gefran TPD32-EV-...-2B, Instructions Manual

Page: 123 / 504

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123
5.3.5.2 Self tuning of the speed regulator
Speed Self tuning
identifies the total Inertia value at the motor shaft ( Kg*m
2
), the friction value (or Loss com -
pensation) in N*m and computes the Proportional and Integral gains of the speed regulator.
Warning !
This procedure requires free rotation of the motor shaft coupled to the load. Start/Stop com -
mand is disregarded, therefore it can not be used on drives with limited travel.
Caution !
The test is performed using the torque limit value set in Test T curr lim parameter. The torque
is applied stepwise, with no ramp (profile), therefore the mechanical transmission must not
have significant backlash, and it must be compatible with operation at the torque limit set
in Test T curr lim parameter. The user can reduce the torque limit to a suitable value via
theTest T curr lim parameter.
n
ote
!
- Application where the system inertia coupled to the motor shaft is much higher than
the motor inertia value , increase the Test T curr lim parameter to avoid “Time out” error.
- This procedure is not suitable for use with “hoist” or “elevator” drives.
Preliminary operation before the correct execution of the Speed self tuning procedure is the appropriate calcula -
tion of the Torque const parameter.
Set the motor name plate data parametrs:
Motor max speed Set the maximum motor speed value
Flux weak speed Motor max speed percentage where the flux weakening range starts. (Crossover point)
T Current limit +/- Set the nominal motor current value
Motor nom flux Set the Motor nom flux in Amps.
Max out voltage
Set the maximum armature voltage value
With speed regulator self tunig performed, the above parameters value can be changed according to the applica -
tion without
Torque const
parameter modification.
- Set the motor shaft direction: Forward or Reverse via the Fwd-Rev spd tune parameter
- Select the torque current value to be used during the test via the Test T curr lim parameter
TO EXECUTE SELF TUNING
, enter START UP \ Self tuning menu.
- Start execution by entering
“Start”
.
The procedure performs an acceleration test at the torque limit value set in Test T curr lim parameter up to a
speed threshold, then a deceleration test with no torque applied (coasting) down to zero speed.
The speed threshold is 33% of the lowest in the following:
- Speed base value
- Speed max pos or Speed max neg according to direction of rotation.
The procedure may take a few minutes, depending on inertia and friction values.
Based on inertia and friction values, the drive will calculate the speed loop gains (
Speed P and Speed I pa -
rameters).
If manual adjustment are required (in case of vibrations, etc.) these should be applied to the integral gain
Speed I
[%]
. In case self-tuning of speed regulator is not satisfactory, refer to manual tuning procedure in section 5.3.6 .