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.
50 Program features
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