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108 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 10
If this parameter is set to one, the drive calculates a torque reference from the motor and load inertia (Pr 3.18) and the rate of change of speed
reference. The torque reference is added to the speed controller output to provide inertia compensation. This can be used in speed or torque control
applications to produce the torque required to accelerate or decelerate the load inertia.
The current demand filter time constant is defined by this parameter if the speed gain select (Pr 3.16) is one.
* These are the maximum default values. If the variable maximum of this parameter (TORQUE_PROD_CURRENT_MAX which is defined by
MOTOR1_CURRENT_LIMIT_MAX or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is active) gives a lower value with the
default value of Motor rated current (Pr 5.07 or Pr 21.07) default of this parameter is at the lower value.
The maximum for Pr 4.08 and Pr 4.20 is defined by this parameter
See Pr 4.16 on page 105.
Pr 4.26 shows the torque producing current (Pr 4.02) as a percentage of the active torque producing current, but with an additional adjustment above
base speed so that this parameter shows percentage torque. Below base speed Pr 4.26 is equal to Pr 4.20. Above base speed the percentage torque
producing current (shown in Pr 4.20) is adjusted as follows:
Pr 4.26 = Pr 4.20 x rated frequency / frequency
4.22 Inertia compensation enable
Drive modes Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default Closed-loop vector, Servo 0
Update rate Background read
4.23 Current demand filter 2
Drive modes Closed-loop vector, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1111
Range Closed-loop vector, Servo 0.0 to 25.0 ms
Default Closed-loop vector, Servo 0.0
Update rate Background read
4.24 User current maximum scaling
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
11 1 111
Range
Open-loop, Closed-loop vector, Servo,
Regen
0.0 to TORQUE_PROD_CURRENT_MAX %
Default
Open-loop,
Closed-loop vector, Servo, Regen
165.0*
175.0*
Update rate Background read
4.25 Low speed thermal protection mode
Drive modes Open-loop, Closed-loop, Servo
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default Open-loop, Closed-loop, Servo 0
Update rate Background read
4.26 Percentage torque
Drive modes Open-loop
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111111
Default Open-loop ±USER_CURRENT_MAX %
Update rate Background read
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