6-36
6
Use the following procedure:
1. Set n5-05 to “1” to enable the auto tuning and go back to the speed reference display.
2. Set the base block input.
3. Enable the inspection speed input. “FFCAL” will blink in the display to signalize that the calculation is
active.
4. Set an UP command. The inverter will accelerate the motor up to the nominal speed. Release the UP com-
mand a few seconds after the top speed has been reached.
5. When the motor has stopped, apply a DOWN command. The inverter will accelerate the motor in the
opposite direction to the nominal speed. Release the DOWN command a few seconds after the nominal
speed has been reached.
To abort the tuning set parameter n5-05 to “0”.
Automatic Current Regulator (ACR) Tuning
The ACR controller consists of two PI control loops, one for the d-axis and one for the q-axis current. The
ACR parameters can be accessed in the Closed Loop Vector control for PM mode only.
Related Parameters
Adjustments
Normally there is no need to change these values. However, if short cycle vibrations occur which can’t be
eliminated by the ASR controller setup, it might help to adjust ACR values like follows:
• If the motor generates very strange high frequency noise (not carrier frequency related), reduce both ACR
gains (n8-29 and n8-32) for the same value. If the gain is reduced too much, the performance will be
reduced.
• If vibrations occur, reduce both integral times (n9-30 and n9-33) for the same value.
IMPORTANT
1. The order of giving the UP or DOWN command has no influence.
2. n5-01 should not be changed from the factory value for the tuning.
3. After the run in both directions is finished, parameter n5-05 is automatically set back to “0”.
4. The autotuning will be performed only if the inspection speed input is set.
5. Do not change the mechanical constants (load, inertia) between the runs.
Parameter
No.
Name
Factory
setting
Change
during
operation
V/f
Open
Loop
Vector
Closed
Loop
Vector
Closed
Loop
Vector
(PM)
n8-29 ACR q axis proportional gain 1000 rad/s No - - - A
n8-30 ACR q axis integral time 10.0 ms No - - - A
n8-32 ACR d axis proportional gain 1000 rad/s No - - - A
n8-33 ACR d axis integral time 10.0 ms No - - - A
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