21
User’s manual
The tests may be halted at any moment by disabling RUN
the drive will trigger an alarm (A7) but any
results will be saved.
Once C42
≠0 has been set again, if C75=0 the default values of the parameters being tested will be
automatically reloaded, on the contrary if C75=1 remain active actual data.
In order to refine data measured it’s better to execute Autotuning test the first time with C75=0 and
then the second time with C75=1.
2.1.5.1.1 TEST 1: READING STATOR DROP AND DEAD TIME
COMPENSATION
This test establishes the voltage drop caused by the stator resistor and the IGBT. It also estimates
the signal amplitude required to compensate for the effects of the dead times so that the internal
representation base of the stator voltage and the one actually generated match.
During this reading, the motor remains still in its original position and a range of flux currents are
emitted. By reading the voltages and the correlated voltages the required values can be collected.
This test modifies the following parameters:
Name Description
PRC_DELTA_VRS P76 - Voltage drop due to stator resistor
PRC_DEAD_TIME_CMP P102 - Dead time compensation
2.1.5.1.2 TEST 2: LEARNING THE TOTAL LEAKAGE INDUCTION
DROP REPORTED TO THE STATOR
This test establishes the voltage drop due to the total leakage inductance reported to the stator in
order to calculate the proportional gain of the current loop PI.
During this test, the motor stays practically still in its original position. Flux currents in a range of
values and frequencies are emitted so that by reading the voltages and correlated voltages the
required values can be collected. The motor has a tendency to rotate, but this phenomenon is
managed in such a way that readings are only taken when the speed is equal to zero, otherwise the
results may be unreliable.
Nevertheless it is important that the motor does not rotate at a speed exceeding more than several
tens of revolutions per minute. If it does, stop the test by disabling RUN and lower parameter P129 as
this is the test current used to establish
ΔV
LS .
This test modifies the following parameters:
Name Description
PRC_DELTA_VLS P77 - Voltage drop due to leakage inductance
I_REG_KP P83 - Kpc current regulator proportional gain
During this test the motor may start rotating, but at low speed
2.1.5.1.3 READING THE MAGNETIZING CURRENT AND THE
MAGNETIZING CHARACTERISTIC
This test has the dual task of establishing the motor magnetizing current and reading its magnetic
characteristic.
During this test, the motor is rotated at high speed (about 80% of the rated speed) and readings are
taken at a range of voltages. After establishing the magnetizing value, 10 points of the magnetic
characteristic are taken, after which linear interpolation is carried out in order to obtain a curve similar
to the one below.
During this test the motor will rotate at a speed equal to about 80% of the rated value.
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