64 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.
It is highly recommended that a rotating
autotune is performed (Pr 00.040 set to 2).
• 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’ or ‘Inhibit’.
• Close the run signal (terminal 26 or 27). The lower
display will flash ’Autotune’ 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 64 Friday, April 25, 2014 2:08 PM
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