Emerson unidrive sp User Manual

Menus 15 to 17
SM-SLM
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x.00
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Performance RFC mode
348 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 10
The sequencer status is used to determine in what state the start-up sequencer is. The states used depend on the option mode operating mode, the
auto-tuning set-up and the load/save requests. The state can be useful in fault finding and for waiting for an operation to complete.
A sliding window filter may be applied to the feedback. This is particularly useful in applications where the feedback is used to give speed feedback
for the speed controller and where the load includes a high inertia, and so the speed controller gains are very high. Under these conditions, without a
filter on the feedback, it is possible for the speed loop output to change constantly from one current limit to the other and lock the integral term of the
speed controller.
Only read when Pr x.29
Action request is set high.
Host mode:
0 - Idle: No tuning or set-up
1 - Parameters are valid or will be set externally
• SERVO - Flux angle and all other parameter known - run only the current gains calculation.
• CLOSED LOOP - All parameters known - run only the current gains calculation.
2 - Pulse test tuning
• SERVO - Only flux angle known - run the pulse test to tune the current controller.
• CLOSED LOOP - Only field controller parameters known - run the pulse test to tune the current controller.
3 - Full tuning
• SERVO - run the minimal movement test to find the flux angle and then run the pulse test to tune the current controller.
• CLOSED LOOP - run the movement test (2/3 base speed) to tune the field controller and then run the pulse test to tune the current controller.
4 - RESET the whole initialisation system including trigger SLM command 245 and 246.
4 will hold the sequencer in reset.
x.14 Sequencer status
RO ni NC PT
Ú
0 to 16
Ö
Drive modes: Host, Encoder only
Update rate: Background write
Sequencer State Comments
0 Power-up Start-up state
1 Normal mode comms set-up Set-up of the normal SLM comms
2 Normal mode comms set-up wait In Host mode wait for SLM to change to page 1
3 Axis initialisation SLM normal axis initialisation transfers
4 Axis initialisation wait Host mode, wait for SLM to get absolute position
5 SP mode comms set-up Conversion to Unidrive SP type comms
6 SP mode comms set-up wait Host mode, wait for SLM to change to page 2
7 Wait for hardware enable Wait for the first initialised hardware enable
8 Auto flux angle Start tuning the flux angle
9 Wait for auto flux angle Wait for the tuning of the flux angle to finish
10 Complete auto flux angle Complete the tuning of the flux angle
11 Auto Ls Start tuning the stator transient inductance
12 Wait for auto Ls Wait for stator transient inductance tuning to complete
13 Auto I gains Calculate current controller gains (Pr 4.13, Pr 4.14)
14 Wait for I gains Wait for the current controller gains to be set
15 Running Axis HE, tuned and enabled
16 Trip Axis fault condition
x.19 Feedback filter
RW Uni US
Ú
0 (0), 1 (1), 2 (2), 3 (4),
4 (8), 5 (16) ms
Ö
0 (0)
Drive modes: Host, Encoder only
Update rate: Background read
x.26 Autotune mode
RW Uni US
Ú
0 to 4
Ö
0
Drive modes: Host, Encoder only
Update rate: Background
NOTE

Emerson unidrive sp Specifications

General

Brand	Emerson
Model	unidrive sp
Category	Controller
Language	English