Control Techniques Epsilon EP-P, Reference Manual

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Epsilon EP-P Drive Reference Manual
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Revision A4 www.controltechniques.com
Phase 2 Voltage for Phase 3
Phase 3 Resistance and Inductance
Auto-Tune Mode 3
Auto Tune Mode 3 provides a method to determine the motor Ke and Rotor Inertia. These are used in the velocity control loop.
It is more accurate to use the Motor Ke and Rotor Inertia from the manufacturer. If you do not have manufacturer provided
motor Ke and Rotor Inertia specifications, you can run an Auto-Tune Mode 3.
Auto-Tune Mode 3 is the full auto-tune running Moves 1 through 5:
Move #1, Vel = Max Motor Vel, Distance < (1 / # of motor poles) motor revs, Either Direction
Move #2, Vel = Max Motor Vel, Distance < (1 / # of motor poles) motor revs, Either Direction
Move #3, Vel = 0.15 Electrical Cycles/sec (approx 1 rev/min), Distance < 1.0 Revolutions of motor, Direction = CW
Move #4, vel < 0.75 max motor velocity, Time = 4 sec, Direction = CW
Move #5 - #12, vel < 0.75 max motor velocity, Distance = 3 Revolutions of the motor, Direction = CW
As Auto-Tune Mode 3 is executing the completed portion of the test is checked off,
Phase 1 Encoder Marker Angle, U Angle, Motion.Resolution
Phase 2 Voltage for Phase 3
Phase 3 Resistance and Inductance
Phase 4 Motor Ke
Phase 5 Rotor Inertia
3.4.5 Values from Drive Column
The Values from Drive column shows the new motor parameters as a result of an Auto-Tune. These parameters are
continually being read from the drive. The theory of operation is that the user will perform an Auto-Tune function that reads/
measures/calculates the motor parameters within the drive. The results are read from the drive and displayed in the Values
from Drive column. Once they are displayed in PowerTools Pro (in the Values From Drive column) the user can apply those
values to the Motor Parameters column by clicking on the Apply to Config. button, in the middle of the Motor view (this button
looks like a series of arrows pointing from the Values from Drive column towards the Motor Parameters column).
The values in the Values from Drive column are not saved as part of the configuration file. To save these values, the user must
use the “Apply to Config” button to save them.
This column is only functional when online with the drive. When offline, the values in the Values from Drive column will all read
zero.
3.4.6 Apply to Config. Button
After any Auto-Tune has been performed, the results are displayed in the Values from Drive column on the Motor view and the
measured parameter values are saved in the drives NVM. When the user clicks
Apply to Config. , the values in the Values
From Drive column are transferred into the Motor Parameters column. The configuration file then can be saved to disk.
Therefore, in order to store the motor parameter values in the drives flash memory the configuration file must be downloaded
to the drive using
Device > Download .
3.4.7 Save .ddf Values Button
Once the user has entered the data for the motor they are using, they may or may not wish to save the motor data to the
Motor.ddf file so it can be easily recalled at a later time. If the user does not save the motor data to the Motor.ddf file, then the
motor data will only reside in the specific application configuration file that it has been entered into.
In order to save the motor data to the Motor.ddf file, click the
Save .ddf Values button. This takes all the parameter values and
writes them to the Motor.ddf file.
When saving to the .ddf file, if PowerTools Pro finds that a motor already exists with the same name, the User Defined Motor
Name Conflict dialog box will appear. The user must then decide how to proceed with saving the motor data .ddf file.
User Defined Motor Name Conflict Dialog Box
The purpose of this dialog box is to resolve conflicts between the application’s motor settings and those defined in the .ddf file.
The User Defined Motor Name Conflict dialog box opens during the following conditions:
1. From the Motor view, click the Save .ddf values button and the motor already exists with the same name but
has different motor parameters
2. Opening an application (or uploading a application), where the Use Motor data from the .ddf file check box is
select but the data in the application no longer matches the .ddf file.
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This occasionally occurs when a newer version of PowerTools Pro is installed and the parameters for the
standard motors has been updated in the .ddf file.
If the motor name does not exist in the .ddf file, it will be written into the file.
Auto-Tune Mode 3 runs the motor at 75% max motor velocity. If the load is connected this may cause harm to the
system or personnel. It is strongly recommended to unload the motor before performing any Auto-Tune Mode.
WARNING