15
User’s manual
The first step for the auto-tuning procedure is the sensor test.
After to set the correct parameters in the Motor sensor section is necessary to complete the auto-
tuning procedure for the sensor present and selected.
2.1.4.3 TTL ENCODER
2.1.4.3.1 SENSOR PARAMETERS
It’s necessary to have set correctly the parameter P69 in order to define the Encoder
2.1.4.3.2 SPEED SENSOR TEST
It is in two parts:
o Check that the direction of rotation of the motor phases and the Encoder
correspond;
o Check that the number of motor poles is written correctly in parameter P67 and the
Encoder used is correctly define as pulses per revolution with parameter P69
Correct operation requires a no-load motor so decouple it from the load.
Name Description Min Max Default UM Scale
PRC_MOT_T_MAX P41 - Maximum torque at full load 0.0 400.0 400.0 % MOT_T_NOM 40.96
MOT_COS_PHI P66 - Nominal power factor 0.500 1.000 0.894 1000
PRC_MOT_I_T_NOM P72 - Nominal torque current 5.0 100.0 95.2 % PRC_MOT_I_NOM 327.67
PRC_MOT_I_FLX_NOM P73 - Nominal flux current 5.0 100.0 30.2 % PRC_MOT_I_NOM 327.67
T_ROTOR P74 - Rotor time constant Tr 10 10000 182 ms 1
T_STATOR P75 - Stator time constant Ts 0.0 50.0 8.5 ms 10
PRC_DELTA_VRS
P76 - Voltage drop due to stator
resistor
1.0 25.0 2.0 % MOT_V_NOM 327.67
PRC_DELTA_VLS
P77 - Voltage drop due to leakage
inductance
5.0 100.0 20.0 % MOT_V_NOM 327.67
MOT_T_NOM P78 - Nominal motor torque 0.5 3000.0 0.0 Nm 10
PRC_DEAD_TIME_CMP P102 - Dead time compensation 0.0 100.0 22.0 ‰ PRC_MOT_V_MAX 32.76
MOT_V0
P128 - Voltage motor at nominal speed
with no load
0.0 100.0 100.0 % MOT_V_NOM 327.67
K_FLX45 P131 - Magnetic characteristic point 1 0.0 120.0 90.2 % 40.96
K_FLX55 P133 - Magnetic characteristic point 2 0.0 120.0 90.5 % 40.96
K_FLX65 P135 - Magnetic characteristic point 3 0.0 120.0 91.1 % 40.96
K_FLX75 P137 - Magnetic characteristic point 4 0.0 120.0 91.8 % 40.96
K_FLX82 P139 - Magnetic characteristic point 5 0.0 120.0 92.7 % 40.96
K_FLX88 P141 - Magnetic characteristic point 6 0.0 120.0 94.2 % 40.96
K_FLX93 P143 - Magnetic characteristic point 7 0.0 120.0 95.8 % 40.96
K_FLX97 P145 - Magnetic characteristic point 8 0.0 120.0 98.1 % 40.96
K_FLX100 P147 - Magnetic characteristic point 9 0.0 120.0 100.0 % 40.96
K_FLX102 P149 - Magnetic characteristic point 10 0.0 120.0 102.0 % 40.96
PRC_DEAD_TIME_CMP_XB
P151 - Xb = cubic coupling zone
amplitude
0.0 50.0 0.0 % DRV_I_NOM 163.84
PRC_DEAD_TIME_CMP_YC
P152 - Yc = compensation at rated
drive current
50.0 100.0 100 % DEAD_TIME_COMP 327.67
PRC_DEAD_TIME_CMP_X0 P153 - Xoo = dead zone amplitude 0.0 50.0 0 % DRV_I_NOM 163.84
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