4
Autotuning
The motor data autotuning function sets the V/f pattern parameters (E1-), motor data parameters
(E2-, E5-) and the encoder data (F1-01) automatically. The steps which have to be performed during
the autotuning depend on the tuning mode selection. Refer to
page 5-53, Motor Autotuning: T
for an overview of the autotuning parameters.
Autotuning Mode Selection
The autotuning mode has to be selected according to selected control mode and the mechanical system (motor no load rotation possible or not).
Table 4.1
shows the selectable tuning mode for each control mode.
Autotuning Mode
Table 4.2 Motor Data Autotuning Modes
Function
Tuning
Mode
Selection
(T1-01)
Standard tuning with rotating motor
Tunes all motor parameters.
IM tuning with not rotationg motor
Tunes the basic motor parameters.
0
1
V/f
No
No
IM Line-to-line resistance tuning
Encoder offset tuning
Tunes the line-to-line resistance only
Tunes the offset between the encoder and magnetic zero position.
2
4
Yes
No
Control Mode
Open
Loop Vector
Closed
Loop Vector
Closed
Loop Vector (PM)
Yes
Yes
Yes
No
Yes
Yes
Yes
No
Yes
No
No
Yes
Autotuning Modes
Autotuning with Rotating Motor (T1-01 = 0)
This autotuning mode can be used in any Vector control mode. After the motor nameplate data have been input, the inverter will operate the motor for approximately 1~2 minutes and set the required motor parameters automatically.
IMPORTANT
Use this tuning mode only, if the motor can rotate freely which means that the ropes must be removed and the brake must be open. The gearbox can remain connected to the motor.
Autotuning with Not Rotating Motor (T1-01 = 1)
This autotuning mode can be used for Open Loop and Closed Loop Vector control for IM only. The inverter supplies power to the motor for approximately 1 minute and some of the motor parameters are set automatically while the motor does not turn. The motor no-load current and the rated slip value will automatically be fine tuned during the first time operation.
Verify the rated slip value (E2-02) and the no-load current (E2-03) after the first run with nominal speed.
Autotuning for Line-to-Line Resistance (T1-01 = 2)
Non-rotating autotuning for line-to-line resistance can be used in V/f control, Open Loop Vector control and
Closed loop Vector control. The Inverter supplies power to the motor for approximately 20 seconds to measure the motor line-to-line resistance and cable resistance. The motor does not turn during this tuning procedure.
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Encoder Offset Tuning (T1-01=4)
This tuning mode is available in Closed Loop Vector control for PM motors only. It automatically sets the offset between the magnetic pole and the encoder zero postion. It can be used to retune the offset after an encoder change without changing the motor data settings.
Auto Tuning Precautions
IMPORTANT
General Precautions:
1. Use rotating autotuning whenever high precision is required or for a motor that is not connected to a load.
2. Use not rotating autotuning whenever the load cannot be disconnected from the motor (e.g. the ropes can’t be removed).
3. Make sure, that the mechanical brake is
not
open for not rotating autotuning.
4. During autotuning the motor contactors have to be closed.
5. For autotuning the BB and BB1 signals must be ON (Inverter must not be in base block condition).
6. Confirm, that the motor is mechanically fixed and can not move.
7. Power is supplied during auto tuning, even though the motor does not turn. Do not touch the motor until autotuning has been completed.
8. Remove the feather key from the motor shaft before performing a tuning with rotating motor with a stand alone motor (no traction sheave or gear mounted).
9. To cancel autotuning, press the STOP key on the Digital Operator.
Precautions for rotating and encoder offset autotuning:
1. The load should be disconnected which means, that the ropes have to be removed and the brake must be open.
2. If the load can’t be removed, the tuning can be done with a balanced car. The tuning result accuracy will be lower which can result in a performance loss.
3. Make sure that the brake is open during autotuning.
4.
During autotuning the motor can be started and stopped repeatedly. When the tuning is finished, “END” will be displayed in the operator panel. Do not touch the motor until this display is shown and the motor has completely stopped.
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Autotuning Procedure with Induction Motors
Fig 4.2
shows the autotuning procedure for an induction motor with or without encoder in V/f-, Open loop
vector and Closed loop vector control.
START
Set the Base Block Inputs BB and
BB1
V/f Control ?
(A1-02 = 0)
Yes
No
(A1-02 = 2/3)
Enter auto tuning mode and set parameter T1-01 = 2
Can the motor rotate freely ?
No
Enter auto tuning mode and set parameter T1-01 = 1
Yes
(ropes removed?)
Enter auto tuning mode and set parameter T1-01 = 0
Set:
T1-02 - Motor rated power
T1-04 - Motor rated current
Press the UP button until
“Tuning Ready” display appears
Set:
T1-02 - Motor rated power
T1-03 - Motor rated voltage
T1-04 - Motor rated current
T1-05 - Rated motor frequency
T1-06 - Motor pole number
T1-07 - Motor rated speed
T1-08 - PG pulse number*
(*CLV only)
Press the UP button until
“Tuning Ready” display appears
Set:
T1-02 - Motor rated power
T1-03 - Motor rated voltage
T1-04 - Motor rated current
T1-05 - Rated motor frequency
T1-06 - Motor pole number
T1-07 - Motor rated speed
T1-08 - PG pulse number*
(*CLV only)
Press the UP button until
“Tuning Ready” display appears
Open the brake
Refer to
page 7-14, Auto-tuning Faults
and eliminate the fault source
Close the motor contactor(s)
Press the RUN button
No
(Fault code is displayed)
Tuning successful ?
Yes
(” Tuning successful” is displayed)
Open the contactors, open the base block inputs and close the brake if auto tuning with rotating motor was performed
FINISH
Fig 4.2 Autotuning for Induction Motors
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Autotuning Procedure with PM Motors
Fig 4.3
shows the autotuning procedure for permanent magnet motors. Before tuning make sure that the control mode is set to PM Closed Loop Vector (A1-02 = 6).
START
* Remove the ropes so that the motor can rotate freely
* Set the Base Block inputs BB and BB1
Switch ON the power supply if it is OFF
Does a OPE06 fault occur?
No
Yes
Check parameter
* F1-01
* n8-35
Does a CPF24 fault occur?
No
Yes
Switch off the power supply and check if the right PG card is correctley installed
* Check parameter n8-35
* If EnDat / Hiperface is used
- check the encoder power supply
- check the CLOCK and DATA signal wiring
* Switch off the power supply.
Does a OPE02 fault occur?
No
Yes
S3-13 - Traction sheave diameter
S3-14 - Roping
Set mechanical constants:
S3-15 - Gear ratio
Open the brake, close the motor contactor, turn the motor slowly in Forward direction*
1
and check monitor U1-05.
* Check if the correct PG constant (F1-01) and
absolute encoder resolution (F1-21) has been set.
* Refer to:
page 7-12, Operator Programming Errors
and eliminate the fault source
Does PGO (no encoder feedback) occur?
No
Yes
* Check the wiring
* Check/readjust the encoder
power supply
Is the sign of the
U1-05 value positive
(not -)?
Yes
No
Set the autotuning parameters:
T1-01 = 0 - Rotational Tuning
T2-01 - Motor rated power
T2-02 - Motor base frequency
T2-03 - Motor rated voltage
T2-04 - Motor rated current
T2-05 - Motor pole number
T2-09 - Encoder resolution
T2-10 - Motor voltage constant
Press the UP button until the “Tuning Ready” display appears
Close the motor contactor(s) and press the RUN button
Wait until tuning is finsihed
* Check the encoder wiring
* Change parameter F1-05
Refer to
page 7-14, Auto-tuning Faults
and eliminate the fault source
FINISH
No
(Fault code is displayed)
Tuning successful?
Yes
(”Tuning successful” is displayed)
Open the contactors, open the baseblock inputs and close the brake
* 1. Forward direction means:
The direction the motor turns with an UP command at terminal
S1 (i.e. with a clockwise rotating 3 phase supply and U-U, V-V,
W-W wiring between inverter and motor). Usually the direction is clockwise seen from the motor shaft (traction sheave) side.
Refer to the motor instruction manual or consult the manufacturer for details about the rotation direction.
Fig 4.3 Autotuning for Permanent Magnet Motors
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PM Motor Encoder Offset Tuning
Fig 4.4
shows the autotuning procedure for an encoder offset tuning. This procedure should be performed if
the encoder has been changed or has not been aligned correctly. Before tuning make sure that PM losed loop vector conntrol is selected (A1-02 = 6) and that the E1- and E5- parameters are set up correctly.
START
Is it possible to remove the ropes ?
Yes
Remove the ropes.
No
Set the Base Block inputs BB and BB1
Balance the car so that it does not move with open brakes.
Note: The tuning accuracy will be lower in this tuning mode
Switch ON the power supply if it is OFF
Does a OPE06 fault occur?
No
Yes
Check parameter
* F1-01
* n8-35
Does a CPF24 fault occur?
No
Yes
Switch off the power supply and check if PG card is correctly installed
* Check parameter n8-35
* If EnDat / Hiperface is used
- check the encoder power supply
- check the CLOCK and DATA signal wiring
* Switch off the power supply.
Does a OPE02 fault occur?
No
Yes
Open the brake, close the motor contactor, turn the motor slowly in Forward direction* 1 and check monitor U1-05.
* Check if the correct PG constant (F1-01) and
absolute encoder resolution (F1-21) has been set.
* Refer to:
page 7-12, Operator Programming Errors
and eliminate the fault source
Does PGO (no encoder feedback) occur?
No
Yes
Is the sign of the
U1-05 value positive
(not -)?
Yes
Set:
T1-01 = 4 - Encoder Offset Tuning
Press the UP button until the “Tuning
Ready” display appears.
No
* Check the wiring
* Check/readjust the encoder
power supply
* Check the encoder wiring
* Change parameter F1-05
Refer to
page 7-14, Auto-tuning Faults
and eliminate the fault source.
Close the motor contactor(s) and press the RUN key.
Wait until the tuning is finished.
No
(Fault code is displayed)
Tuning successful?
Yes
(”Tuning successful” display is shown)
Open the contactors, open the base block inputs and close the brake
* 1. Forward direction means:
The direction the motor turns with an UP command at terminal S1 (i.e. with a clockwise rotating 3 phase supply and U-U, V-V, W-W wiring between inverter and motor). Usually the direction is clockwise seen from the motor shaft (traction sheave) side.
Refer to the motor instruction manual or consult the manufacturer for details about the rotation direction.
FINISH
Fig 4.4 Encoder Offset Autotuning
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Precautions for Induction Motor Autotuning
If the Motor Rated Voltage is Higher than the Power Supply Voltage
If the motor rated voltage is higher than the power supply voltage, lower the base voltage value like shown in
Fig 4.5
to prevent saturation of the Inverter’s output voltage. Use the following procedure to perform autotuning:
1. Input the voltage of the input power supply to T1-03 (Motor rated voltage).
2. Input the results of the following formula to T1-05 (Motor base frequency):
T1-05 = Base frequency from motor nameplate ×
Motor rated voltage
3. Perform autotuning.
After the completion of autotuning, set E1-04 (Max. output frequency) to the base frequency from the motor’s nameplate.
Output voltage
Rated voltage from motor name plate
T1-03
4
0
Base frequency from motor name plate x T1-03
Rated voltage from motor name plate
Output frequency
Base frequency from motor name plate
Fig 4.5 Motor Base Frequency and Inverter Input Voltage Setting
If speed precision is required at high speeds (i.e., 90% of the rated speed or higher), set T1-03 (Motor rated voltage) to the input power supply voltage
× 0.9. In this case at high speeds the output current will increase as the input power supply voltage is reduced. Be sure to provide sufficient margin in the Inverter current.
If the Maximum Frequency is Higher than the Motor Base Frequency
Set the maximum output frequency in parameter E1-04 after autotuning has been performed.
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4
Autotuning Alarms and Faults
Data Input Errors
The inverter will show a “Data Invalid” message and will not perform autotuning if:
•
the motor speed, rated frequency and pole pair number do not correspond.
Motor Speed
<
⋅
⋅
•
the rated current does not correspond to the rated power value
The inverter calculates the motor power using the input current value and data from the internal motor data table. The calculated value must be between 50% and 150% of the input value for the rated power.
Other Alarms and Faults During Autotuning
For an overview of possible autotuning alarms or faults and corrective actions refer to
page 7-14, Auto-tuning
Faults
.
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