Control Techniques unidrive sp User Manual

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70 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
A sliding window filter may be applied to the feedback taken from the drive encoder. This is particularly useful in applications where the drive encoder
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.
It should be noted that if this filter is used where the speed feedback is provided by an EnDat or SSI encoder connected directly to the drive, it may be
necessary for the encoder to provide at least 6 bits of turns information. This is not a problem when the position is defined by the absolute position
from the encoder at initialisation and then accumulated delta positions (Pr 3.39=0), however, if the absolute position is taken directly from the encoder
(Pr 3.39 > 0) the encoder must provide at least 6 bits of turns information. If this filter is not used (i.e. Pr 3.42=0) turns information from the encoder is
not required.
The drive encoder input can be used as a reference to control a drive parameter. The drive encoder reference parameter (Pr 3.45) gives the speed of
the encoder input as a percentage of the maximum drive encoder reference provided that the number of encoder lines per revolution (Pr 3.34) has
been set up correctly. This may then be scaled and routed to any non-protected drive parameter.
3.43
Maximum drive encoder 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
111
Range Open-loop, Closed-loop vector, Servo 0 to 40,000 rpm
Default
Open-loop, Closed-loop vector
Servo
1,500
3,000
Update rate Background read
3.44
Drive encoder reference scaling
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
3111
Range Open-loop, Closed-loop vector, Servo 0.000 to 4.000
Default Open-loop, Closed-loop vector, Servo 1.000
Update rate Background read
3.45
Drive encoder 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
11 1
Range Open-loop, Closed-loop vector, Servo ±100.0%
Update rate 4ms write
3.46
Drive encoder reference destination
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 2 1111
Range Open-loop, Closed-loop vector, Servo Pr 0.00 to Pr 21.50
Default Open-loop, Closed-loop vector, Servo Pr 0.00
Update rate Read on reset
3.47 Re-initialise position feedback
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
Update rate Background read
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Control Techniques unidrive sp Specifications

General

Brand	Control Techniques
Model	unidrive sp
Category	Controller
Language	English