ABB +N5600 Firmware Instructions page 82

82 Program features
(99 Motor data). The calculated maximum speed during the routine is the initial speed
(ie. speed when the routine is activated) +
by 30.12 Maximum speed
The diagram below shows the behavior of speed and torque during the autotune
routine. In this example,
Initial torque + [25.38]
Initial torque
Initial speed + [25.39]
Initial speed
Notes:
• If the drive cannot produce the requested braking power during the routine, the
results will be based on the acceleration stages only, and not as accurate as with
full braking power.
• The motor will exceed the calculated maximum speed slightly at the end of each
acceleration stage.
Before activating the autotune routine
The prerequisites for performing the autotune routine are:
• The motor identification run (ID run) has been successfully completed
• Speed and torque limits (parameter group
• The speed feedback has been monitored for noise, vibrations and other
disturbances caused by the mechanics of the system, and
• speed feedback filtering (parameter group
• speed error filtering
• zero speed (parameters
have been set to eliminate these disturbances.
• The drive has been started and is running in speed control mode.
After these conditions have been fulfilled, autotuning can be activated by parameter
25.33 Speed controller autotune
25.39 Autotune speed
or 99.09 Motor nominal
25.40 Autotune repeat times
(24 Speed reference
21.06 and 21.07)
(or the signal source selected by it).
speed.
is set to 2.
30 Limits) have been set
90 Feedback selection)
conditioning) and
step, unless limited
t