62 Unidrive M600 Getting Started Guide
Issue Number: 2
Autotune
The drive is able to perform either a stationary or a rotating autotune.
The motor must be at a standstill before an autotune is enabled. A
stationary autotune will give moderate performance whereas a
rotating autotune will give improved performance as it measures the
actual values of the motor parameters required by the drive.
• A stationary autotune can be used when the motor is loaded and
it is not possible to uncouple the load from the motor shaft. The
stationary autotune measures the stator resistance and transient
inductance of the motor and values relating to deadtime
compensation from the drive. Measured values are used to
calculate the current loop gains, and at the end of the test the
values in Pr 00.038 and Pr 00.039 are updated. A stationary
autotune does not measure the power factor of the motor so the
value on the motor nameplate must be entered into Pr 00.043.
• A rotating autotune should only be used if the motor is
uncoupled. A rotating autotune first performs a stationary
autotune before rotating the motor at
2
/
3
base speed in the
direction selected. The rotating autotune measures the stator
inductance of the motor and calculates the power factor.
To perform an autotune:
•Set Pr 00.040 = 1 for a stationary autotune or set Pr 00.040 = 2
for a rotating autotune
• Close the drive enable signal (terminal 31). The drive will display
’Ready’.
• Close the run signal (terminal 26 or 27). The upper row of the
display will flash ‘Auto Tune’ while the drive is performing the
autotune.
• Wait for the drive to display ’Ready’ or ‘Inhibit’ and for the motor
to come to a standstill
• Remove the drive enable and run signal from the drive.
Save
parameters
Select 'Save Parameters' in Pr
mm.000
(alternatively enter a value of
1000 in Pr
mm.000
) and press red reset button or toggle the
reset digital input.
Run Drive is now ready to run
Action Detail
A rotating autotune will cause the motor to accelerate up
to
2
/
3
base speed in the direction selected regardless of
the reference provided. Once complete the motor will
coast to a stop. The enable signal must be removed
before the drive can be made to run at the required
reference.
The drive can be stopped at any time by removing the run
signal or removing the drive enable.
cos
∅
σ
L
S
T
Nm
N rpm
saturation
break-
points
R
S
L
S
Unidrive M600 Getting Started Guide English Iss1.book Page 62 Friday, April 25, 2014 2:08 PM
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