Santerno Sinus Penta - Page 43

PROGRAMMING GUIDE
SINUS PENTA
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this means that the ENABLE-A and ENABLE-B commands have opened before autotune was
complete. In that case, reset the drive sendi
ng a command from terminal MDI3, or press the
RESET key in the display/keypad and perform the autotune procedure again.
If the motor can rotate with no connected load, carry out the autotune procedure for the rotor time
constant and the current loop of the VTC regulator as detailed in step 6a,
otherwise carry out only
the current loop tuning as detailed in step 6b (in that case, the rotor time constant C025
is not
computed based on the motor measurements).
6a) Autotune for
rotor time
constant and
current loop
(rotor free)
CAUTION: This type of tuning requires that the motor is free to rotate with no connected
load. During autotune, current is first applied to the motor when the rotor is not running, then the
motor is operated to run at approx. 70% of its rated speed.
If the motor can rotate with no connected load, with the ENABLE-A and ENABLE-B commands
open, access the AUTOTUNE MENU and set I073= [1: Motor Tune] e I074= [2: Control YES rot].
Press ESC to confirm the new values.
Close the ENABLE-A and ENABLE-B commands and wait until tune is complete (Warning “W32
Open Enable” is displayed).
The drive has now computed and saved the following parameter values:
- C025 (rotor time constant) through motor measurements
- P175t1 (proportional gain of the current control) and P175u1 (integral time of the current
control) through motor measurements.
If alarm “A065 Autotune KO” trips, this means either that the ENABLE-A and ENABLE-B
commands have opened before autotune was complete, or that the available timeout has elapsed.
In either case, reset the drive sending a command from terminal MDI3, or press the RESET key on
the display/keypad and perform the autotune procedure again.
NOTE: If autotune has not been interrupted by opening the ENABLE-A and ENABLE-B
commands, decrease no-load current value C021 by 5% before performing the autotune procedure
again.
6b) Current loop
autotune (motor
stopped):
If the motor cannot rotate with any connected load, it is not possible to estimate the rotor time
constant by way of the autotune procedure. Therefore, only the VTC current loop is tuned.
With the ENABLE-A and ENABLE-B commands open, access the AUTOTUNE MENU and set
I073= [1: Motor Tune] and I074= [1: Control NO rot]. Press ESC to confirm the new changes. Close
the ENABLE-A and ENABLE-B commands and wait until tune is complete (Warning “W32 Open
Enable” is displayed).
The drive has now computed and saved the following parameter values:
- P175t1 (proportional gain of the current control) through motor measurements.
- P175u1 (integral time of the current control) through motor measurements.
If alarm “A065 Autotune KO” trips, this means that the ENABLE-A and ENABLE-B commands
have opened before autotune was complete or the autotune algorithm has failed within the preset
timeout. In that case, reset the drive sending a command from terminal MDI3, or press the RESET
key in the display/keypad and perform the autotune procedure again.
7) Overload:
Set parameter C048 in the LIMITS MENU based on the maximum torque that can be generated
expressed as a percentage of the motor rated torque.
8) Start up:
Activate the ENABLE-A input (terminal 15), ENABLE-B (terminal S) and the START input
(terminal 14) and send a speed reference. The RUN LED and REF
LED will come on and the
motor will start. Make sure that the motor is rotating in the correct direction. If not, set parameter
C014 (Phase Rotation) = [1:Yes], or open the ENABLE-A, ENABLE-B and START inputs, remove
voltage from the drive and, after waiting at least 20 minutes, swap two of the motor phases.
9) Speed
regulator
adjustment:
If overshoot occurs when the speed setpoint is attained or if a system instability is detected
(jerking), adjust the parameters relating to the speed loop (
SPEED LOOP AND CURRENT
BALANCING MENU). Set the two parameters relating to integral time (P125, P126) as [Disabled]
and set low values for the parameters relating to proportional gain (P128, P129). Set equal values
for P128 and P129 and increase them equally until overshoot takes place when the setpoint is