Emerson Unidrive M702 - Page 203

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Unidrive M702 User Guide 203
Issue Number: 3
*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 13.010) is changed. The position controller is disabled transiently to reset the error integrator.
3. The absolute mode parameter (Pr 13.011) 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 initialized parameter (Pr 03.048) is zero.
mm.ppp
mm.ppp
Key
Read-write (RW)
parameter
Read-only (RO)
parameter
Input
terminals
Output
terminals
X
X
X
X
Orientation
13.014
13.015
Standard Motion
Orientation
acceptance
window
Standard Motion
Orientation
complete
0
1
0
1
13.001
13.002 13.003
Standard Motion Error
Position loop
enabled*
0
1
2
3
4
5
6
0
1
1
06.008
Hold Zero
Speed
13.010
Standard Motion
Controller
Mode
1
0
01.001
0
1
01.039
Reference
Selected
Speed
Feed-
Forwards
01.040
Speed Feed
-Forwards
Select
01.003
Pre-Ramp
Reference
Menu 2
Ramp Control
02.001
Post Ramp
Reference
+
13.009
13.012
03.022
Hard Speed
Reference
0
1
+
03.023
Hard Speed
Reference
Select
03.001
Final Speed
Reference
Position loop
disabled
Revolutions
Position
Fine
Position
13.010 =
5or6
13.010 =
1or3
13.010 =
1to6
This logic diagram applies only when all
parameters are at their default settings
Standard Motion
Proportional
Gain Kp
Standard Motion
Speed Clamp