Rockwell Automation 1391 USER MNL/DIGITAL AC SERVO DR User Manual
Page 57
Chapter 6
Programming
6-20
Parameter 188 – Auto Tune Current Limit (Auto Tune Cur)
The motor current used while an auto tune cycle is executing is specified
with this parameter.
Parameter Type:
View/modify in Modify level and Maintenance level
Minimum Value:
0
Maximum Value:
200% rated motor current in amperes
Default Value:
50% rated motor current in amps
Parameter 189 – Auto Tune Inertia (Auto Tun Inert)
This parameter is calculated during auto tune and is the time that the motor
or motor and system takes to reach Auto Tune Velocity (parameter 187) at
Auto Tune Current Limit (parameter 188) and back to zero rpm. To
determine the inertia of the machine system, use the following formula:
J
system
=
Parameter 189
Parameter 181 x 0.83
x Motor
actual
(from Motor Data Sheet in lb.-in.-sec
2
)
Parameter Type:
View/modify in Modify level and Maintenance level
Minimum Value:
0 ms
Maximum Value:
10000 ms
Default Value:
100 ms
Parameter 190 – Auto Tune Select (Auto Tune Sel)
This parameter initiates an auto tune cycle which measures the Auto Tune
Inertia (parameter 189) and Auto Tune Friction (parameter 69) by
accelerating the motor up to the Auto Tune Velocity (parameter 187) at the
Auto Tune Current Limit (parameter 188). The parameter also calculates
the gains based on auto tune information.
Parameter Type:
View/modify in Modify level and Maintenance level
0
Exit
1
Clr Status
2
Systm Tune
3
Calculate
Parameter 199 – Friction Compensation (Friction Comp)
This value represents the machine friction torque as a percentage of the
measured friction torque (or parameter 69) as measured by auto tuning.
This will be compensated for in the velocity loop.
Parameter Type:
View/modify in Maintenance level
Minimum Value:
0% (No Friction Compensation)
Maximum Value:
100%
Default Value:
50%
Parameter 200 – Friction Hysteresis (Frictn Hystrs)
This parameter defines the number of bits of velocity command before a
switch is made by Friction Bit (parameter 201).
Parameter Type:
View/modify in Maintenance level
Minimum Value:
0
Maximum Value:
2.4 rpm
Default Value:
0.5 rpm