RX Quick Start Guide
18 RX Quick Start Guide
3.7 Auto tuning (vector control modes)
The RX inverter has auto-tuning function to get suitable motor control performance by measuring the motor constants automat-
ically. Auto-tuning is effective only for vector control types (sensorless, 0-Hz or sensor type). Basically two modes are available
the static and the rotative:
• Static is less accurate but it could be used in situations where motor rotation could damage the mechanics. For this type nei-
ther the I0 (no-load current) or the J (inertia) are calculated.
• Rotative auto-tuning moves the motor following a special operation pattern to find the motor characteristics. However, the
torque during auto-tuning is not sufficient so is recommended to detach the mechanical system and should not be used with
for example vertical loads.
The Auto-tuning mode is selected by parameter H001 but also is necessary to set H002 to use the parameters find during the
autotuning process.
For a correct auto-tuning calculation please take into account following recommendations before starting:
• Use only a motor of the same size or one size lower than the inverter.
• Be sure to disable the DC braking setting (A051=00)
• Be sure to deactivate ATR digital input (52: Enable torque cmd. input)
• In rotary mode the motor rotates up to 80% of base frequency, check if it’s a problem for the application.
• Motor should not be driven by any other external force.
• All the brakes should be released
• Be sure that physical limits of the machine will not be reach
• Even for none-rotative auto-tuning there is a risk that motor moves slightly
After checking the above points and setting parameter H001 proceed with the activation of the Run command from the source
selected on A002 and the auto-tuning will start. Please check the diagram on next page for detailed information of all the steps.
After tuning the H001 returns to “00” status and the motor characteristics are transferred to those parameter, remember to set
H002 to use them.
In case rotary tuning is not possible or autotuning results in a very high No Load current (H033) (this is possible with small
motors), please use this formula to calculate theoretical value:
H033 = Inom * sin (arccos(cos phi)).
Parameter Parameter Name Description
H001 Auto-tuning selection 00: OFF (Disabled)
01: ON (STOP)
02: ON (Rotation)
H002 Motor parameter selection 00: Standard motor parameter
01: Auto-tuning parameter
02: Auto-tuning parameter (online auto-tuning enabled)
Parameter Parameter Name Description
H030 Motor parameter R1
(auto-tuning data)
0.001 to 65.535
H031 Motor parameter R2
(auto-tuning data)
0.001 to 65.535
H032 Motor parameter L
(auto-tuning data)
0.01 to 655.35 mH
H033 Motor parameter Io
(auto-tuning data)
0.01 to 655.35 A
H034 Motor parameter J
(auto-tuning data)
0.001 to 9999.000 kgm2
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