Drive control and features51Notes:• Jogging is not operational when the drive start command is on, or when the driveis in local control.• Normal start is inhibited when jog enable is active.• The ramp shape time is set to zero during jogging.Speed controller tuningThe speed controller of the drive can be automatically adjusted using the autotunefunction (parameter 28.16 PI TUNE MODE). Autotuning is based on the load andinertia of the motor and the machine. It is, however, also possible to manually adjustthe controller gain, integration time and derivation time. Autotuning can also beperformed from an external control location.Autotuning can be performed in four different ways depending on the setting ofparameter 28.16 PI TUNE MODE. The selections (1) Smooth, (2) Middle and (3)Tight define how the drive torque reference should react to a speed reference stepafter tuning. The selection (1) Smooth will produce a slow response; (3) Tight willproduce a fast response. The selection (4) User allows customised control sensitivityadjustment through parameters 28.17 TUNE BANDWIDTH and 28.18 TUNEDAMPING. Detailed tuning status information is provided by parameter 6.03 SPEEDCTRL STAT.Once parameter 28.16 PI TUNE MODE has been set, an autotuning routine will bestarted when the drive modulation is started the next time. If the autotuning routinefails, the SPEED CTRL TUNE FAIL alarm will occur for approximately 15 seconds. Ifa stop command is given to the drive during the autotuning routine, the routine willbe aborted.11-12 x 0 1 Normal operation overrides the jogging. Drive accelerates to the speed reference alongthe active acceleration ramp.12-13 1 1 1 Start command overrides the jog enable signal.13-14 1 1 0 Drive decelerates to the jogging speed along the deceleration ramp of the jogging function.14-15 1 1 0 Drive runs at the jogging speed.15-16 x 0 0 Drive decelerates to zero speed along the deceleration ramp of the jogging function.Phase JogcmdJogenableStartcmdDescription
