Rockwell Automation 1336T Master/Slave Parallel AC Drv - Manual (Page 32)

1336 FORCE-5.19 – August, 2000
3-14 Startup
Autotune the 1336 Drive
The following parameters (Master Drive) must be set up prior to
beginning the Autotune sequence:
1
Must be set to the base speed of the motor when running the torque loop
autotune on the 1336T. The motor may not develop enough HP if these
parameters are set to other values. After the autotune is complete, P127 and
P128 can be set to their correct process limit values.
Torque Block Tuning
Note: The motor windings for both the master & slave drives must be
reconnected before running the Stator Resistance, Leakage
Inductance, Id Measurement, Torque block gains and Inertia Tests.
The motor must NOT rotate during the Stator Resistance and Leakage
Inductance tests or the drive will fault on an autotune failure. If the
shaft attempts to rotate, contact Allen-Bradley for suggestions on
preventing rotation.
Run the Stator Resistance Test:
1. Set Parameter 91 [Stall Delay] in Slave to 120 seconds to allow
test completion.
2. Set Parameter 256 [Autotun Diag Sel] = 8 in the Master drive.
3. Start the Slave Drive followed by starting the Master Drive.
The test is complete when P256 resets to zero.
4. Save in EEPROM, the measured value for stator resistance can
be viewed in Parameter 236 (RS Tune).
5. Repeat test to check validity.
Leakage Inductance Test:
1. Set Parameter 256 [Autotun Diag Sel] to a value of 4.
!
ATTENTION: This Autotune sequence is run from the
the Master drive only. However both drives require a start
signal and will run during autotuning.
When starting the drive, the Slave MUST be started
first, then start the Master drive. (If the Master is
started without the Slave running, it will cause an M/S
Ena Timeout fault after a 1 second delay. This will
require a drive RESET!)
When stopping the drive, Stop the Master first, then
Stop the Slave.
PARAMETER DESCRIPTION SET TO
141 KF Velocity Loop 65535
40 Auto Tune Torque Limit 85% = 3500 DU
41 Auto Tune Speed 85% = 3500 DU
127 Reverse Speed Limit Base Speed 1
128 Forward Speed Limit Base Speed 1