Rockwell Automation 1336T FORCE Series B - Manual (Page 106)

Chapter 4
Startup
4–15
or
or
AB0282A
or
AB0282A
or
AB0282A
After the Phase Rotation test has been performed, and the
motor rotates in the positive direction with positive en-
coder feedback, you are ready to tune both the Torq Loop
and Velocity Loop of the Drive. Tuning both the Torq &
Velocity loops requires setting bits 2 thru 8 to a value of
1 and then pressing ENTER followed by pressing the
START key on the HIM. The HIM display should now
appear as shown below:
Performing both the Torq and Velocity Loop tests will
take approximately 1 min 30 sec to complete. Shaft rota-
tion will occur in the latter part of these tests. While the
test is being executed, the green enable light on the Mo-
tor Control board will be on. Once these tests are com-
plete, bits 2 through 8 in the Auto Tune Diag Sel parame-
ter will be set back to a value of 0 and the green enable
light will go out. If the Drive trips, a flashing or solid red
VP or CP LED will be present on the Motor Control
Board. When complete, save the parameters to
EEPROM using the EEPROM–SAVE option under
MENU.
The fault that caused the drive to trip will appear on the
HIM display. Refer to the Startup Troubleshooting
section of this manual for possible solutions to the
displayed fault. Perform both the Torque and Velocity
loop autotune tests again after the problem has been re-
solved.
When you have successfully completed the Torque and
Velocity Tune tests, scroll to the Vel Desired Band Width
(Parm 43) in the Drive Tune Menu using the INC/DEC
keys.
Autotune Diag Sel
00000001
11111100
Bits 2 thru 8
Vel Desired BW
10.00 R/S
Enter desired BW here
Blinking First
then
Blinking
ДД
ДД
Enter the desired bandwidth by pressing the SEL key to
cursor down to the value field. Use the INC and DEC
keys to scroll to the desired BW. When the appropriate
value is selected, the ENTER should be pressed to accept
the entered value.
Based on the value entered in the Vel Desired BW, the
Kp & Ki Velocity Loop Values will change when Bit 8 is
set in the Autotune Diag Sel (Parm. 256) and the START
Key is pressed. The HIM display should now appear as
shown below:
Autotune Diag Sel
00000001
00000000
Bit 8 set to 1 to
execute update of
velocity regulator
gains.
Note: When using a
sensorless version,
the values listed in
Table 4.B must be
used.