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50 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 10
These bits are provided for control by logic input terminals for external ramp selection (see Pr 2.10 and Pr 2.20).
The motor and load inertia (Pr 3.18), motor torque per amp (Pr 5.32) and the rate of change of the ramp output (Pr 2.01) are used to produce a torque
feed forward value that should accelerate or decelerate the load at the required rate. This value can be used as a feed forward term that is added to
the speed controller output if Pr 4.22 is set to one. Pr 2.38 shows the torque value as a percentage of rated active current.
2.32 Acceleration select bit 0
2.33 Acceleration select bit 1
2.34 Acceleration select bit 2
2.35 Deceleration select bit 0
2.36 Deceleration select bit 1
2.37 Deceleration select bit 2
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
Update rate 4ms read
2.38 Inertia compensation torque
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 ±1,000.0 %
Update rate 4ms write
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