Rockwell Automation 1336T FORCE Series B - Manual (Page 162)

Chapter 5
Programming Parameters
5–36
Auto Tune Speed
[Auto Tune Speed] Parameter Number 41
Parameter Type Sink
Display Units +/– x.x rpm
Drive Units 4096 @ Base Motor Speed
Factory Default 0.85 x Base Motor Speed
Minimum Value 0.3 x Base Motor Speed
Maximum Value Base Motor Speed
This parameter is the speed of the motor
during an auto tune velocity motor test,
system test, and system ID measure.
4096 is base speed
VP Desired Bandwidth
[Vel Desired BW] Parameter Number 43
Parameter Type Sink
Display Units x.xx rad/sec
Drive Units Display units x 100
Factory Default 5.00 rad/sec
Minimum Value 0.01 rad/sec
Maximum Value 100.00 rad/sec
Autotune Status
[Auto Tune Status] Parameter Number 44
Parameter Type Source
Display Units bits
Drive Units value (of bits)
Factory Default 0000 0000 0000 0000
Minimum Value 0000 0000 0000 0000
Maximum Value 001100000.11111111
Enums:
This parameter specifies the velocity loop
bandwidth requested by the User and
determines the dynamic behavior of the
velocity loop. The maximum value for this
parameter is changed by the drive when a
request is made to update the the velocity
loop gains. The vel loop becomes more
responsive and is able to track a faster
changing vel ref as bandwidth is increased.
System and noise limitations will establish
a practical upper limit however.
This parameter indicates the status of
certain conditions related to the autotune
function. This is a bit–coded parameter
that is not changeable by the user.
VP Damping Factor
[Vel Damp Factor] Parameter Number 45
Parameter Type Sink
Display Units x.x
Drive Units 2048 = 1.0 damping
Factory Default 1.0
Minimum Value 0.5
Maximum Value 3.0
Total Inertia
[Total Inertia] Parameter Number 46
Parameter Type Sink
Display Units x.xx sec
Drive Units Display units x 100
Factory Default 2.00 sec
Minimum Value 0.01 sec
Maximum Value 655.00 sec
This parameter determines the dynamic
behavior of the velocity loop. The damping
factor influences the amount of overshoot
the velocity loop will exhibit during a tran-
sient.
This parameter represents the time, in se-
conds, for a motor coupled to a load to ac-
celerate from zero to base speed, at rated
motor torque. This parameter is calculated
by the Autotune System Inverter Test.
Bit 8 – 11 = Not Used
Bit 12 = Timeout
Bit 13 = No Trq Lim
Bit 0 = Executing
Bit 1 = Complete
Bit 2 = Fail
Bit 3 = Abort
Bit 4 = Flux Active
Bit 5 = Not Ready
Bit 6 = Not Zero Spd
Bit 7 = Running
Autotune Testpoint Data
[Auto Tune TP] Parameter Number 47
Parameter Type Source
Display Units Bits
Drive Units None
Factory Default 0000 0000 0000 0000
Minimum Value 0000 0000 0000 0000
Maximum Value 1111 1111 1111 1111
This parameter indicates the value of the
internal location selected by the Autotune
TP Sel parameter, 48.