Autotuning moves the motor in order to tune the control loops. Incorrect parameters may cause unintended movements or the loss of monitoring functions.
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UNINTENDED MOVEMENT |
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oOnly start the system if there are no persons or obstructions in the zone of operation. oVerify that the values for the parameters AT_dir and AT_dis_usr (AT_dis) do not exceed the available movement range. oVerify that the parameterized movement ranges are available, free and clear for the mechanical movement defined by your application logic. oInclude in your calculations when determining the available movement range, the additional distance for the deceleration ramp in the case of an emergency stop. oVerify that the parameter settings for a Quick Stop are correct. oVerify correct operation of the limit switches. oVerify that a functioning emergency stop push-button is within reach of all persons involved in all phases of machine operation and maintenance involving this equipment. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
Autotuning determines the friction torque as a constantly acting load torque and considers it in the calculation of the moment of inertia of the entire system.
External factors such as a load at the motor are considered. Autotuning optimizes the settings of the control loop parameters; see chapter Controller Optimization with Step Response.
Autotuning also supports vertical axes.
There are three ways of tuning the drive control loops:
oEasy Tuning: Automatic - autotuning without user intervention. For most applications, autotuning yields good, highly dynamic results.
oComfort Tuning: Semi-automatic - autotuning with user intervention. Parameters for direction and parameters for damping can be set by the user.
oManual Tuning: The user can set and tune the control loop parameters manually. Manual Tuning is available in the Expert Mode of the commissioning software.
During autotuning, the motor is activated and small movements are made. Noise development and mechanical oscillations of the system are normal.
If you want to perform Easy Tuning, no additional parameters need to be adjusted. To perform Comfort Tuning, the parameters AT_dir, AT_dis_usr and AT_mechanics are available to be adjusted to meet the requirements of your application.
The parameter AT_Start is used to start Easy Tuning or Comfort Tuning.
oStart autotuning via the commissioning software.
It is also possible to start autotuning via the HMI.
HMI: (op) → (tun) → (tust)
oSave the new settings to the nonvolatile memory via the commissioning software.
If you have started autotuning via the HMI, press the navigation button to save the new values to the nonvolatile memory.
The product features 2 control loop parameter sets that can be parameterized separately. The values for the control loop parameters determined during autotuning are stored in control loop parameter set 1.
If autotuning cancels with an error message, the default values are used. Change the mechanical position and restart autotuning. If you want to verify the plausibility of the calculated values, you can have them displayed; see chapter Enhanced Settings for Autotuning.
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Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
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(oP) → (tun-) (StiM) |
Direction of movement for Autotuning. 1 / Positive Negative Home / (Pnh): Positive direction first, then negative direction with return to initial position 2 / Negative Positive Home / (nPh): Negative direction first, then positive direction with return to initial position 3 / Positive Home / (P-h): Positive direction only with return to initial position 4 / Positive / (P--): Positive direction only without return to initial position 5 / Negative Home / (n-h): Negative direction only with return to initial position 6 / Negative / (n--): Negative direction only without return to initial position Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective the next time the motor moves. |
- 1 1 6 |
UINT16 R/W - - |
Modbus 12040 IDN P-0-3047.0.4 |
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Movement range for Autotuning. Movement range within which the control parameters are automatically optimized. The movement range is entered with reference to the actual position. In the case of "Movement in one direction only" (Parameter AT_dir), the specified range is used for each optimization step. The movement typically corresponds to 20 times the value, but it is not limited.
The minimum value, the factory setting and the maximum value depend on the scaling factor. Type: Signed decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective the next time the motor moves. |
usr_p 1 262144 2147483647 |
INT32 R/W - - |
Modbus 12068 IDN P-0-3047.0.18 |
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Type of coupling of the system. 1 / Direct Coupling: Direct coupling 2 / Belt Axis: Belt axis 3 / Spindle Axis: Spindle axis Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective the next time the motor moves. |
- 1 2 3 |
UINT16 R/W - - |
Modbus 12060 IDN P-0-3047.0.14 |
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Autotuning start. Value 0: Terminate Value 1: Activate EasyTuning Value 2: Activate ComfortTuning Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately. |
- 0 - 2 |
UINT16 R/W - - |
Modbus 12034 IDN P-0-3047.0.1 |
