Menu 13
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216 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Pr 13.13 defines the position as a 1/2
16
of a revolution for orientation. Pr 13.14 defines the position acceptance window either side of the position
reference for orientation in 1/2
16
of a revolution. When the position is within the window defined by Pr 13.14, Pr 13.15 indicates orientation is
complete.
The position error integrator is preset to the absolute error (Pr 13.10 is 1 or 2, and Pr 13.11 is one) otherwise it is set to zero when this parameter is
set to one.
The position controller is disabled and the error integrator is also reset under the following conditions:
1. If the drive is disabled (i.e. inhibited, ready or tripped)
2. If the position controller mode (Pr 13.10) is changed. The position controller is disabled transiently to reset the error integrator.
3. The absolute mode (Pr 13.11) is changed. The position controller is disabled transiently to reset the error integrator.
4. One of the position sources is invalid.
5. The position feedback initialised (Pr 3.48) is zero.
Relative jog can be used to move the feedback position relative to the reference position at a speed defined by Pr 13.17.
13.15 Orientation position complete
Drive modes Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1 111
Update rate 4ms write
13.16 Position error reset
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default Open-loop, Closed-loop vector, Servo 0
Update rate 4ms read
13.17 Relative jog reference
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1 111
Range Open-loop, Closed-loop vector, Servo 0.0 to 4,000.0rpm
Default Open-loop, Closed-loop vector, Servo 0.0
Update rate Background read
13.18 Relative jog enable
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default Open-loop, Closed-loop vector, Servo 0
Update rate 4ms read
13.19 Relative jog reverse
Drive modes Open-loop, Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default Open-loop, Closed-loop vector, Servo 0
Update rate Background read
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