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FM-4 Programming Module Reference Manual
Figure 37:
Auto-Tune Dialog Box - Auto-Tune Mode 3
After the Auto-Tune Mode has been selected, click Proceed, to start the Auto-Tune. As the Auto-Tune is executing the gray
check boxes will show the progress of the Auto-Tune. When the Auto-Tune is completed the Auto-Tune dialog box closes
and the auto-tune results will be in the Values from Drive column on the Motor view.
Auto-Tune Mode 1
Auto-Tune Mode 1 provides the encoder information of the motor. Auto-Tune Mode 1 is the most beneficial tuning by
providing parameter values that are difficult to measure or vary the most from common motor specifications. Auto-Tune
Mode 1 will rotate the motor for 1 or more revolutions at a slow speed.
With Auto-Mode 1 the test sequence is Moves 1 through 3 consisting of:
Move #1, Vel = Max Motor Vel, Distance < (1 / # of motor poles) motor revs, Either Direction
Move #2, Vel = Max Motor Vel, Distance < (1 / # of motor poles) motor revs, Either Direction
Move #3, Vel = 0.15 Electrical Cycles/sec (approx 1 rev/min), Distance < 1.0 Revolutions of motor, Direction = CW
The parameters measured in Auto-Tune Mode 1 are Encoder Marker Angle, U-track Angle, Encoder Reference Motion and
Encoder Resolution.
As Auto-Tune Mode 1 is executed the test is checked off, Phase 1 Encoder Marker Angle, U Angle, Motion.Resolution
Auto-Tune Mode 2
Auto Tune Mode 2 provides and method to determine the motor resistance and inductance. These are used in the current
control loop. It is more accurate to make these measurements with external meters. If you do not have measured motor
resistance and inductance, you can use auto tune 2.
Auto Mode 2 is a subset of auto mode 3 running Moves 1 through 3:
Move #1, Vel = Max Motor Vel, Distance < (1 / # of motor poles) motor revs, Either Direction
Move #2, Vel = Max Motor Vel, Distance < (1 / # of motor poles) motor revs, Either Direction
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