Initial torque +
[
25.38
]
Initial torque
Initial speed +
[
25.39
]
Initial speed
t
Note:
• 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 (parameter group 24 Speed reference conditioning)
and
• zero speed (parameters 21.6 and 21.7) have been set to eliminate these
disturbances.
• The drive has been started and is running in speed control mode.
88 Program features
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