32 Epsilon EP-P Drive Reference Manualï€
www.controltechniques.com Revision: A4
When online with the drive, to initiate an Auto-Tune, click RunAuto-Tune button. The Auto-Tune dialog box opens and contains warnings and
instructions related to the Auto-Tune procedure, as well as selection of the Auto-Tune mode. An example of one of the Auto-Tune windows is
shown in
Figure 38.
Figure 38: Auto-Tune Dialog Box - Auto-Tune Mode 3
After the Auto-Tune Mode has been selected, click Proceed, to start the Auto-Tune. As the Auto-Tune is executing the gray check boxes will
show the progress of the Auto-Tune. When the Auto-Tune is completed the Auto-Tune dialog box closes and the auto-tune results will be in the
Values from Drive column on the Motor view.
Auto-Tune Mode 1
Auto-Tune Mode 1 provides the encoder information of the motor. Auto-Tune Mode 1 is the most beneficial tuning by providing parameter
values that are difficult to measure or vary the most from common motor specifications. Auto-Tune Mode 1 will rotate the motor for 1 or more
revolutions at a slow speed.
With Auto-Mode 1 the test sequence is Moves 1 through 3 consisting of:
Move #1, Vel = Max Motor Vel, Distance < (1 / # of motor poles) motor revs, Either Direction
Move #2, Vel = Max Motor Vel, Distance < (1 / # of motor poles) motor revs, Either Direction
Move #3, Vel = 0.15 Electrical Cycles/sec (approx 1 rev/min), Distance < 1.0 Revolutions of motor, Direction = CW
The parameters measured in Auto-Tune Mode 1 are Encoder Marker Angle, U-track Angle, Encoder Reference Motion and Encoder
Resolution.
As Auto-Tune Mode 1 is executed the test is checked off, Phase 1 Encoder Marker Angle, U Angle, Motion.Resolution
Auto-Tune Mode 2
Auto Tune Mode 2 provides and method to determine the motor resistance and inductance. These are used in the current control loop. It is
more accurate to make these measurements with external meters. If you do not have measured motor resistance and inductance, you can use
auto tune 2.
Auto Mode 2 is a subset of auto mode 3 running Moves 1 through 3:
Move #1, Vel = Max Motor Vel, Distance < (1 / # of motor poles) motor revs, Either Direction
Move #2, Vel = Max Motor Vel, Distance < (1 / # of motor poles) motor revs, Either Direction
Move #3, Vel = 0.15 Electrical Cycles/sec (approx 1 rev/min), Distance < 1.0 Revolutions of motor, Direction = CW
The parameters measured by Auto-Tune Mode 2 are those tested in Auto-Tune Mode 1 plus Phase Resistance and Phase Inductance.
As Auto-Tune Mode 2 is executed, the completed portion of the test is checked off,
Phase 1 Encoder Marker Angle, U Angle, Motion.Resolution
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