Rockwell Automation 1336T FORCE Series B - Manual (Page 298)

Appendix A
A–50
0
1
2
3
4
5
6
7
8
INVERTER TRANSISTOR DIAG.
MOTOR PHASE ROTATION TEST
LO MEASURE
RS MEASURE
ID MEASURE
UPDATE TORQUE BLOCK CALC
MEASURE MOTOR INERTIA
MEASURE SYSTEM INERTIA
UPDATE VELOCITY LOOP GAINS
VELOCITY K
I
139
VELOCITY K P
140
VELOCITY K
F
141
DESIRED
X.XX RAD/SEC BANDWIDTH
DAMPING
X.X FACTOR
L C
5
43
45
AUTOTUNE/DIAGNOSTIC
SELECTION
0
WAIT
1
START
3
STOP
2
MEASURE
256
AUTOTUNE
TORQUE
40
AUTOTUNE
SPEED
41
AUTOTUNE PROCEDURE
1. RUN TRANSISTOR DIAGNOSTICS – SET BIT 0 IN PARM. 256 AND TOGGLE START BIT IN LOGIC COMMAND.
2. RUN PHASE ROTATION TEST – SET BIT 1 IN PARM. 256 AND SET START BIT IN LOGIC COMMAND.
CHECK SIGN OF VELOCITY FEEDBACK (PARM. 146) AGAINST FREQ. REF. (PARM. 263).
STOP DRIVE AND CLEAR PARAMETER 256.
SWAP ENCODER PHASES IF NECESSARY TO GET SIGNS TO MATCH.
3. RUN TORQUE AUTOTUNE – SET BITS 2 THROUGH 5 IN PARM. 256 AND TOGGLE START BIT IN LOGIC COMMAND.
4. RUN VELOCITY AUTOTUNE – ENTER DESIRED BANDWIDTH IN PARM. 43. SET BITS 6 THROUGH 8 IN PARM. 256
AND TOGGLE START BIT IN LOGIC COMMAND. CHECK DI/DT LIMIT IN PARM. 181.
181
AUTOTUNE
STATUS
AUTOTUNE
INHIBIT
ERROR
TORQUE
LIMIT
X.XX SEC 234
X.XX SEC
47
47
AUTOTUNE STATES
MOTOR INERTIA
TOTAL INERTIA
I LOOP
DIDT LIMIT
V LOOP
ERROR FILTER BW 142
46
4
5
VELOCITY
LOOP
GAIN
CALCULATIONS
FRICTION
VELOCITY LOOP AUTOTUNE
LOGIC CONTROL
DRIVE STOPPED