Nidec Unidrive HS72 - RFC-S Mode (with Position Feedback)

42 Unidrive M702 / HS72 Control Getting Started Guide
Issue Number: 4
6.2.4 RFC-S mode (with position feedback)
Permanent magnet motor with a position feedback
For simplicity only an incremental quadrature encoder with commutation outputs will be considered
here. For information on setting up one of the other supported speed feedback devices, refer to
Setting up a feedback device in the Control User Guide.
Action Detail
Before power-
up
Ensure:
• The drive enable signal is not given (terminal 11 and 13)
• Run signal is not given
• Motor and feedback device are connected
Power-up the
drive
Verify that RFC-S mode is displayed as the drive powers up. If the mode is
incorrect see section 4.7 Changing the operating mode on page 21.
Ensure:
• Drive displays ‘inhibit’
Set motor
feedback
parameters
Incremental encoder basic set-up
Enter:
• Drive encoder type in Pr. 03.038 = AB Servo (3): Quadrature encoder with
commutation outputs
• Encoder power supply in Pr. 03.036 = 5 V (0), 8 V (1) or 15 V (2).
• Drive encoder Pulses Per Revolution in Pr 03.034 (set according to
encoder)
• Drive encoder termination resistor setting in Pr 03.039:
0 = A-A\, B-B\, Z-Z\ termination resistors disabled
1 = A-A\, B-B\, termination resistors enabled, Z-Z\ termination
resistors disabled
2 = A-A\, B-B\, Z-Z\ termination resistors enabled
Enter motor
nameplate
details
Enter:
• Motor rated current in Pr 00.046 (A)
Ensure that this equal to or less than the Heavy Duty rating of the drive
otherwise ‘Motor Too Hot’ trips may occur during the auto-tune.
• Number of poles in Pr 00.042
• Motor rated voltage in Pr 00.044 (V)
Set maximum
speed
Enter:
• Maximum speed in Pr 00.002 (rpm)
Set
acceleration /
deceleration
rates
Enter:
• Acceleration rate in Pr 00.003 (s/1000 rpm)
• Deceleration rate in Pr 00.004 (s/1000 rpm) (If braking resistor installed,
set Pr 00.015 = Fast. Also ensure Pr 10.030, Pr 10.031 and Pr 10.061 are
set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).
If output voltage from the encoder is > 5 V, then the termination
resistors must be disabled Pr 03.039 to 0.
NOTE
Setting the encoder voltage supply too high for the encoder could
result in damage to the feedback device
CAUTION
Model No: 95UXXXXXXXXXXXX
Volts: 380/480
Cont: 7.7Nm: 4.81Arms
Stall: 9.5Nm:5. 91Arms
Speed: 3000rpm Poles:6
Kt: 1.6Nm/Arms
Ins Class: H
Brake: 12Nm
24V
0.67A
Serial No: XXXXXXXXXXX
Control Techniq ues
Dynamics Ltd
ANDOVER, HANTS.
ENGLAND. SP10 5AB
0.02
t
1000rpm
0.03
t
0.04