Appendix
– AutoTune Procedure
15
Auto-Tune
Procedure
Auto-Tune is a function used only on
PM (U9)
that will automatically calculate the D and Q
Axis Inductances and the Stator Resistance
based on the calculated value of the motor’s
Base Impedance. Auto-Tune may be enabled
two separate ways, one way is to enable the
function through the operator and the other is
to enable Auto-Tune by giving the drive a run
command. In order for the function to properly
work, all faults must be cleared, the brake
must be set and the motor contactor must pull
in.
Setting Auto-Tune
Note: Alignment Procedure should precede
this Auto-Tune function. Alignment will affect
the accuracy of the D and Q Axis Stator
Inductances.
1) In order to accurately measure the motor
parameters, the brake must be set and the
motor contactor must be closed.
Depending on the method used for
enabling Auto-Tune, drive signals may be
used in conjunction with the contactor
2) Scroll to AUTOTUNE SEL (U12) to run the
Auto-tune function. No Faults may be
present on the drive when engaging Auto-
Tune.
Press Enter to display:
Press Enter and use down arrow keys to
select
ON RUN
or
YES
to enable Auto-Tune
Note: The contactor needs to be in for Auto-
Tune to run. If necessary, manually hold the
contactor in while the test is running.
3) Press Enter to change the data from
DISABLE to either YES or ON RUN.
4) If the selection
YES
is made, the drive will
immediately start applying current to the
motor and calculate the motor
characteristics.
5) If the selection
ON RUN
is made, the drive
expects the following sequence to occur
prior to the drive applying current to motor:
Command run (inspection) on the car
controller. The speed command must be
set to zero (0) speed. The following
sequence must be observed by the car
controller to properly perform Auto-Tune
via Car Controller
a. Car Controller asserts DRIVE ENABLE
b. Car Controller issues RUN Command
c. Drive asserts CLOSE_CONTACT (all
other outputs will stay false during the
Auto-Tune)
d. Motor Contactor closes
e. Drive starts the Auto-Tune procedure
f.
When the Auto-Tune is finished, the
drive will simulate the removal of the run
command even if Run Command is still
being asserted.
g. Run Command is removed
During Auto-Tune, a slight buzzing noise
should come from the motor for approximately
two seconds and the RUN LED will be lit for
the duration of the procedure.
If the fault
CONTACTOR FLT
is displayed,
verify the motor contactor is closed
If the fault
BRAKE IS OPEN
is displayed, the
drive has detected motion, verify the brake is
set. If brake is set and minimal movement has
occurred, increase BRK FLT LEVEL (A4).
The following parameters will populate:
a. D Axis Induct (A5)
b. Q Axis Induct (A5)
c. Stator Resist (A5)
10:00 May 4
U0 UTILITY
U12 AUTOTUNE SEL
READY
RUN
USER
TORQUE
LIMIT
FAULT
SUBMENU
DATA ENTRY
U12 10:00
Autotune Select
DISABLE
READY
RUN
USER
TORQUE
LIMIT
FAULT
SUBMENU
DATA ENTRY
U12 10:00
Autotune Select
ON RUN
READY
RUN
USER
TORQUE
LIMIT
FAULT
SUBMENU
DATA ENTRY
U12 10:00
ALARM!
AUTOTUNE IS DONE
READY
RUN
USER
TORQUE
LIMIT
FAULT
SUBMENU
DATA ENTRY
