The autotune is more for the motor electrical characteristics, rather than the motion/speed control. The motion autotuning comes after you get the motor tuned properly.
For example (from Control Techniques):
Parameter: 05.012 Auto-tune
Short description: Defines the auto-tune test to be performed
Mode RFC‑S
Minimum 0 Maximum 5
Default 0
Value Text
0 None
1 Stationary
2 Rotating
3 Inertia 1
4 Inertia 2
5 Full Stationary
The following describes how an auto-tune test can be initiated and normal operation can be resumed after the test for RFC-S mode:
An auto-tune test cannot be initiated if the drive is tripped or the drive inverter is active, i.e. Drive Healthy (10.001) = 0 or Drive Active (10.002) = 1. The inverter can be made inactive by ensuring that the Final drive enable is inactive, or the Final drive run is inactive and Hold Zero Speed (06.008) = 0.
An auto-tune test is initiated by setting Auto-tune (05.012) to a non-zero value and making the Final drive enable and the Final drive run active.
All tests that move the motor will move the motor in the forward direction if Reverse Select (01.012) = 0 or the reverse direction if Reverse Select (01.012) = 1.
If the auto-tune sequence is completed successfully the Final drive enable is set to the inactive state and Auto-tune (05.012) is set to zero. The Final drive enable can only be set to the active state again by removing the enable and re-applying it. The enable can be removed by setting Drive Enable (06.015) = 0, or by setting bit 0 of the Control Word (06.042) to 0 provided Control Word Enable (06.043) = 1, or by making Hardware Enable (06.029) = 0.
If a trip occurs during the auto-tune sequence the drive will go into the trip state and Auto-tune (05.012) is set to zero. As in 4 above the enable must be removed and re-applied before the drive can be restarted after the trip has been reset. However, care should be taken because if the auto-tune was not completed the drive parameters that should have been measured and set up will still have their original values.
If the Final drive enable is made active, the Final drive run is inactive and Hold Zero Speed (06.008) = 1 the drive would normally be in the Stop state (i.e. the inverter is active, but the frequency or speed reference is 0).
The following describes the effects of the auto-tune test on the drive parameters for RFC-S mode:
All auto-tune tests rely on the motor being stationary when the test is initiated to give accurate results.
If Select Motor 2 Parameters (11.045) = 0 then the parameters associated with motor map 1 are updated as a result of the test, and if Select Motor 2 Parameters (11.045) = 1 the parameters associated with motor map 2 are updated.
When each stage of the test is completed, the results are written to the appropriate parameters and these parameters saved in the drive non-volatile memory. If Parameter Cloning (11.042) is set to 3 or 4 the parameters are also written to a non-volatile media card fitted in the drive.
The table below shows the parameters required for motor control indicating which should be set by the user and which can be measured with an auto-tune test.
Parameter Required for Measured in test
Rated Current (05.007) Basic control User set-up
Rated Speed (05.008) Basic control User set-up
Rated Voltage (05.009) Basic control User set-up
Number Of Motor Poles (05.011) Basic control User set-up
Measured / Test
Stator Resistance (05.017) Basic control 1, 2, 5
Ld (05.024) Basic control 1, 2, 5
Maximum Deadtime Compensation (05.059) Basic control 1, 2, 5
Current At Maximum Deadtime Compensation (05.060) Basic control 1, 2, 5
Current Controller Kp Gain (04.013) Basic control 1, 2, 5
Current Controller Ki Gain (04.014) Basic control 1, 2, 5
No-load Lq (05.072) 1, 2, 5
Motor And Load Inertia (03.018) Speed controller set-up and torque feed-forwards 3, 4
Inertia Times 1000 (04.033) Speed controller set-up and torque feed-forwards 3, 4
Position Feedback Phase Angle (03.025) Basic control with position feedback 1, 2, 5