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SM-Encoder Pl
Parameter
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Keypad and
display
Parameter
x.00
Parameter
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Advanced parameter
descriptions
Macros
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Feature look-
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260 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Although Pr x.10 can be set to any value from 0 to 50,000 there are restrictions on the values actually used as follows: if Pr x.10 < 2, ELPR = 2, if Pr
x.10 > 16,384, ELPR = 16,384, otherwise, Pr x.10 rounded down to the nearest value that is a power of 2.
The following encoders can be connected to the SM-Encoder Plus:
0, Ab: Quadrature incremental encoder, with or without marker pulse
1, Fd: Incremental encoder with frequency and direction outputs, with or without marker pulse
2, Fr: Incremental encoder with forward and reverse outputs, with or without marker pulse
The terminations may be enabled/disabled by this parameter as follows:
A sliding window filter may be applied to the feedback. This is particularly useful in applications where the feedback is used to give speed feedback
for the speed controller and where the load includes a high inertia, and so the speed controller gains are very high. Under these conditions, without a
filter on the feedback, it is possible for the speed loop output to change constantly from one current limit to the other and lock the integral term of the
speed controller. The filter is not active if the parameter value is 0ms(0) or 1ms(1), but operates over the defined window for parameter values of
2ms(2), 4ms(3), 8ms(4) and 16ms(5).
x.10 Equivalent lines per revolution
Drive modes Open-loop, Closed-loop vector, Servo, Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Range
Open-loop, Closed-loop vector, Servo,
Regen
0 to 50,000
Default
Open-loop. Closed-loop vector, Servo,
Regen
4,096
Update rate Background read (Only has effect when the drive is disabled)
x.15 Encoder type
Drive modes Open-loop, Closed-loop vector, Servo, Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Range
Open-loop, Closed-loop vector, Servo,
Regen
0 to 11
Default
Open-loop. Closed-loop vector, Servo,
Regen
0
Update rate Background read (Only has effect when the drive is disabled)
x.16 Encoder termination
Drive modes Open-loop, Closed-loop vector, Servo, Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Range
Open-loop, Closed-loop vector, Servo,
Regen
1
Update rate Background read
Encoder input Pr x.16 = 0 Pr x.16 = 1 Pr x.16 = 2
A-A\ Disabled Enabled Enabled
B-B\ Disabled Enabled Enabled
Z-Z\ Disabled Disabled Enabled
x.19 Feedback filter
Drive modes Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU
1111
Range Closed-loop vector, Servo 0.0 to 5.0 (0 to 16ms)
Default Closed-loop vector, Servo 0
Update rate Background read
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