**Category: **eDrives
>** **Toolbox > Sensorless

**Inputs:**

•**Ialpha: **Motor current in *alpha*-axis measured from ADC
channels.

•**Ibeta: **Motor current in *beta*-axis measured from ADC
channels.

•**Valpha: **Motor voltage in *alpha*-axis measured from ADC
channels.

•**Vbeta: **Motor voltage in *beta*-axis measured from ADC
channels.

**Outputs:**

•**Cos: **Cosine of the estimated angular position.

•**Sin: **Sine of the estimated angular
position.**
**

**Description: **The AFT block tracks the flux vector
while the drive is running. It estimates the rotor angular position and shaft
speed. It also tracks and provides torque and flux of a motor while it is
spinning in real time. The AFT block estimates stator phase resistance, and
optionally, it can estimate rotor resistance for induction motors.

**Full Scale Current (A): **Specifies the full-scale
current value for normalization.** **

**Full Scale Frequency (Hz): **Specifies the full-scale
frequency value for normalization.** **

**Full Scale Voltage (V): **Specifies the**
**full-scale voltage value for normalization.** **

**Voltage Filter (Hz): **Specifies the corner frequency for low-pass voltage filters
used for estimation and power calculation.

**Flux (Wb):** Specifies the estimated or calculated
magnetic flux for one phase. It is important to provide the proper value of the
magnetic flux for PM motors.

**Rs Estimation Current (A): **Specifies a DC injection
current, which is introduced to the *d*-axis current for estimation of
stator resistance.

**Speed Filter (Hz):** Specifies the corner frequency
for the speed estimator inside the AFT.

**Stator Inductance-Lq (H): **Specifies the**
**measured *q*-axis stator inductance of the motor.

**Stator Resistance Rs (ohms):** Specifies the measured stator resistance of one motor
phase.

**Rs Estimation scale:** Specifies an empirical scale,
which calibrates the estimator close to the stator resistance. Change this value
to obtain an Rs max value close to the actual measured stator
resistance.