(If Pr 5.12 is set to 4 in closed-loop vector mode or 6 in servo mode then no test is carried out, but the current loop gains are re-calculated. For these

actions the drive 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 and will enter the inhibit state. The motor can only be restarted if the enable is removed either

from the enable input, or Pr 6.15 is set to zero or from the control word (Pr 6.42). As the tests progresses 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 copying 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

)

Transient inductance (σL

)

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

)

Transient inductance (σL

)

Stator inductance (L

)

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.

118

Parameter

x.00

description format

Parameter

Basic algorithm

Pr 5.06

Pr 5.07

Pr 5.08

Pr 5.09

Pr 5.10