Emerson unidrive sp User Manual

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x.00
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Menu 13
Unidrive SP Advanced User Guide 239
Issue Number: 10 www.controltechniques.com
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
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 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
the standard units for speed are 0.1rpm, 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
(9.5rpm) when this gain is 1.00.
This parameter is used to set the position controller mode as shown in the following table.
13.06 Position reference invert
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
Default Open-loop, Closed-loop vector, Servo 0
Update rate Background read
13.07 Ratio numerator
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
3 111
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
13.08 Ratio denominator
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
3 111
Range Open-loop, Closed-loop vector, Servo 0.000 to 1.000
Default Open-loop, Closed-loop vector, Servo 1.000
Update rate Background read
13.09 Position controller P gain
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
2 111
Range Open-loop, Closed-loop vector, Servo
0.00 to 100.00 rads
-1
/rad
Default Open-loop, Closed-loop vector, Servo 25.00
Update rate Background read
13.10 Position controller mode
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 2
0 to 6
Default Open-loop, Closed-loop vector, Servo 0
Update rate Background read

Emerson unidrive sp Specifications

General

Brand	Emerson
Model	unidrive sp
Category	Controller
Language	English