12
Name Description Min Max Default UM Scale
EN_TEST_CONN
C41 - Enable sensor and
motor phase tests
0 1 0 1
PRC_I_TEST_CONN
P114 - Current in
connection tests for UVW,
Poles and reading Rs
0.0 100.0 100 % DRV_I_NOM 327.67
EN_AUTOTUNING C42 - Enable auto-tunings
Range
0 1
0 No
1 Test 1 and 2
2 Test 3 and 4
3 All
DIS_DEF_START_AUTO
C75 - Disable Autotuning
starting from default values
0 1 0 1
TEST3-4_ACC_TIME
P121 - Test 3 and 4
acceleration time
0.01 199.99 6.8 s 100
PRC_I_TEST_DELTA_VLS
P129 - Test current to
establish VLS
0.0 100.0 30.0 % 327.67
TEST_CONN_FEEDBACK
P79 - Connection tests:
Encoder: pulses counted,
Resolver or Sin Cos Enc:
time reading
-19999 19999 0 0
EN_TEST_SPD
C53 - Enable test of start-up
time
Range
0 1
0 Not enabled
1 Start up
2 Step
TEST_SPD_T_MAX
P130 - Torque during start-
up test
0.0 100.0 100 % MOT_T_NOM 40.96
TEST_SPD_MAX
P132 - Speed during start-
up test
-100.00 100.00 100 % MOT_SPD_MAX 163.84
TEST_SPD_SPACE_MAX
P134 - Maximum
revolutions during start-up
test
0.00 3000.0 100 revolutions 10
PRC_MOT_FRICTION P136 - Friction torque 0.0 100.0 0 % MOT_T_MOM 40.96
START_TIME P169 - Start up time 0 19999 10 ms 1
Speed test are useful for measure total system inertia and to set correctly speed regulator gains.
For safety reasons it’s possible to limit maximum speed test with parameter P130, maximum motor
torque with parameter P132 and maximum space admitted for test with P134 revolutions.
The drive doesn’t go over these limits during test execution.
2.1.4.1 START-UP TIME
Start-up time is defined like the time needed to reach maximum speed (P65) with nominal motor
torque.
This autotest is useful to measure total system inertia and frictions.
For enable this test set C53=1 (EN_TEST_SPD = 1 Start Up). In the display appears “Auto”.
Give the run command and automatically the motor starts to move and than return to zero speed.
At this point switch off the run command. Parameter P169 is set with the start-up time in milliseconds,
parameter P136 is set with friction measured in percent of motor nominal torque.
Automatically C53 is cleared to 0 and the test is finished.
If the space admitted is enough the speed profile is trapezoidal:
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