ABB ACSM1 Firmware Manual page 49

The figure below illustrates the motor speed and torque behaviour during an
autotuning routine.
n
%
n
N
0.9
0.5
0.25
A
0
B
A: Speed actual
B: Torque reference
The prerequisites for performing the autotune routine are:
• The motor ID run has been successfully completed
• Speed, torque, current and acceleration limits (parameter groups
set
• Speed feedback filtering, speed error filtering and zero speed are set (parameter
groups 22 and 26)
• The drive is stopped.
The results of the autotune routine are automatically transferred into parameters
• 28.02 PROPORT GAIN
• 28.03 INTEGRATION TIME
• 1.31 MECH TIME CONST
Note: The autotuning routine accelerates and decelerates the motor according to
the ramp times set in group 25, and these values have an effect on the autotuning
results.
(proportional gain of the speed controller)
(integration time of the speed controller)
(mechanical time constant of the machinery).
20 and 25) are
Drive control and features
49
t
t