Emerson Mentor MP User Manual

Parameter
descripti
on
protocol
Performance
Menu
13
An
exact
ratio
can
be
applied
to
the
position
reference
with
these
two
parameters.
The
ratio
cannot
be
changed
when
the
drive
is
enabled
without
The gain of the position controller is controlled with this parameter. The standard units within the drive for position are in 2
32
counts per revolution and
This
parameter
is
used
to
set
the
position
controller
mode
as
shown
in
the
following
table.
Parameter
structure
Keypad and
format
Advanced parameter
descriptions
Serial comms
causing abrupt changes of position. Although it is possible to set up ratios with a high gain or even with a denominator of zero, the drive limits the
resultant gain of the ratio block to 4.000.
the standard units for speed are 0.1 rpm, however the position controller gain is given in rads
-1
/rad. These units are consistent with units such as
mms
-1
/mm or ms
-1
/m often used for linear control applications. An error of 1 radian (10430 counts in the position error (Pr 13.02 )) gives a speed
reference of 1rads
-1
(9.5 rpm) when this gain is 1.00.
Mentor MP Advanced User Guide 175
Issue Number: 4 www.onxcontrol.com
Parameter
value
Mode
Feed forward
active
0
Position
controller
disabled
1
Rigid
position
control
Yes
2
Rigid
position
control
3
Non-rigid
position
control
Yes
4
Non-rigid
position
control
5
Orientation
on
stop
6
Orientation
on
stop
and
when
drive
enabled
13.09
Position controller P gain
Coding
Bit
SP
FI
DE
Txt
VM
DP
ND
RA
NC
NV
PT
U
S
RW
BU
PS
2
1
1
1
Range
-1
0.00 to 100.00 rads /rad
Default
25.00
Update rate
Background read
13.10
Position controller mode
Coding
Bit
SP
FI
DE
Txt
VM
DP
ND
RA
NC
NV
PT
US
RW
BU
PS
1
1
1
Range
0 to 6
Default
0
Update rate
Background read
13.07
Ratio numerator
Coding
Bit
SP
FI
DE
Txt
VM
DP
ND
RA
NC
NV
PT
US
RW
BU
PS
3
1
1
1
Range
0.000 to 4.000
Default
1.000
Update rate
Background read
13.08
Ratio denominator
Coding
Bit
SP
FI
DE
Txt
VM
DP
ND
RA
NC
NV
PT
US
RW
BU
PS
3
1
1
1
Range
0.000 to 1.000
Default
1.000
Update rate
Background read
13.06
Position reference invert
Coding
Bit
SP
FI
DE
Txt
VM
DP
ND
RA
NC
NV
PT
US
RW
BU
PS
1
1
1
Default
0
Update rate
Background read

Emerson Mentor MP Specifications

General

Brand	Emerson
Model	Mentor MP
Category	DC Drives
Language	English