82 Program features
(99 Motor data). The calculated maximum speed during the routine is the initial speed
(ie. speed when the routine is activated) + 25.39 Autotune speed step, unless limited
by 30.12 Maximum speed or 99.09 Motor nominal speed.
The diagram below shows the behavior of speed and torque during the autotune
routine. In this example, 25.40 Autotune repeat times is set to 2.
Notes:
• If the drive cannot produce the requested braking power during the routine, the
results will be based on the acceleration stages only, and not as accurate as with
full braking power.
• The motor will exceed the calculated maximum speed slightly at the end of each
acceleration stage.
Before activating the autotune routine
The prerequisites for performing the autotune routine are:
• The motor identification run (ID run) has been successfully completed
• Speed and torque limits (parameter group 30 Limits) have been set
• The speed feedback has been monitored for noise, vibrations and other
disturbances caused by the mechanics of the system, and
• speed feedback filtering (parameter group 90 Feedback selection)
• speed error filtering (24 Speed reference conditioning) and
• zero speed (parameters 21.06 and 21.07)
have been set to eliminate these disturbances.
• The drive has been started and is running in speed control mode.
After these conditions have been fulfilled, autotuning can be activated by parameter
25.33 Speed controller autotune (or the signal source selected by it).
Initial torque + [25.38]
t
Initial torque
Initial speed + [25.39]
Initial speed
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