Rockwell Automation 23P PowerFlex Digital DC Drive - Manual (Page 109)

Rockwell Automation Publication 20P-UM001K-EN-P - July 2014 109
Drive Start Up Chapter 2
3. Select Par 1027 [Spd Reg Autotune] and enter “1.”
4. Press Enter.
5. Press the Start button on the HIM. This will start the speed regulator auto
tuning test, which could take several minutes. When the test has been
completed, the drive will automatically stop.
During the test the following are completed:
• An acceleration test, with the torque limit value set in the Par 1048
[Autotune Cur Lim].
• A deceleration test, with a lower torque limit value applied, until
zero speed has been reached.
• Par 1013 [Torque Const] is calculated and updated based on the
entered motor data.
The test threshold speed is 33% of the lowest value set in the following
parameters:
• 45 [Max Ref Speed]
• 3 [Max Speed Fwd] or 4 [Max Speed Rev] based on the rotation
direction chosen in Par 1029 [Speed Tune Dir]
The drive will determine the speed loop gains (Pars 87 [Spd Reg Kp] and
88 [Spd Reg Ki]) based on the motor and load inertia and friction
characteristics.
If any fault occur during the test, see Auto Tuning Faults on page 111 for a
description and more information.
Note: If any manual adjustments are required (due to vibrations, etc.),
make them according to the value of the integral gain in Par 88
[Spd Reg Ki]. If the speed regulator auto tuning test does not
provide satisfactory results, see Fine Tuning the Regulators on
page
331 .
The values determined by the Speed Regulator tuning tests are updated in
Pars 87 [Spd Reg Kp], 88 [Spd Reg Ki], 1014 [Inertia] and 1015 [Friction]
and displayed in the corresponding Pars 1032 [Speed Tune Kp], 1033
[Speed Tune Ki], 1030 [Spd Tune Inertia] and 1031 [SpdTune Friction],
respectively. The values of Pars 1030 - 1033 can be used as a record of the
Speed Regulator auto tuning results if the values of Pars 87, 88, 1014 and
1015 are subsequently changed.