Hitachi Sj7002 Owners Manual

							Setting Motor Constants for Vector Control
Operations
and Monitoring
4–70
The inverter has three separate motor constant sets named  1st, 2nd, and  3rd. The 1st motor 
constant set is the default, while the SET and  SET2 intelligent inputs select the 2nd and 3rd 
constant sets, respectively. The torque control  methods are valid to use only if a particular 
motor constant set includes parameters for th e selected control method. The following table 
lists the vector control methods and shows the ones that are valid for each motor constant set.:
The motor data selection is available only to th e 1st motor constant set, selected by function 
H004. By default, the 2nd and 3rd motor constant s sets only store standard motor parameters. 
The table below show s this arrangement.
When motor constant values are available from  the motor manufacturer, you can enter them 
directly. The available motor co nstant parameters (storage locations) depend on the motor 
constant set (1st, 2nd, or 3rd)  according to the following table.
H031 Auto-tuned constant R2, 1st motor 0.000–65.53 Units: ohms
H032 Auto-tuned constant L,  1st motor 0.00–655.3 Units: mH
H033 Auto-tuned constant Io,  1st motor 0.00–655.3 Units: A
H034 Auto-tuned constant J, 1st motor 0.001–9999
Units: kgm
2
Ve c t o r  C o n t r o l  M e t h o d1st motor2nd motor3rd motor
V/f constant torque ✔✔✔
V/f variable torque ✔✔✔
V/f free-setting curve ✔✔ ✘
Sensorless vector control (SLV) ✔✔ ✘
Sensorless vector control, 0Hz domain ✔✔ ✘
Vector control with encoder feedback ✔✘ ✘
Motor data selection1st motor2nd motor3rd motor
Standard motor parameters ✔✔✔
Auto-tuning parameters ✔✘ ✘
Adaptive tuning parameters ✔✘ ✘
Motor data selection1st motor2nd motor3rd motor
Standard motor parameters H020 to H024 H220 to H224 —
Auto-tuning parameters H030 to H034——
Adaptive tuning parameters H030 to H034——
Func.NameDataNotes

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							SJ7002 Inverter
Operations
and Monitoring
4–71
Auto-tuning of 
Motor ConstantsThe SJ7002 inverter features auto-tuning, which detects and records the motor characteristic 
parameters to use in all vector control mode s. Auto-tuning determines the resistance and 
inductance of motor windings. Therefore, the moto r must be connected to the inverter for this 
procedure. Note that the auto-tuning feature is  not associated with PID loop operation, which is 
common on some control devices. The auto-tuning procedure must be conducted while the 
inverter is stopped (not in Run mode), so it  can use special output pulses to detect motor 
characteristics.
When using the inverter in sensor less vector control, sensorless vector control - 0Hz domain, or 
vector control with encoder feedback, the motor circuit constants are important. If they are 
unknown, then you must first conduct the auto-tuning procedure. The inverter will determine 
the constants and write new values for the related “H” Group settings. The auto-tuning proce-
dure requires that the inverter be configured to  operate the 1st motor (do not set the inverter to 
use 2nd and 3rd motor data during an auto-tuning procedure).
Please read the following Warning before runn ing the auto-tuning procedure on the next page.
WARNING: You may need to disconnect the load from the motor before performing auto-
tuning. The inverter runs the motor forward and  backward for several seconds without regard to 
load movement limits.
Func.NameRangeNotes
H001 Auto-tuning setting 00 Disabled
01 Enabled, without motor rotation
02 Enabled, with motor rotation
H002 Motor data selection, 1st mo
tor00 Standard mo tor parameters
01 Auto-tuning parameters
02 Adaptive tuning parameters
H003 Motor capacity, 1st motor
0.2 – 75,
0.2 – 160 kW, up to –550xxx models
kW, –750xxx to –1500xxx 
models
H004 Motor poles setting, 1st mo tor 2 / 4 / 6 / 8 Units: poles
H030 Auto-tuned motor constant R1, 
1st motor — Units: ohms
H031 Auto-tuned motor constant R2, 
1st motor — Units: ohms
H032 Auto-tuned motor constant L, 
1st motor — Units: mH
H033 Auto-tuned motor constant Io, 
1st motor — Units: A
H034 Auto-tuned motor constant J, 1st 
motor —
Units: kgm
2
A003 Base frequency setting 30 to maximum freq. Units: Hz
A051 DC braking enable
00 Disabled (Disable during auto-
tuning)
01 Enabled
A082 AVR voltage select
200/215/220/230/240 Valid for 200V class inverters
380/400/415/440/ 460/480 Valid for 400V class inverters

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							Setting Motor Constants for Vector Control
Operations
and Monitoring
4–72
Preparation for Auto-tuning Procedure –  Be sure to study the preparation items and verify 
the related inverter configuration befo re going further in this procedure.
1. Adjust the motor base frequency (A003) and th e motor voltage selection (A082) to match 
the specifications of the motor used in the auto-tuning procedure.
2. Verify that the motor is not more than one fra me size smaller than the rated size for he 
inverter. Otherwise, the motor characteristic measurements may be inaccurate.
3. Be sure that no outside force wi ll drive the motor during auto-tuning.
4. If DC braking is enabled (A051=01), the motor co nstants will not be accurately set. There-
fore, disable DC braking (A051=00) before starting the auto-tuning procedure.
5. When auto-tuning with motor rotation (H001=02), take care to verify the following points:
a.The motor will rotate up to 80% of the base fre quency; make sure that this will not cause 
any problem.
b. Do not attempt to either run or stop the mo tor during the auto-tuning procedure unless it 
is an emergency. If this occurs, initialize th e inverter’s parameters to the factory default 
settings (see  “
Restoring Factory Default Settings” on page 6–16). Then reprogram the 
parameters unique to your application, an d initiate the auto-tuning procedure again.
c. Release any mechanical brake that would interfere with the motor rotating freely.
d. Disconnect any mechanical load from the mo tor. The torque during auto-tuning is not 
enough to move some loads.
e. If the motor is part of a mechanism with limited travel (such as lead screw or elevator), 
select H001=01 so that the auto-t uning will not cause motor rotation.
6. Note that even when you select H001=01 for  no rotation, sometimes the motor will rotate.
7. When using a motor that is one frame size sm aller than the inverter rating, enable the 
overload restriction function. Then  set the overload restriction level to 1.5 times the rated 
output current of the motor.
Auto-tuning 
ProcedureAfter the preparations above are complete, perfo rm the auto-tuning procedure by following the 
steps below.
1. Set H001=01 (auto-tuning  without motor rotation) or H001=02 (auto-tuning  with motor 
rotation).
2. Turn the Run command ON. The inverter will then automatically sequence through the 
following actions:
a.First AC excitation (motor does not rotate)
b. Second AC excitation (motor does not rotate)
c. First DC excitation (motor does not rotate)
d. V/F running—this step occurs only if H001=02 (motor accelerates up to 80% of the 
base frequency) 
e. SLV running—this step occurs only if H001=02  (motor accelerates up to x% of the base 
frequency), where “x” varies with time T during this step:
x=40% when T < 50s
x=20% when 50s < T < 100s
x=10% when T => 100s
f. Second DC excitation
g. Displays the pass/fail result of  the auto-tuning (see next page)
NOTE: During the AC and DC motor excitation steps above, you may notice that the motor 
makes a slight humming sound. This sound is normal.

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							SJ7002 Inverter
Operations
and Monitoring
4–73
If the auto-tuning procedure is  successful, the inverter updates 
the motor characteristic parameters and indicates normal termi-
nation  of the procedure as shown. Pressing any key on the 
keypad will clear the result from the display.
 Trip during auto-tuning –  A trip event will cause the auto-
tuning sequence to quit . The display will show the error code 
for the trip rather than the ab normal termination indication. 
After eliminating the cause of the trip, then conduct the auto-
tuning procedure again.
 Power loss or stop during auto-tuning –  If the auto-tuning 
procedure is interrupted by power loss, the Stop key, or by 
turning OFF the Run command, the auto-tuning constants 
may or may not be stored in the inverter. It will  be necessary to restore the inverter’s factory 
default settings (see  “
Restoring Factory Default Settings” on page 6–16). After initializing 
the inverter, then perform the auto-tuning procedure again.
 Free V/F setting –  The auto-tuning procedure will have  an abnormal termination if the 
control mode of the inverter  is set for free V/F setting.
Adaptive Auto-
tuning of Motor 
ConstantsThe adaptive auto-tuning feature refines the mo tor constants by checking the motor characteris-
tic while it in the normal running temperature range.
Preparation for Adaptive Auto-tuning –  Be sure to study the preparation items and verify the 
related inverter configuration before  going further in this procedure.
1. It is necessary to first perform the auto-tuning  procedure in the section above, since adaptive 
auto-tuning requires accurate initial constant values.
2. Adaptive auto-tuning is valid only for the 1st motor data (do not use 2nd or 3rd motor data 
settings).
3. The adaptive auto-tuning sequence actually begi ns as the motor decelerates to a stop from a 
Run command you initiate. However, the sequence  still continues for five (5) more seconds. 
Giving another Run command during this 5-second  time period will halt the adaptive auto-
tuning. It will resume the next time th e motor runs and decelerates to a stop.
4. If DC braking is enabled, then the adaptive auto-tuning sequence executes after DC braking 
brings the motor to a stop.
5. Note that when intelligent terminal [SON]  Speed Servo ON or [FOC] Current Forcing is 
assigned, the online auto-tuni ng function is not available.
After reading and following the preparation steps above, then configure the inverter for 
adaptive auto-tuning by following these steps:
1. Set H002=02 for adaptive auto-tuning procedure
2. Set H001=00 to disable the (m anual) auto-tuning procedure
3. Turn the Run command ON.
4. Run the motor for an appropriate time until  it reaches its normal operating temperature 
range. Remember that the purpose of adaptive auto-tuning is optimize the inverter for 
typical running conditions.
5. Stop the motor (or turn the Run command OFF) , which initiates an adaptive auto-tuning. 
Wait at least five (5) seconds before  issuing any other command to the inverter.
With the above configuration, the inverter auto matically runs the adaptive auto-tuning sequence 
each time the motor runs and de celerates to a stop. This continuously adapts the SLV control 
algorithm to slight changes in  the motor constants during operation.
NOTE: It is not necessary to wait 5 seconds af ter each time the motor runs before running 
again. When the motor stops for less than 5 seconds before running again, the inverter stops the 
adaptive tuning sequence and keep s the current motor constant values in memory. The inverter 
will attempt the adaptive auto-tuning at  the next run/stop event of the motor.
Abnormal terminationNormal termination

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							Setting Motor Constants for Vector Control
Operations
and Monitoring
4–74
Manual Setting of 
Motor ConstantsWith vector control, the inverter uses the output  current, output voltage, and motor constants to 
estimate the motor torque and speed. It is possibl e to achieve a high starting torque and accurate 
speed control at low frequency
 Sensorless Vector Control –  improved torque control at output  frequencies down to 0.5 Hz. 
Use A044=03 (1st motor) or A244=03 (2nd motor) to select sensorless vector control.
 Sensorless Vector Control, 0Hz Domain – improved torque contro l at output frequencies 
from 0 to 2.5 Hz. Use A044=04 (1st motor) or A244=04 (2nd motor). For this vector control 
method, we recommend using a motor that is one  frame size smaller than the inverter size.
 Sensorless Vector Control with Feedback –  improved torque control at all speeds, while 
providing the most accurate speed regulation
If you do use any vector control methods, it is  important that the motor constants stored in the 
inverter match the motor. We recommend first us ing the auto-tuning procedure in the previous 
section. If satisfactory performan ce through auto-tuning cannot be fully obtained, please adjust 
the motor constants for the observed sy mptoms according to the table below.
CAUTION: If the inverter capacity is more than twic e the capacity of the motor in use, the 
inverter may not achieve its full performance specifications.
When using a motor one frame size smaller than the inverter rating, the torque limit value 
(B041 to B044) is from the following formula and th e value of the actual motor torque limit is 
calculated by the formula. Do not set a value in  B041 to B044 that results in an actual torque 
greater than 200% or you risk motor failure.
For example, suppose you have a 0.75kW inverter  and a 0.4kW motor. The torque limit setting 
value that is for T=200% is set (entered) as 106%, shown by the following formula:
Operation StatusSymptomAdjustmentParameter
Powered  running When the speed deviation  is negative Slowly increase th
e motor constant 
R2 in relation to auto-tuning data, 
within 1 to 1.2 times preset R2 H021 / H221
When the speed deviation 
is positive Slowly decrease th
e motor constant 
R2 in relation to auto-tuning data, 
within 0.8 to 1 times preset R2 H021 / H221
Regeneration
(status with a decel-
erating torque) When low frequency (a 
few Hz) torque is insuffi-
cient Slowly increase the motor speed 
constant R1 in relation to auto-
tuning data within
 1 to 1.2 times R1 H020 / H220
Slowly increase th e motor constant 
IO in relation to auto-tuning data, 
within 1 to 1.2 times preset IO H023 / H223
During acceleratio n A sudden jerk at start of 
rotation Increase motor co
nstant J slowly 
within 1 to 1.2 times the preset 
constant H024 / H224
During deceleration U nstable motor rotation Decrease  the speed response H05, H205
Set motor constant J smaller than 
the preset constant H024, H224
During torque 
limiting Insufficient torque during 
torque limit at low speed Set the overload restriction level 
lower than the torque limit level B021,
B041 to B044
At low-frequency 
operation Irregular rotation Set motor co
nstant J larger than the 
preset constant H024, H244
Torque limit setting
Actual torque l
imit Motor capacity×
Inverter capacity--------------------------------------------------------------------------200% 0.4kW×
0.75kW-------------------------------106%===

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							SJ7002 Inverter
Operations
and Monitoring
4–75
PID Loop Operation
In standard operation, the inverter uses a refe rence source selected by parameter A001 for the 
output frequency, which may be a fixed value (F 001), a variable set by the front panel potenti-
ometer, or value from an analog input (voltage or  current). To enable PID operation, set A071 = 
01. This causes the inverter to calculate  the target frequency, or setpoint. An optional intelligent 
input assignment (code 23), PID Disable, will  temporarily disable PID operation when active.
A calculated target frequency can  have a lot of advantages. It lets the inverter adjust the motor 
speed to optimize some other pr ocess variable of interest, potentially saving energy as well. 
Refer to the figure below. The motor acts upon th e external process. To control that external 
process, the inverter must monitor the process vari able. This requires wiring a sensor to either 
the analog input terminal [O] (volta ge) or terminal [OI] (current).
When enabled, the PID loop calculates the idea l output frequency to minimize the loop error. 
This means we no longer command the inverter to  run at a particular frequency, but we specify 
the ideal value for the process variable. That ideal value is called the  setpoint, and is specified 
in the units of the external process variable. Fo r a pump application it may be gallons/minute, 
or it could be air velocity or temperature for  an HVAC unit. Parameter A075 is a scale factor 
that relates the external process variable units to motor frequency. The figure below is a more 
detailed diagram of the PID function.
∑PID
CalculationError
Setpoint
SP PV Freq.
Inverter
Output MotorExternal
Process
Sensor
Process Variable (PV)
Inverter
Analog input
Monitor
P gain
I gain
D gain
∑
Analog input scaling
∑
Vo l t a g e
O
OI
L
CurrentA GND
PID V/I
input select Process Variable
(Feedback)
Scale factor
Frequency 
setting
Scale factor
Setpoint (Target)
Scale factor  reciprocal
Multi-speed 
settings
Standard
setting
Frequency 
source select
Potentiometer on keypad Error
[AT]V/I input 
select PV
SP
A001
A075F001
F001
1/A075
A020 to A035A072
A073
A075D004
A074
A076
A011
A015
A012
A013A014
A071
PID EnableC023
PID Disable
optional
intelligent input
PID Normal

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							Configuring the Inverter for Multiple Motors
Operations
and Monitoring
4–76
Configuring the Inverter for Multiple Motors
Simultaneous 
ConnectionsFor some applications, you  may need to connect two 
or more motors (wired in parallel) to a single 
inverter’s output. For example, this is common in 
conveyor applications where two separate conveyors 
need to have approximatel y the same speed. The use 
of two motors may be less expensive than making the 
mechanical link for one motor to drive multiple 
conveyors.
Some of the requirements when using multiple 
motors with one drive are:
 Use only V/F (variable-frequency) control; do not use SLV (sensorless vector control).
 The inverter output must be rated to ha ndle the sum of the currents from the motors.
 You must use separate thermal  protection switches or devices to protect each motor. Locate 
the device for each motor inside the moto r housing or as close to it as possible.
 The wiring for the motors must be permanently connected in parallel (do  not remove one 
motor from the circuit during operation).
NOTE: The motor speeds are identical only in theo ry. That is because slight differences in 
their loads will cause one motor to slip a little mo re than another, even if the motors are identi-
cal. Therefore, do not use this technique for multi-axis machinery that must maintain a fixed 
position reference between its axes.
Inverter
Configuration for 
Multiple Motor 
Ty p e sSome equipment manufacturers may have a single type of machine that has to support three 
different motor types—and only one motor will  be connected at a time. For example, an OEM 
may sell basically the same machine to the US market and the European market. Some reasons 
why the OEM needs two motor profiles are:
 The inverter power input voltage is different for these markets.
 The required motor type is also  different for each destination.
In other cases, the inverter needs two profiles  because the machine characteristics vary accord-
ing to these situations:
 Sometimes the motor load is very light and  can move fast. Other times the motor load is 
heavy and must move slower. Using two profil es allows the motor speed, acceleration and 
deceleration to be  optimal for the load and avoid inverter trip (fault) events.
 Sometimes the slower version of the machine  does not have special braking options, but a 
higher performance version do es have braking features.
Having multiple motor profiles lets you stor e several “personalities” for motors in one 
inverter’s memory. The inverter allows the fina l selection between the three motor types to be 
made in the field through the use of intelligent  input terminal functions [SET] and [SET3]. This 
provides an extra level of flexibility needed in  particular situations. See the following page.
Inverter
to Nth motor Motor 1
Motor 2
U/T1
V/T2
W/T3

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							SJ7002 Inverter
Operations
and Monitoring
4–77
Parameters for the second motor and third motors  have function codes of the form x2xx and 
x3xx respectively. They appear immediately after the first motor’s parameter in the menu 
listing order. The following table lists the pa rameters that have the second/third parameter 
registers for programming.
Function Name
Parameter Codes
1st motor2nd motor3rd motor
Acceleration time setting (Acceleration 1) F002 F202 F302
Deceleration time setting (Deceleration 1) F003 F203 F303
Base frequency setting A003 A203 A303
Maximum frequency setting A004 A204 A304
Multi-speed frequency setting A020 A220 A320
Torque boost method selection A041 A241 —
Manual torque boost value A042 A242 A342
Manual torque boost frequency adjustment A043 A243 A343
V/F characteristic curve selection A044 A244 A344
Automatic torque boost voltage gain A046 A246 —
Automatic torque boost slip gain A047 A247 —
Frequency upper limit setting A061 A261 —
Frequency lower limit setting A062 A262 —
Second acceleration time setting (Accelera-
tion 2) A092 A292 A392
Second deceleration ti me setting (Decelera-
tion 2) A093 A293 A393
Select method to use 2 nd acceleration/deceler-
ation A094 A294 —
Acc1 to Acc2 frequency transition point A095 A295 —
Dec1 to Dec2 frequency transition point A096 A296 —
Level of electronic thermal setting B012 B212 B312
Select electronic thermal characteristic B013 B213 B313
Select motor constant H002 H202 —
Motor capacity setting H003 H203 —
Motor poles setting H004 H204 —
Motor constant Kp setting (Standard, Auto 
tuning) H005 H205 —
Motor stabilization constant H006 H206 —
Motor constant R1 setting (Standard, Auto 
tuning) H020/H030 H220/H230 —
Motor constant R2 setting (Standard, Auto 
tuning) H021/H031 H221/H231 —
Motor constant L setting (Standard, Auto 
tuning) H022/H032 H222/H232 —
Motor constant Io setting (Standard, Auto 
tuning) H023/H033 H223/H233 —

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							Configuring the Inverter for Multiple Motors
Operations
and Monitoring
4–78
Motor constant J setting (Standard, Auto 
tuning) H024/H034 H224/H234 —
PI proportional gain H050 H250 —
P proportional gain setting H052 H252 —
0Hz SLV limit for 1st motor H060 H260 —
Function Name
Parameter Codes
1st motor2nd motor3rd motor

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							Inverter System 
Accessories
In This Chapter....page
— Introduction.......................................................................................   2
— Component Descriptions..................................................................   3
— Dynamic Braking....................................................... ........................  6
5

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