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Menu 3
Closed-loop
Unidrive SP Advanced User Guide 53
Issue Number: 7 www.controltechniques.com
The output of the speed regulator is a torque demand given as a percentage of rated motor torque. This is then modified to account for changes in
motor flux if field weakening is active, and then used as the torque producing current reference.
If the speed feedback (Pr 3.02) is at or below the level defined by this parameter in either direction the Zero speed flag (Pr 10.03) is 1, otherwise the
flag is 0.
"At speed" flag (Pr 10.06) is set if the speed feedback (Pr 3.02) is on the boundaries or within the at speed window. Flags Pr 10.07 and Pr 10.05 are
set if the reference is above or below the window respectively.
If Pr 3.09 = 0 reference window mode is used and the "at speed" condition is true if
(|Pr 1.03| - Pr 3.06) ≤ |Pr 3.02| ≤ (|Pr 1.03| + Pr 3.07)
(If the lower limit is less than zero then zero is used as the lower limit.)
If Pr 3.09 = 1 absolute window mode is used and the "at speed" condition is true if
Pr 3.06 ≤ |Pr 3.02| ≤ Pr 3.07
3.04 Speed controller output
Drive modes Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1 11111
Range Closed-loop vector, Servo ±TORQUE_PROD_CURRENT_MAX %
Update rate 4ms write
3.05 Zero speed threshold
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
Range Closed-loop vector, Servo 0 to 200 rpm
Default Closed-loop vector, Servo 5
Update rate Background read
3.06 At speed lower limit
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
Range Closed-loop vector, Servo 0 to 40,000 rpm
Default Closed-loop vector, Servo 5
Update rate Background read
3.07 At speed upper limit
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
Range Closed-loop vector, Servo 0 to 40,000 rpm
Default Closed-loop vector, Servo 5
Update rate Background read
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