Control Techniques unidrive sp Advanced User's Manual page 111

Parameter Keypad and
Menu 5
structure display
does not need to be enabled.)
It is important that the motor is at standstill before the auto-tune test is performed if the correct results are to be obtained. The parameters modified by
the auto-tune tests are defined below when the second motor parameters are not selected (i.e. Pr 11.45 = 0). If the second motor is selected for the
duration of the tests (i.e. Pr 11.45 = 1), the second motor parameters in menu 21 are modified instead and not the parameters described below. When
the test is completed successfully the drive is disabled. The motor can only be restarted if the drive is first in a state where the run command is not
applied (i.e. the run or enable command must be removed, or the drive must be tripped etc.) As the tests progress the calculated parameters are
saved to EEPROM as indicated. If for any reason the test fails, and the drive trips, no further parameters are calculated or stored in EEPROM. (If the
drive is in Auto or Boot cloning modes (Pr 11.42 = 3 or 4) the parameters are also saved to the SMARTCARD where it is indicated that parameters are
saved to EEPROM.)
Open-loop
In this mode the following parameters are used in the vector control algorithm.
Rated frequency
Rated current
Rated load rpm
Rated voltage
Power factor
No. of poles
Stator resistance (R )
s
Transient inductance (σL )
s
All these parameters can be set by the user. The auto-tune test can be used to overwrite the user or default settings as described below. Accurate
values of stator resistance and voltage offset are required even for moderate performance in vector mode (an accurate value of power factor is less
critical).
1: Stationary test
• A stationary test is performed to measure the stator resistance (Pr 5.17) and voltage offset (Pr 5.23). The power factor (Pr 5.10) is not affected.
• Pr 5.17 and Pr 5.23 are saved to EEPROM.
2: Rotating test
• The stationary test is performed and the parameters saved to EEPROM as described above.
• A stationary test is performed to measure the transient inductance (Pr 5.24). The transient inductance is not used directly by the drive, but is an
intermediate value in determining the power factor after the rotating test.
• Pr 5.24 is saved to EEPROM.
• A rotating test is performed in which the motor is accelerated with the currently selected ramps to
several seconds. Once the test is complete the power factor (Pr 5.10) is updated and the motor coasts to a stop. The motor should be unloaded
for this test to produce correct results.
• Pr 5.10 is saved to EEPROM.
Closed-loop vector
In this mode the following parameters are used in the vector control algorithm.
Rated frequency
Rated current
Rated load rpm
Rated Voltage
Power factor
No. of poles
Stator resistance (R )
s
Transient inductance (σL )
s
Stator inductance (L )
s
Motor saturation breakpoint 1
Motor saturation breakpoint 2
All these parameters can be set by the user. The motor set-up is constantly recalculated in the background task, therefore modifying these
parameters even after auto-tune will affect the performance of the drive. The auto-tune test can be used to overwrite the user or default settings as
described below. It should be noted that the current loop gains (Pr 4.13 and 4.14) are not updated as part of any test if either the stator resistance or
the transient inductance for the active motor map are zero.
1. Stationary test
• A stationary test is performed to measure the stator resistance (Pr 5.17)
• Pr 5.17 is saved to EEPROM.
110
Parameter Parameter
x.00 description format
Parameter Basic algorithm
Pr 5.06
Pr 5.07
Pr 5.08
Pr 5.09
Pr 5.10
Pr 5.11
Pr 5.17
Pr 5.24
If L is zero
Parameter
s
Pr 5.06
Pr 5.07
Pr 5.08
Pr 5.09
Pr 5.10
Pr 5.11
Pr 5.17
Pr 5.24
Pr 5.25
Pr 5.29
Pr 5.30
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Advanced parameter
Macros
descriptions
Slip compensation
Required for good
If L is not zero
s
performance
Serial comms Electronic
Performance
protocol nameplate
2
/ of rated speed and held at this speed for
3
Required for excellent
performance
Unidrive SP Advanced User Guide
Issue Number: 7
Feature look-
up table