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Digitax HD M753 Control User Guide

Issue Number: 3

•

A rotating autotune should only be used if the motor is unloaded.
A rotating autotune first performs a stationary autotune, a rotating
test is then performed which the motor is accelerated with currently
selected ramps up to a frequency of

Rated Frequency

(00.047) x 2/

3, and the frequency is maintained at the level for up to 40 s. During
the rotating autotune the

Stator Inductance

(05.025), and the motor

saturation breakpoints (Pr

05.029

, Pr

05.030

, Pr

06.062

and

05.063

) are modified by the drive. The

Motor Rated Power Factor

(00.043) is also modified by the

Stator Inductance

(05.025). The No-

Load motor core losses are measured and written to

No-Load Core

Loss

(04.045). To perform a Rotating autotune, set Pr

00.040

to 2,

and provide the drive with both an enable signal (terminal 2 and 6)
and a run signal (terminal 11 or 13).

Following the completion of an autotune test the drive will go into the
inhibit state. The drive must be placed into a controlled disable condition
before the drive can be made to run at the required reference. The drive
can be put in to a controlled disable condition by removing the Safe
Torque Off signal from terminal 2 and 6, setting the

Drive Enable

(06.015) to OFF (0) or disabling the drive via the control word (Pr

06.042

& Pr

06.043

RFC-S

There are five autotune tests available in RFC-S mode, a stationary
autotune, a rotating autotune, two mechanical load measurement tests
and a locked rotor test to measure load dependent parameters.

•

Stationary Autotune

The stationary autotune can be used when the motor is loaded and it is
not possible uncouple the load from motor shaft. This test can be used to
measure all the necessary parameters for basic control. During the
stationary autotune, a test is performed to locate the flux axis of the
motor. However this test may not be able to calculate such an accurate
value for the Position Feedback Phase Angle (00.043) as compared to
rotating autotune. A stationary test is performed to measure

Stator

Resistance

(05.017),

(05.024),

Maximum Deadtime Compensation

(05.059),

Current At Maximum Deadtime Compensation

(05.060),

No Load Lq

(05.072). If

Enable Stator Compensation

(05.049) = 1 then

Stator Base Temperature

(05.048) is made equal to

Stator Temperature

(05.046). The

Stator Resistance

(05.017) and the

(05.024) are then

used to set up

Current controller Kp Gain

(00.038) and

Current

Controller Ki Gain

(00.039). If sensorless mode is not selected then

Position Feedback Phase Angle

(00.043) is set up for the position from

the position feedback interface selected with

Motor Control Feedback

Select

(03.026). To perform a Stationary autotune, set Pr

00.040

to 1,

and provide the drive with both an enable signal (terminal 2 and 6) and a
run signal (terminal 11 or 13).

•

Rotating Autotune

The rotating autotune must be performed on unloaded motor. This test
can be used to measure all the necessary parameters for the basic
control and parameters for cancelling the effects of the cogging torque.
During the rotating autotune,

Rated Current

(00.046) is applied and the

motor is rotated by 2 electrical revolutions (i.e. up to 2 mechanical
revolutions) in the required direction. If sensorless mode is not selected
then the

Position Feedback Phase Angle

(00.043) is set-up for the

position from the position feedback interface selected with

Motor Control

revolutions) in the required direction. If sensorless mode is not selected
then the

Position Feedback Phase Angle

(00.043) is set-up for the

position from the position feedback interface selected with

Motor Control

Feedback Select

(03.026). A stationary test is then performed to

measure

Stator Resistance

(05.017), Ld (05.024),

Maximum Deadtime

Compensation

(05.059),

Current At Maximum Deadtime Compensation

(05.060) and

No Load Lq

(05.072).

Stator Resistance

(05.017) and

(05.024) are used to set up

Current Controller Kp Gain

(00.038) and

Current Controller Ki Gain

(00.039). This is only done once during the

test, and so the user can make further adjustments to the current
controller gains if required. To perform a Rotating autotune, set
Pr

00.040

to 2, and provide the drive with both an enable signal

(terminal 2 and 6) and a run signal (terminal 11 or 13).

This parameter defines the required switching frequency. The drive may
automatically reduce the actual switching frequency (without changing
this parameter) if the power stage becomes too hot. A thermal model of
the IGBT junction temperature is used based on the heatsink
temperature and an instantaneous temperature drop using the drive
output current and switching frequency. The estimated IGBT junction
temperature is displayed in Pr

07.034

. If the temperature exceeds

135



C the switching frequency is reduced if this is possible

(i.e > 3 kHz). Reducing the switching frequency reduces the drive losses
and the junction temperature displayed in Pr

07.034

also reduces. If the

load condition persists the junction temperature may continue to rise
again above 145



C and the drive cannot reduce the switching frequency

further the drive will initiate an ‘OHt Inverter’ trip. Every second the drive
will attempt to restore the switching frequency to the level set in
Pr

00.041

See section 8.4

Switching frequency

on page 92, for the maximum

available switching frequency for each drive rating.

6.4.7 Motor parameters

Open-loop

This parameter is used in the calculation of motor speed, and in applying
the correct slip compensation. When Automatic (0) is selected, the
number of motor poles is automatically calculated from the

Rated

Frequency

(00.047) and the

Rated Speed

rpm (00.045). The number of

poles = 120 * rated frequency / rpm rounded to the nearest even
number.

RFC-A

This parameter must be set correctly for the vector control algorithms to
operate correctly. When Automatic (0) is selected, the number of motor
poles is automatically calculated from the

Rated Frequency

(00.047) and

the

Rated Speed

(00.045) rpm. The number of poles = 120 * rated

frequency / rpm rounded to the nearest even number.

RFC-S

This parameter must be set correctly for the vector control algorithms to
operate correctly. When Automatic (0) is selected the number of poles is
set to 6.

The power factor is the true power factor of the motor, i.e. the angle
between the motor voltage and current.

Open-loop

00.041

{05.018}

Maximum Switching Frequency

Txt



2 kHz (0), 3 kHz (1),
4 kHz (2), 6 kHz (3),

8 kHz (4), 12 kHz (5),

16 kHz (6)



8 kHz (4)