Rockwell Automation 1336E IMPACT Adjustable Frequency AC Drive User Manual V 1-4.XX - Manual (Page 375)

Control Block Diagrams B-37
Once the inertia is determined, the value is placed in Total Inertia
(parameter 157). The value of Spd Desired BW (parameter 161) can
then be determined.
Once these values are determined, the speed loop auto-tune test
performs the speed loop gain calculations to determine the values of
the following parameters:
During the speed loop auto-tune, you can check the status of the test
by using Autotune Status (parameter 156). The first four bits (0 – 3)
identify the current status:
Bits 4 – 7, 12, and 13 identify why bit 2 may have been set.
file: Control
group: Speed Regulator
file: Control
group: Speed Regulator
Speed Feedback
Control Limits
This parameter: Has this definition:
Ki Speed Loop
(parameter 158)
Controls the integral error gain of the speed regulator.
Kp Speed Loop
(parameter 159)
Controls the proportional error gain of the speed regulator.
Kf Speed Loop
(parameter 160)
Controls the feed forward gain of the speed regulator.
Fdbk Filter Sel
(parameter 65)
Selects the type of feedback filter.
Error Filtr BW
(parameter 162) Sets the bandwidths of two cascaded low pass filters in the
Kf error path of the speed PI regulator.
Current Rate Lim
(parameter 77) Specifies the largest allowable rate of change for the
current reference signal.
file: Autotune
group: Autotune Status
If this bit is set: Then:
0 The test is currently executing.
1 The test has completed.
2 An error was encountered.
3 The test was aborted because a stop command was issued.
If this bit is set: Then:
4 The motor has active flux.
5 The drive is not ready to start auto-tune.
6 The drive is not at zero speed.
7 The motor is running.
12
The auto-tune test timed out because the inertia test failed to
accelerate the load. The load must accelerate at a rate of 5%
speed change per minute or faster.
13 The inertia test failed to reach the torque limit.