Control Techniques Mentor MP User Manual

Parameter
structure
Keypad and
display
Parameter x.00
Parameter description
format
Advanced parameter
descriptions
Serial comms
protocol
Performance
Menu 13
Mentor MP Advanced User Guide 175
Issue Number: 4 www.controltechniques.com
An exact ratio can be applied to the position reference with these two parameters. The ratio cannot be changed when the drive is enabled without
causing abrupt changes of position. Although it is possible to set up ratios with a high gain or even with a denominator of zero, the drive limits the
resultant gain of the ratio block to 4.000.
The gain of the position controller is controlled with this parameter. The standard units within the drive for position are in 2
32
counts per revolution and
the standard units for speed are 0.1 rpm, however the position controller gain is given in rads
-1
/rad. These units are consistent with units such as
mms
-1
/mm or ms
-1
/m often used for linear control applications. An error of 1 radian (10430 counts in the position error (Pr 13.02)) gives a speed
reference of 1rads
-1
(9.5 rpm) when this gain is 1.00.
This parameter is used to set the position controller mode as shown in the following table.
13.06 Position reference invert
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default 0
Update rate Background read
13.07 Ratio numerator
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
3 111
Range 0.000 to 4.000
Default 1.000
Update rate Background read
13.08 Ratio denominator
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
3 111
Range 0.000 to 1.000
Default 1.000
Update rate Background read
13.09 Position controller P gain
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
2 111
Range
0.00 to 100.00 rads
-1
/rad
Default 25.00
Update rate Background read
13.10 Position controller mode
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Range 0 to 6
Default 0
Update rate Background read
Parameter
value
Mode
Feed forward
active
0 Position controller disabled
1 Rigid position control Yes
2 Rigid position control
3 Non-rigid position control Yes
4 Non-rigid position control
5 Orientation on stop
6
Orientation on stop and when drive
enabled

Control Techniques Mentor MP Specifications

General

Brand	Control Techniques
Model	Mentor MP
Category	DC Drives
Language	English