234 Parameters
25.33 Speed controller
autotune
Activates (or selects a source that activates) the speed
controller autotune function. See section Speed controller
autotune (page 385).
The autotune will automatically set parameters 25.02 Speed
proportional gain, 25.03 Speed integration time and 25.37
Mechanical time constant.
The prerequisites for performing the autotune routine are:
• the motor identification run (ID run) has been successfully
completed
• the speed and torque limits (parameter group 30 Limits)
have been set
• speed feedback filtering (parameter group 90 Feedback
selection), speed error filtering (24 Speed reference
conditioning) and zero speed (21 Start/stop mode) have
been set, and
• the drive has been started and is running in speed control
mode.
WARNING: The motor and machinery will run against
the torque and speed limits during the autotune
routine. MAKE SURE IT IS SAFE TO ACTIVATE THE
AUTOTUNE FUNCTION!
The autotune routine can be aborted by stopping the drive.
0?1 = Activate speed controller autotune
Note: The value does not revert to 0 automatically
Off
Off 0 0
On 1 1
25.34 Speed controller
autotune mode
Defines a control preset for the speed controller autotune
function. The setting affects the way the torque reference will
respond to a speed reference step.
Normal
Smooth Slow but robust response. 0
Normal Medium setting. 1
Tight Fast response. May produce too high a gain value for some
applications.
2
25.37 Mechanical time
constant
Mechanical time constant of the drive and the machinery as
determined by the speed controller autotune function. The
value can be adjusted manually.
0.00
0.00...1000.00 s Mechanical time constant. 100 = 1 s
25.38 Autotune torque
step
Defines an added torque value used by the autotune function.
This value is scaled to motor nominal torque.
Note that the torque used by the autotune function can also
be limited by the torque limits (in parameter group 30 Limits)
and nominal motor torque.
10.00
0.00...100.00% Autotune torque step. 100 = 1%
25.39 Autotune speed
step
Defines a speed value added to the initial speed for the
autotune routine. The initial speed (speed used when
autotune is activated) plus the value of this parameter is the
calculated maximum speed used by the autotune routine. The
maximum speed can also be limited by the speed limits (in
parameter group 30 Limits) and nominal motor speed.
The value is scaled to motor nominal speed.
Note: The motor will exceed the calculated maximum speed
slightly at the end of each acceleration stage.
10.00
No. Name/Value Description Def/FbEq16
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