parameter identification

There are two encoder types in hydraulic servo systems:

C1 drive (high-performance, tuning-free): the A3 series encoder enables tuning-free operation for better software usability.
R1 drive (resolver): requires motor-parameter identification.

Motor parameters

Code	Name	Range	Min unit	Default	Change
`F1-01`	Rated power	0.4 kW–1000.0 kW	0.1 kW	3.7 kW	Stop-only
`F1-02`	Rated voltage	0 V–800 V	1 V	380 V	Stop-only
`F1-03`	Rated current	0.0 A–6500.0 A	0.1 A	9 A	Stop-only
`F1-04`	Rated frequency	0.00 Hz–300.00 Hz	0.01 Hz	100.00 Hz	Stop-only
`F1-05`	Rated speed	0 rpm–30000 rpm	1 rpm	1500 rpm	Stop-only
`F1-15`	Synchronous back-EMF	0 V–65535 V	1 V	300 V	Stop-only

F1-00–F1-05 are motor nameplate parameters. When using an Inovance R1 encoder motor, simply set FP-02 to the motor code and the drive automatically writes the F1-group motor basics. When using FP-02, make sure UVW output wiring is correct, and run F1-16=1 afterward to verify by one identification pass.

Motor-parameter identification modes

Code	Name	Range	Min unit	Default	Change
`F1-16`	Identification mode	0–7	1	0	Stop-only

F1-16 values:

Value	Mode	Notes
0	No action	—
1	No-load static identification	Use when back-EMF is known; motor runs at low speed; can be done without opening the relief valve
2	No-load dynamic identification	Use when back-EMF is unknown; motor runs at high speed; the relief valve must be open
3	Loaded static identification	Use when back-EMF is known and the motor has a heavy load; low-speed run
4	No-load fast dynamic identification (reverse high-speed)	Fast dynamic identification
5	No-load dynamic identification (forward high-speed)	Forward identification
6	No-load fast dynamic identification (forward high-speed)	Fast forward identification
7	Extra static identification in SVC mode	If wiring is correct but the drive reports `E43.00` during static or dynamic identification, use mode 7

⚠️

If the wiring is correct but E43.00 is reported during static identification 1 or dynamic identification, use mode 7 to learn.

Static identification procedure

Step	Procedure
Step 1	After power-up, set the command source to the LED panel (`F0-02=0`).
Step 2	Enter the motor nameplate parameters (`F1-00`–`F1-05`); if an encoder is used, enter its parameters (`A1-00`, `A1-04`, `A1-06`).
Step 3	Set `F1-16=1` (static identification 1), press ENTER; the keypad shows TUNE.
Step 4	Press RUN on the LED keypad to enable. The drive accelerates, decelerates, and rotates forward/backward; the run LED is on. The procedure takes about 2 minutes. When the display returns to normal, identification is complete.

After full identification, the drive automatically calculates:

F1-11: synchronous-motor D-axis inductance
F1-12: synchronous-motor Q-axis inductance
F1-13: synchronous-motor stator resistance

Dynamic identification procedure

For motors with constant output characteristics or high-accuracy applications, perform dynamic identification with the load decoupled to get the best result.

Step	Procedure
Step 1	After power-up, set the command source to the panel (`F0-02=0`).
Step 2	Enter the motor nameplate parameters (`F1-00`–`F1-05`).
Step 3	If `F0-01=1` (FVC closed-loop vector), enter encoder parameters (`A1-00`, `A1-04`, `A1-06`).
Step 4	Set `F1-16=2` (no-load dynamic identification), press ENTER.
Step 5	Press RUN on the LED keypad to enable. The drive accelerates, decelerates, and rotates forward/backward; the run LED is on. When the display returns to normal, identification is complete.

Observing the run state

After identification, set F0-08=5.00Hz for a low-speed test run.
Check that the running current is small and steady. If current is large, check motor parameters (F1 group) and pole pairs (A1-04); if any are changed, re-run identification and repeat the low-speed check.
After identification, check that the drive’s running direction is correct. If not, swap any two phases of the motor UVW, then re-run identification.
Check that motor operation is normal:

⚠️

If the motor oscillates or makes a low rumbling sound during operation, weaken the speed loop and current loop—decrease F2-00, F2-03, F2-13–F2-16, and increase F2-01, F2-04. If the speed is unstable, strengthen the speed and current loops. Make sure the relief valve is fully open to ensure the test run is unloaded.

Servo-pump application commissioning

AI zero-drift auto-correction

Step	Function code	Notes
Set command source	`F0-02=0`	Panel control; the panel “LOCAL/REMOT” LED is off
AI zero-drift auto-correction	`A3-20=1`	Press RUN; AI zero drift is corrected automatically

Manual correction: with the drive disabled, read the three AI channels U1-04, U1-05, U1-06. Take the maximum value plus 80 mV margin and write it to F4-18, F4-23, and F4-28 respectively. After auto-correction finishes, A3-20 automatically returns to “0”.

Pressure-mode selection

Code	Name	Setting	Notes
`A3-00`	Pressure-mode selection	0: non-pressure control	Non-pressure mode
		1: drive pressure control 1 (CAN-given)	Specific to Yeasn
		2: drive pressure control 2 (analog-given)	Analog flow/pressure
		3: CAN pressure mode	Yeasn-specific, 485 command
		4: EST mode	Yeasn-specific, 485 command
		5: EST new mode	Yeasn-specific CAN command
		6: CANopen mode	CANopen pressure loop

When switching from non-pressure mode (A3-00=0) to pressure mode (A3-00≠0), the following parameters are set automatically:

Code	Description	Auto value
`F0-01`	Control mode	1 (vector control)
`F0-02`	Command source	1 (terminal)
`F0-17`	Acceleration time	0.0 s
`F0-18`	Deceleration time	0.0 s
`F1-00`	Motor type	2 (synchronous motor)

⚠️

In pressure mode, changes to these parameters are retained through power cycles (they are restored to the auto value when the drive is power-cycled). Switching back to non-pressure mode restores the values held before entering pressure mode.

Pressure function parameters

System pressure and flow mapping

Code	Name	Setting	Notes
`A3-01`	Max speed	Per actual requirement	The motor speed corresponding to 100% flow command
`A3-02`	System pressure	0 to max pressure (`A3-03`)	Maximum system pressure
`A3-03`	Max pressure	Per pressure-sensor range	Pressure-sensor range, matched to 0–10 V DC output

AI1 pressure command mapping

Code	Name	Setting	Notes
`F4-18`	AI1 minimum input	AI1 zero drift	Minimum voltage for pressure command
`F4-19`	AI1 minimum-input setting	Default 0.0%	Minimum pressure command
`F4-20`	AI1 maximum input	Typically 10 V	Maximum voltage for pressure command
`F4-21`	AI1 maximum-input setting	Default 100.0%	Maximum pressure command; 100.0% = system pressure (`A3-02`)

Sets AI1 0–10 V (or other range) to 0 kg/cm² to system pressure (A3-02).

AI2 flow command mapping

Code	Name	Setting	Notes
`F4-23`	AI2 minimum input	AI2 zero drift	Minimum voltage for flow command
`F4-24`	AI2 minimum-input setting	Default 0.0%	Minimum flow command
`F4-25`	AI2 maximum input	Typically 10 V	Maximum voltage for flow command
`F4-26`	AI2 maximum-input setting	Default 100.0%	Maximum flow command; 100.0% = max speed (`A3-01`)

Sets AI2 0–10 V (or other range) to 0 rpm to max speed (A3-01).

AI3 pressure feedback mapping

Code	Name	Setting	Notes
`F4-28`	AI3 minimum input	AI3 zero drift	Minimum voltage for pressure feedback
`F4-29`	AI3 minimum-input setting	Default 0.0%	Minimum pressure feedback
`F4-30`	AI3 maximum input	Typically 10 V	Maximum voltage for pressure feedback
`F4-31`	AI3 maximum-input setting	Default 100.0%	Maximum pressure feedback; 100.0% = max pressure (`A3-03`)

Sets AI3 0–10 V (or other range) to 0 kg/cm² to max pressure (A3-03).

Pressure release

Code	Name	Setting	Notes
`A3-08`	Max reverse speed	Percentage of max speed (`A3-01`)	Largest reverse speed during pressure release. Higher values give faster release but more pump-reversal noise.

Base flow and base pressure

Because of internal leakage in the pump, when no flow or pressure command is given, the hydraulic fluid flows back into the tank, letting air into the oil path and creating noise and instability. A small base flow and base pressure are therefore required.

Code	Name	Range	Notes
`A3-09`	Base flow	0.0%–50.0%	Percentage of max speed (`A3-01`)
`A3-10`	Base pressure	0.0 kg/cm²–50.0 kg/cm²	System base pressure

Pressure command filter times

Code	Name	Range	Notes
`F4-22`	AI1 input filter time	0.000 s–10.000 s	AI1 filter
`A3-04`	Group-1 pressure-command rise time	0 ms–2000 ms	Pressure rise ramp
`A4-02`	Group-1 pressure-command fall time	0.001 s–2.000 s	Pressure fall ramp
`A3-25`	Group-1 pressure-command rise S-filter	0.001 s–10.000 s	S-curve filter
`A3-26`	Group-1 pressure-command fall S-filter	0.001 s–1.000 s	S-curve filter

Shorter filter times give faster pressure response with larger overshoot; longer filter times slow the response and reduce overshoot.

Flow command filter times

Code	Name	Range	Notes
`F4-27`	AI2 input filter time	0.000 s–10.000 s	AI2 filter
`A4-03`	Group-1 flow-command rise time	0.000 s–5.000 s	Flow rise ramp
`A4-04`	Group-1 flow-command fall time	0.000 s–5.000 s	Flow fall ramp

Shorter filter times give faster pressure response with more mechanical shock; longer filter times give smoother operation.

Pressure PID response tuning

PID group selection

The drive provides four PID groups selected by the combination of DI inputs 48# and 49#:

DI3 (49#DI function)	DI2 (48#DI function)	PID group
0	0	Group 1: `A3-05`, `A3-06`, `A3-07`
0	1	Group 2: `A3-11`, `A3-12`, `A3-13`
1	0	Group 3: `A3-14`, `A3-15`, `A3-16`
1	1	Group 4: `A3-17`, `A3-18`, `A3-19`

Higher proportional gain Kp, shorter integral time Ki, and larger derivative time Kd give faster response, but if response is too fast it will overshoot and oscillate. Conversely, a weak response lowers efficiency and causes inconsistent parts.

Pressure PID proportional gain

Parameters: A3-05, A3-11, A3-14, A3-17

Higher gain gives faster pressure response; too high causes oscillation.

Pressure PID integral time

Parameters: A3-06, A3-12, A3-15, A3-18

Shorter integral time gives faster pressure response; too short causes overshoot; too weak causes pressure instability.

Pressure-loop gain coefficient

Code	Name	Range	Min unit	Default	Change
`A3-29`	Pressure-loop gain coefficient	0.20–5.00	0.01	1.00	Changeable

Used to tune the overall pressure-loop response. Higher values make the loop more responsive; too high causes oscillation; lower values slow the loop.

⚠️

When the hydraulic inertia is large or the hose is long and thin, this gain usually needs to be reduced.

Holding-pressure stability

If holding pressure fluctuates significantly, improve stability by strengthening the low-speed speed-loop response—raise F2-00 moderately and reduce F2-01. Do not overdo it or motor control will oscillate.

Code	Name	Range	Min unit	Default	Change
`F2-00`	Speed-loop P gain 1	1–400	1	60	Changeable
`F2-01`	Speed-loop I time 1	0.01 s–10.00 s	0.01 s	0.3 s	Changeable

The speed-loop and current-loop responses directly affect pressure stability. When conditions allow, set them as strong as possible.

Electrical Installation & Design Troubleshooting