UM1040

Connection and initialization

Doc ID 18362 Rev 3

7/19

2.5

Execution of the autotuning and parameter saving

procedures

If connecting, for the first time, motors installing EnDat type transducers, it is necessary to

temporarily save the EnDat phase into the retentive memory of the transducer, in order to

reset the relevant alarm.

–

enter the “Live” mode

–

select the “Pre Operational” state on the NMT state machine

–

select the menu Configuration > Transducer > EnDat (Rotary Encoders)

–

press StorePhase

When the autotuning test “Calculate and Store EnDat Phase” is executed, this temporary

value is overwritten with the correct value.

1.

1.Supply the DC-BUS to the SPIMD20 (ensure that the bulk capacitors are correctly

connected)

2.

Enter “Live” mode and select the “Operational” state on the NMT state machine

3.

Select the autotuning menu depending on the motor transducer type: UTILITIES >

AUTOTUNING > Motor with xxx

4.

4. Select the tests to be run and press “Start Test”. To abort a selected test when

already running press “Disable Drive”.

At the end of the tests remember to save the calculated parameters into the Flash memory.

The following autotuning tests are available (following their internal execution sequence if

more than one is selected):

●

Calculate Theoretical C_LOOP gains

Calculates the current loop theoretical gains following the values of the parameters

“Motor Resistance”, “Motor Inductance” and “Current Loop Frequency”.

●

Calculate C_LOOP gains

Calculates the current loop gains by positioning a current vector modulated with a

square wave on the “U” phase, with torque value changing from 10% to 50% of the

nominal torque parameter.

A very low proportional gain is used at the beginning with integral gain = 0.

The proportional gain is then doubled every time, until the current loop oscillates.It is

then progressively reduced by 10% of the oscillation value, until the oscillation

disappears. The correct proportional gain is therefore obtained. This operation is

repeated for the integral gain.

●

Tune Resolver Driving Wave

Refers to motors installing BRX resolvers.If it is activated with other types of

transducers, an autotuning alarm indicates that the transducer is wrong.

A fixed current vector is positioned on the “U” phase. The sinusoidal driving wave is

tuned in such a way that phase is synchronized to the current loop, the maximum width

is adjusted according to requirements and the max. and min. thresholds, to output the

resolver fault alarm, are also set. The resolver alarm is then enabled.

●

Calculate Resolver Phase

Refers to motors installing BRX resolvers.