Rockwell Automation CS3000 V6.1 MMI FlexPak, GV 3000, Liqui-Flo - Manual (Page 49)

Tuning GV3000 and Liqui-Flo Vector Drives 5-7
Use the following procedure to tune the Torque/Flux Loop.
Step 1. If the magnetizing current is known, enter the value for U.006 (Magnetizing
Current), or accept the displayed value. Continue to step 2.
or
a. Click Start Self-Tune. The following message is displayed:
“The load must be uncoupled from the motor shaft to run this test. If the
load is not uncoupled, the test results may be incorrect. Select OK when
you are ready to run the test or Cancel to quit.”
b. Lock out and tag all power to the drive and its load.
c. Disconnect the load from the motor shaft.
d. Remove the lockout and reapply power to the drive.
e. Click OK. The following message is displayed:
“Warning:
When OK is selected, the motor will accelerate gradually to 90% of base
speed. The acceleration and deceleration times will be about 30 seconds.
Select OK to begin the test or Cancel to quit.”
f. Click OK to start self-tune.
The drive is run with Torque Self-Tune Enabled (U.008) to establish the value
for the Magnetizing Current (U.006). The display will indicate that self-tune is
in progress and that the drive is running.
If an error occurs, Torque Self-Tune Result (U.009) is read and an
appropriate error message is displayed.
Step 2. Enter values for torque response, flux response and overshoot damping, or
accept the displayed default values.
Torque response is the torque crossover frequency.
Flux response is the flux crossover frequency.
Overshoot damping is a value from 20 to 100, where 20 is the least amount
of damping and yields the greatest overshoot to a step in reference, and 100
is the highest amount of damping and yields the least overshoot.
Step 3. Click Calculate Gains.
If any of these values is out of range, the valid range is displayed and the
cursor appears on the field containing the error.
The entered response values, the overshoot damping value, and motor data
are used to calculate U.014, U.015, U.019 and U.020.
The values for U.014, U.015, U.019 and U.020 will be displayed.
Step 4. Click Assign to write the torque/flux loop data to the drive.
5.3.3 Tuning the Speed Loop
The speed loop is tuned by adjusting the speed loop proportional and integral gains
(U.012 and U.013). Speed loop tuning is a function of the inertia and desired
bandwidth. The inertia of the motor and connected load can be set manually if known.
When you select Speed, the Drive Tuning dialog box appears as shown in figure 5.5.