68 Rockwell Automation Publication 750-AT006D-EN-P - January 2022
Chapter 4 Auto Tuning
Use this test when the motor can rotate freely and when it is not coupled to the load. The rotate test initiates momentary motor rotation to
measure motor electrical parameters.
During the rotate test, a static test is first performed to calculate the following parameters.
10:512 [u IM Stator Res]
10:515 [u IM Leakage L]
Then the rotate test calculates the following parameters.
10:490 [u Slip RPM atFLA]
10:518 [u Flux Cur Ref]
10:521 [u EndLs AngCmp]
10:524 [IM StatResComp]
During the rotate test for PM motors, a stator resistor test is first performed to obtain the following parameter:
10:620 [u PM Stator Res]
The inductance test is then performed to calculate Ld and Lq at various current level as follows:
10:627 [u PM Ld at 0]
10:629 [u PM Ld at 100]
10:637 [u PM Lq at 25]
10:639 [u PM Lq at 50]
10:641 [u PM Lq at 75]
10:643 [u PM Lq at 100]
10:645 [u PM Lq at 125]
10:647 [u PM Lq at 150]
10:649 [u PM Lq at 175]
10:651 [u PM Lq at 200]
Finally, a rotate test is performed to calculate the counter-emf voltage:
10:614 [u PM CEMF Vltg]
In order for these parameters to be applied, set 10:510 [MtrParam C/U Sel] = User Entered (1). Figure 65
shows how Autotune Electrical modes
impact various parameters.
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