Drive control and features
51
Notes:
• Jogging is not operational when the drive start command is on, or when the drive
is in local control.
• Normal start is inhibited when jog enable is active.
• The ramp shape time is set to zero during jogging.
Speed controller tuning
The speed controller of the drive can be automatically adjusted using the autotune
function (parameter 28.16 PI TUNE MODE). Autotuning is based on the load and
inertia of the motor and the machine. It is, however, also possible to manually adjust
the controller gain, integration time and derivation time. Autotuning can also be
performed from an external control location.
Autotuning can be performed in four different ways depending on the setting of
parameter 28.16 PI TUNE MODE. The selections (1) Smooth, (2) Middle and (3)
Tight define how the drive torque reference should react to a speed reference step
after tuning. The selection (1) Smooth will produce a slow response; (3) Tight will
produce a fast response. The selection (4) User allows customised control sensitivity
adjustment through parameters 28.17 TUNE BANDWIDTH and 28.18 TUNE
DAMPING. Detailed tuning status information is provided by parameter 6.03 SPEED
CTRL STAT.
Once parameter 28.16 PI TUNE MODE has been set, an autotuning routine will be
started when the drive modulation is started the next time. If the autotuning routine
fails, the SPEED CTRL TUNE FAIL alarm will occur for approximately 15 seconds. If
a stop command is given to the drive during the autotuning routine, the routine will
be aborted.
11-12 x 0 1 Normal operation overrides the jogging. Drive accelerates to the speed reference along
the active acceleration ramp.
12-13 1 1 1 Start command overrides the jog enable signal.
13-14 1 1 0 Drive decelerates to the jogging speed along the deceleration ramp of the jogging function.
14-15 1 1 0 Drive runs at the jogging speed.
15-16 x 0 0 Drive decelerates to zero speed along the deceleration ramp of the jogging function.
Phase Jog
cmd
Jog
enable
Start
cmd
Description
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