If this parameter is set to a non-zero value, the drive is enabled and a run command is applied in either direction the drive performs an autotune test.

All tests that rotate the motor are carried out in the forward direction if Pr 1.12 {di12, 0.47} = 0 or the reverse direction if Pr 1.12 {di12, 0.47} = 1. For

example, if the test is initiated by applying run reverse (Pr 6.32 = 1) the test is performed in the reverse direction. The test will not start unless the

drive is disabled before the test is initiated by applying the enable or run, i.e. it will not start if the drive is in the stop state. It is not possible to go into

the stop state if Pr 5.12 {SE13, 0.34} has a non-zero value.

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) if it is active.

Value

None

Static autotune for current loop gains

Spinning autotune for rated field compensation factor and motor satura-

tion break points

Spinning autotune for inertia measurement

Spinning autotune for motor saturation break points

Static autotune for current loop gains

When this operation is performed, the drive will estimate the following, with respect to the selected motor map, and store the values:

Motor constant (Pr 5.15)

Continuous proportional gain (Pr 4.13)

Continuous integral gain (Pr 4.14)

Discontinuous integral gain (Pr 4.34)

Back EMF set point (Pr 5.59)

Armature resistance (Pr 5.61)

Flux loop P gain (Pr 5.71)

Flux loop I gain (Pr 5.72)

Spinning autotune for rated field compensation factor and motor saturation break points

When this operation is performed, the drive will estimate the following, with respect to the selected motor map, and store the values:

Motor saturation break points (Pr 5.29, Pr 5.30), and Rated field compensation factor (Pr 5.74) by spinning the motor at 25 % of it's Base speed

(Pr 5.08 {SE08, 0.29})

Spinning autotune for inertia measurement

•

The drive attempts to accelerate the motor in the forward direction up to 3 /4 x rated load rpm and then back to standstill. Several attempts may

be made, starting with rated torque/16, and then increasing the torque progressively to x

be accelerated to the required speed. 5s acceleration time is allowed during the first four attempts and 60 s on the final attempt. If the required

speed is not achieved on the final attempt the test is aborted and a tuNE1 trip is initiated. If the test is successful the acceleration and deceleration

times are used to calculate the motor and load inertia which is written to Pr 3.18.

•

Pr 3.18 is saved to EEPROM.

The calculated value of inertia is dependant on the value of the motor torque per amp (Pr 5.32). If the inertia is used for automatic speed loop gain

setup the calculated gains will not be affected because Kt is also used in these calculations and any inaccuracy cancels out.

The test algorithm attempts to remove the effect of any load on the motor other than the torque required to accelerate and decelerate the motor, i.e.

friction and windage losses, static torque load etc. Provided the average torque during acceleration and the average torque during deceleration are

the same the effect of the additional torque is removed and the inertia value is calculated correctly.

Spinning autotune for motor saturation break points

When this operation is performed the drive will perform an estimation of Motor saturation break points (Pr 5.29, Pr 5.30) by spinning the motor at 25 %

of its Base speed (Pr 5.08) with respect to the selected motor map and store the values.

Mentor MP Advanced User Guide

Issue Number: 4

description format

Parameter

Parameter x.00

VM DP ND RA

Autotune function

www.onxcontrol.com

Serial comms

Advanced parameter

protocol