62 Program features
The prerequisites for performing the autotune routine are:
• The ID run has been successfully completed
• Speed, torque, current and acceleration limits (parameter groups 20 Limits and 22
Speed ref ramp) are set
• Speed feedback filtering, speed error filtering and zero speed are set (parameter
groups 19 Speed calculation and 23 Speed ctrl)
• The drive is stopped.
The results of the autotune routine are automatically transferred into parameters
• 23.01 Proport gain (proportional gain of the speed controller)
• 23.02 Integration time (integration time of the speed controller)
• 01.31 Mech time const (mechanical time constant of the machinery).
The figure below shows speed responses at a speed reference step (typically
1…20%).
A: Undercompensated
B: Normally tuned (autotuning)
C: Normally tuned (manually). Better dynamic performance than with B
D: Overcompensated speed controller
%
t
n
C
B
D
n
N
A
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