Rockwell Automation WebPak 3000 User Guide - Manual (Page 40)

5-4 WebPak 3000 OIM User Guide
5.4 Self-Tuning the Current Minor and Speed Loops
Self-tuning automatically tunes the current minor and speed loops. It can be
performed as part of Quick Start, or as a separate procedure. You can choose either
one or both of the loops. The drive can be tuned with load connected if the load is not
mechanically connected to another drive. For example, you could not tune the drive
successfully if the load is a web between two sections of a paper machine.
Self-tune can only be started if is set to KEYPAD or TERMBLK . It cannot be started
if the control is NETWORK or SERIAL .
Self-tuning configures the parameters listed in table 5.1. For descriptions of these
parameters, see the software manual. It also sets normalized inductance for the
CML .
For information on the control loops, see the application workbook.
5.4.1 Setting Up the OIM for Self-Tuning
Speed loop self-tuning can only be performed on drives with tachometer or encoder
feedback. In drives configured for armature voltage regulation (no feedback), you can
only tune the current minor loop (
CML ).
To prepare for self-tuning:
Step 1. Configure all of the parameters for your application. For information on
changing parameters, see section 4.2.5, “Changing Parameter Values”, in
this manual. For parameter descriptions, see the software manual.
Step 2. Perform drive setup as described in the hardware manual. Self-tune will not
operate properly if these settings and adjustments are not completed.
Step 3. Stop the drive if it is running.
!
ATTENTION: Before self-tuning, verify that no overhauling or hanging
loads are on the motor. Self-tuning will not operate properly if these types
of loads exist. Failure to observe this precaution could result in bodily injury.
ATTENTION: The motor will rotate during self-tuning. Stay clear of rotating
machinery. Failure to observe this precaution could result in bodily injury.
ATTENTION: Self-tuning will not operate properly if the setup and
adjustment of the drive is incomplete. See the hardware manual for
information. Failure to observe this precaution could result in damage to,
or destruction of, the equipment.
ATTENTION: Do not perform self-tuning on drives that are mechanically
coupled to one another through the process material. Failure to observe
this precaution could result in damage to, or destruction of, the equipment.
Table 5.1 – Parameters Configured by CML and Speed Loop Self-Tuning
CML Tuning Speed Loop Tuning
CML PI LEAD FREQUENCY (P.302) SPD LOOP PI LEAD FREQ (P.212)
CML PI PROP GAIN (P.301) SPD LOOP PI PROP GAIN (P.211)
CML REF RATE LIMIT (P.303) SYSTEM INERTIA (P.222)