Drive control and features
52
The figure below illustrates the motor speed and torque behaviour during an
autotuning routine.
The prerequisites for performing the autotune routine are:
• The motor ID run has been successfully completed
• Speed, torque, current and acceleration limits (parameter groups 20 and 25) are
set
• Speed feedback filtering, speed error filtering and zero speed are set (parameter
groups 22 and 26)
• The drive is stopped.
The results of the autotune routine are automatically transferred into parameters
• 28.02 PROPORT GAIN (proportional gain of the speed controller)
• 28.03 INTEGRATION TIME (integration time of the speed controller)
• 1.31 MECH TIME CONST (mechanical time constant of the machinery).
Note: The autotuning routine accelerates and decelerates the motor according to
the ramp times set in group 25, and these values have an effect on the autotuning
results.
A: Speed actual
B: Torque reference
%
t
n
B
n
N
A
0
0.25
0.5
0.9
t
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