Unidrive M702 / HS72 Control Getting Started Guide 43
Issue Number: 4
Safety information Introduction Control connections Getting started
Basic parameters
(Menu 0)
Running the motor Further information
Motor
Thermistor
Set-up
The motor thermistor connection may be made either:
Through the drive encoder port (terminal 15)
• Select thermistor type in P1 Thermistor Type (03.118)
•Set P1 Thermistor Fault Detection (
03.123
) to either Temperature (1) or
Temp or Short (2)
Through terminal 8 (Digital Input 5 / Analog Input 3) of the control terminals
(requires a drive with date code 1710 or later and control firmware V01.13.00.00
or later).
• Change Analog Input 3 Mode (07.015) from Disable (0) to either Therm
Short Cct (7) or Thermistor (8).
• Select the thermistor type in Analog Input 3 Thermistor Type (07.046)
Autotune
The drive is able to perform either a stationary or a rotating auto-tune.
The motor must be at a standstill before an auto-tune is enabled. A stationary
auto-tune will give moderate performance whereas a rotating auto-tune will give
improved performance as it measures the actual values of the motor
parameters required by the drive.The drive is able to perform a stationary,
rotating, mechanical load measurement or locked rotor test auto-tune.
The motor must be at a standstill before an auto-tune is enabled. It is suggested
that a rotating auto tune is used for accurate measurement for position feedback
phase angle.
• A stationary auto-tune can be used when the motor is loaded and it is not
possible to uncouple the load from the motor shaft. A stationary auto-tune
is performed to locate the flux axis of the motor. The stationary auto-tune
measures the stator resistance, inductance in flux axis, voltage offset at
zero current, maximum voltage offset, inductance in torque axis with no
load on the motor and current at maximum voltage offset of the motor.
These 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. If Sensorless
mode is not selected then Position Feedback Phase Angle (03.025) is set-
up for the selected position feedback.
• A rotating auto-tune should only be used if the motor is uncoupled. The
rotating auto-tune will rotate the motor by up to 2 mechanical revolutions in
the direction selected, regardless of the reference provided to obtain the
position feedback phase angle. A stationary auto-tune is then performed to
obtain stator resistance, inductance in flux axis, voltage offset at zero
current, maximum voltage offset, inductance in torque axis with no load on
the motor and current at maximum voltage offset of the motor. From the
above obtained parameters the current loop gains are calculated, and at
the end of the test the values in Pr 00.038 and Pr 00.039 are updated.
To perform an auto-tune:
• Set Pr 00.040 = 1 for a stationary auto-tune, Pr 00.040 = 2 for a rotating
auto-tune.
• Close the run signal (terminal 7 or 8).
• Close the drive enable signal (terminal 11 and 13). The lower display will
flash 'Autotune' while the drive is performing the test.
• Wait for the drive to display 'Ready' or 'Inhibit' and for the motor to come to
a standstill.
If the drive trips it cannot be reset until the drive enable signal (terminal 11 and
13) has been removed.
• Remove the drive enabled 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
The rotating auto-tune will rotate the motor by up to 2 mechanical
revolutions in the direction selected, regardless of the reference
provided. After a short delay, the motor is further rotated through a
electrical revolution. 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.
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