1

Open EcoStruxure Machine Expert.

2

Create a new project or open an existing project.

NOTE: Use software versions which meet the system requirements.

3

If you have created a new project, insert the axes available at the SERCOS bus into the PLC configuration and execute the device addressing assistant.

4

Perform a right click on "Application" in the PLC configuration.

Result: The Application context menu opens. It contains a menu entry over which the necessary objects can be added to the project.

5

Click on “Add object”.

Result: The menu “Automatic controller optimization…” opens if the following conditions are fulfilled:

oThe conditions listed under system requirements must be complied.

oAn AutoTune entry must not exist yet under the selected Application.

oNo task is allowed to call up the function block AUT.SR_AutoTune.

6

Click on “Automatic controller optimization…”.

Result: The entry AutoTune is generated.

Through the user-friendly integration of AutoTune an entry is generated under Application. Behind it is an editor mask, over which the basis functions, the connection to the task, the call-up of the function block AUT.SR_AutoTune and the visualization for the AUT.VIS_AutoTune are provided.

Result: The library AutoTune is homed.

The function “Automatic controller optimization” has to add to the project a homing to the current AutoTune library.

Result: Task TASK_SR_AutoTune is adjusted.

The task mentioned here is generated for the entry AutoTune. This task must be adjusted as described in the operating manual AutoTune.

At the moment, when this document was created, the task has to be set as follows:

oThe name of the task has to be "TASK_SR_AutoTune".

oThe task has to be cyclic.

oThe cycle time has to be 100ms.

oThe watchdog functionality must be deactivated.

Result: AutoTune visualization is adjusted.

The visualization AUT.VIS_AutoTune, which is provided by the library AutoTune is homed via a newly generated visualization.

oThe visualization must have "a" window.

oThe window must have the size of 1024 x 768 photo points (width x height).

oThe window must home the visualization AUT.VIS_AutoTune.

1

Link the i_xEnable inputs of all function blocks with a parameter that switches between optimization mode and normal mode.

2

Lock the function blocks. The optimization mode is activated when G_bAutoTuneEnable is set to TRUE.

oSwitch off the function blocks which are active in normal mode when optimization mode is enabled. This prevents interaction between the function blocks for normal mode and the optimization modules.

The function blocks for controlling the mains contactor and the emergency stop reaction must generally remain active even when controller optimization is enabled.

3

Update the reset parameters if necessary.

oAdjust the reset parameters of the PLC Configuration before you log in to ensure that they are saved correctly.

Check the following parameters:

oGearIn

oGearOut

oFeedConstant

oDirection

oLimCurrent

4

To compile the project, go to the Project menu and select Compile all or press F11.

5

Log into the project.

6

Reset the PacDrive Controller so that the reset parameters are copied.

7

Wait until the PacDrive Controller is ready.

8

Log in again.

1

Set AUT.G_xAutoTuneEnable to TRUE.

2

Start the program.