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Control Techniques UD52, User Manual

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UD52 User Guide
Issue code:  52nu3

B-3

If the encoder is correctly aligned, the value of 

n

 will always be an integer

(varying from 0 to [number of pole pairs – 1).  For a 6-pole motor, this value
would be 0, 1 or 2 depending on the shaft position.  The value of 

16.04

 will

then be one of the following:

[[

]]

0

0

3

16384

××

[[

]]

5461

1

3

16384

××

[[

]]

10923

2

3

16384

××

If the encoder is not aligned with the motor windings, 

16.04

 will indicate

other values (

n

 will not be an integer).  To align the encoder, continue to

pass direct current through the motor windings and rotate the encoder
relative to the motor until parameter 

16.04

 indicates one of the correct

values.

When the 

SIN

-

COS

 encoder is used for feedback (Stand-alone and Slave

configurations), ensure the value of parameter 

16.09

 

S

IN

-

COS

 encoder –

phase offset

 is zero.

Summary of Contents for UD52

Page 1: ...User Guide UD52 UD52 SIN COS encoder interface small option module for Unidrive Part Number 0460 0085 Issue Number 3 ...

Page 2: ...hanical including photocopying recording or by any information storage or retrieval system without permission in writing from the publisher Use within the European Union etc The following information applies where the end use of the Drive is within the European Union the European Economic Area or other regions which have implemented Directives of the European Council or equivalent measures The Dri...

Page 3: ...Up the UD52 12 5 1 Initial setting up 12 5 2 Phase offset 12 5 3 Position information 13 5 4 Simulated encoder outputs terminals 50 51 53 54 15 5 5 Freeze inputs terminals 48 49 16 5 6 Further setting up 16 6 Related Parameters 17 6 1 Introduction 17 6 2 Programmable software 17 6 3 Parameter descriptions 19 Appendix A Specifications A 1 A 1 Inputs and outputs A 1 B Advanced Functions B 1 B 1 Alte...

Page 4: ...UD52 User Guide Issue code 52nu3 ...

Page 5: ...otated past its marker pulse in order to obtain absolute position information absolute position information from a suitable SIN COS encoder is obtained when the Drive is powered up Speed and position information is displayed in parameters which can be read on the Drive display and or via serial communications Selection of encoder function When a UD52 is fitted in the Drive the Drive automatically ...

Page 6: ...e of four times the number of lines per revolution of the encoder The constantly varying amplitudes of the sine waves are also measured by the UD52 in order to produce 2 11 2048 interpolated counts between encoder lines The overall resolution is the product of the number of interpolated counts and the number of encoder lines For example the UD52 used with a 512 line 2 9 encoder can give a resoluti...

Page 7: ...Drive has been energized the AC supply must be isolated at least ten minutes before work may continue 2 3 System design The Drive is intended as a component for professional incorporation into complete equipment or systems If installed incorrectly the Drive may present a safety hazard The Drive uses high voltages and currents carries a high level of stored electrical energy and is used to control ...

Page 8: ... the Drive or from any external option unit The Stop and Start controls or electrical inputs of the Drive must not be relied upon to ensure safety of personnel If a safety hazard could exist from unexpected starting of the Drive an interlock that electrically isolates the Drive from the AC supply must be installed to prevent the motor being inadvertently started Careful consideration must be given...

Page 9: ...ly as specified in IEC664 1 The installer must ensure that the external control circuits are insulated from human contact by at least one layer of insulation rated for use at the AC supply voltage If the control circuits are to be connected to other circuits classified as Safety Extra Low Voltage SELV eg to a personal computer an additional isolating barrier must be included in order to maintain t...

Page 10: ...dirty UD52 in the Drive 4 Remove the terminal cover from the Drive for removal instructions see Installing the Drive in Chapter 2 of the Unidrive Installation Guide 5 Position the multi way connector on the rear of the UD52 over the connector in the Drive see Figure 1 and press on the thumb pad to push the UD52 into place 6 Re fit the terminal cover to the Drive 7 Connect the AC supply to the Driv...

Page 11: ...UD52 User Guide Issue code 52nu3 7 Figure 1 Installing the UD52 in the Unidrive ...

Page 12: ...control circuits are insulated from human contact by at least one layer of insulation rated for use at the AC supply voltage If the control circuits are to be connected to other circuits classified as Safety Extra Low Voltage SELV eg to a personal computer an additional isolating barrier must be included in order to maintain the SELV classification 4 1 Locations of the terminals Figure 2 Location ...

Page 13: ...sed loop Servo mode or 47 SC DATA Serial comms EIA485 input and output when absolute position is required 48 FREEZE Freeze SC DATA input Optional 49 FREEZE Freeze SC DATA input 50 A F Simulated encoder phase quadrature output A or frequency output F EIA485 serial link Optional 51 A F Simulated encoder phase quadrature output A or frequency output F EIA485 serial link 52 0V 0V common 53 B D Simulat...

Page 14: ...ons for the UD52 The sinusoidal signals from a SIN COS encoder are low voltage analog signals Ensure that electrical noise from the Drive or motor does not adversely affect the encoder feedback Ensure that motor cables are shielded see Chapter 2 Installing the Drive in the Installation Guide Refer to Figure 3 for grounding and screening recommendations for the UD52 For the simulated encoder connec...

Page 15: ...n the Closed loop Servo mode absolute position and phase offset information is always required In the Closed loop Vector mode for controlling an induction motor absolute position and phase offset information are optional When this information is not required serial communications connections to the encoder do not need to be made In this case set parameter 16 16 SIN COS encoder serial comms disable...

Page 16: ...d in parameter 16 09 SIN COS encoder phase offset The phase offset can be entered in either of the following ways Performing an encoder phasing test The UD52 measures the phase error automatically and enters the value in 16 09 If the phase offset is known you can enter the value manually in parameter 16 09 See also Aligning the encoder mechanically in Appendix B Advanced functions Encoder phasing ...

Page 17: ... The SIN and COS input connections from the encoder are incorrectly made The phase sequence of the motor is reversed After correcting the connections repeat the procedure Magnetizing current test Closed loop Vector Refer to Autotune in Chapter 3 Setting Up the Drive in the Unidrive User Guide or to parameter 5 12 in the Unidrive Advanced User Guide If the Drive trips while Autotune is being perfor...

Page 18: ...8191 6 63 14 16383 7 127 15 32767 Absolute position parameters When the following conditions are met A compatible SIN COS encoder is used and serial communications connections are made 16 16 SIN COS encoder serial comms disable is set at 0 default 16 14 SIN COS as reference encoder is set at 0 default the absolute position is indicated by the following parameters 16 04 SIN COS encoder incremental ...

Page 19: ... connected to the UD52 or the main encoder Encoder 1 that is connected to the 15 way D type on the Drive By default the SIN COS encoder is used as the source To select Encoder 1 set parameter 16 06 Simulated encoder output select at 1 Quadrature AB or frequency and direction By default the simulated encoder outputs are phase quadrature A and B signals For frequency F and direction D signals set pa...

Page 20: ... current absolute positions of the feedback and reference encoders to be entered in _Q21 and _Q22 when the Freeze input is activated _Q20 5 is reset to zero when the values have been entered _Q21 Feedback encoder freeze value Units Encoder lines Range 2 31 to 2 31 Reset H S V S N A P N A _Q22 Reference encoder freeze value Units Encoder lines Range 2 31 to 2 31 Reset H S V S N A P N A 5 6 Further ...

Page 21: ...O Read only RW Read write select Select from two settings enable Make or allow a function to operate disable Stop or disallow a function from operating indicator The value can only be read Limitations of use S The new parameter value is saved when the AC supply is disconnected from the Drive P Protected parameter the parameter cannot be used as the destination parameter for a programmable input Ra...

Page 22: ...EF COSIN COSREF 16 09 SIN COS encoder phase offset 16 10 SIN COS encoder phasing test 16 11 SIN COS encoder update disable 16 03 SIN COS encoder revolution count 16 04 SIN COS encoder incremental position coarse 16 05 SIN COS encoder incremental position fine 16 07 Simulated encoder output scaling 1 2 16 07 16 08 Simulated encoder F D output enable 50 51 53 54 A f A f B D B D 16 02 SIN COS encoder...

Page 23: ...priate value has been entered in 16 13 SIN COS encoder No of revolutions 16 03 indicates the absolute position In other cases 16 03 indicates relative position When the Drive is powered up and the serial communications link is used the value of 16 03 is set at the value stored in the encoder The value increases to a maximum value determined by the setting of parameter 16 13 SIN COS encoder No of r...

Page 24: ...solution 256 8 524288 512 4 1048576 1024 2 2097152 2048 1 4194304 4098 1 4194304 The least significant digit is not available 16 06 Simulated encoder output select ô 0 1 ð 0 RW Bit The simulated encoder outputs appear on the following terminals Terminal Name 50 A F 51 A F 53 B D 54 B D Set 16 06 to select the source of the simulated encoder outputs as follows 16 06 Source 0 SIN COS encoder 1 Encod...

Page 25: ...IN COS encoder phase offset ô 0 6143 ð 1 6143 rev RW Uni S P 16 09 indicates the value of phase offset See Phase offset in Chapter 5 Setting up the UD52 for ways in which the value is entered The value is saved at power down and is changed only when one of the procedures in Phase offset is performed When the operating mode of the Drive is changed 16 09 is reset to zero Restoring default values doe...

Page 26: ... of values When the read process is completed return 16 11 at 0 to allow the parameter values to continue to be updated 16 12 SIN COS encoder No of lines per revolution ô 256 4096 ð 512 lines RW Uni Enter the number of lines per revolution of the SIN COS encoder being used The value can only be a power of 2 16 13 SIN COS encoder No of revolutions ô 0 15 ð 0 RW Uni Enter the required value to give ...

Page 27: ...upply voltage from terminal 45 as follows 16 15 Voltage 0 5 15V 1 8 0V 16 16 SIN COS encoder serial comms disable ô 0 1 ð 0 RW Bit When the initial position information is not required or not available from the encoder set 16 16 at 1 to disable the serial communications link See Serial communications in Chapter 5 Setting Up 16 17 SIN COS encoder interpolation disable ô 0 1 ð 0 RW Bit Set 16 17 at ...

Page 28: ...UD52 User Guide Issue code 52nu3 24 ...

Page 29: ...ximum output current 300mA Protection Protected against short circuit and overload Serial communications terminals 46 47 Transceiver mode EIA485 2 wire master slave Bias resistors 1KΩ If the inputs are not connected the bias resistors will ensure logic 1 is detected Termination resistor 120Ω 5 internal no series capacitor Mode of operation Differential Maximum permissible number of drivers on the ...

Page 30: ...Quadrature 205kHz Frequency and direction 410kHz Output voltage Conforms to EIA 485 Absolute maximum voltage that can be applied to each terminal 10V 15V Protection Current limit with thermal protection Output state Typical output voltage relative to 0V 5mA load 25mA load Low 1 0V 1 5V High 4 5V 4V 0V common terminals 44 52 55 Absolute maximum current that can be applied through each terminal 200m...

Page 31: ...e Drive Main feedback SIN COS encoder connected to the UD52 Refer to Menus 3 13 16 SIN COS SCDATA Reference encoder Main feedback SIN COS encoder Reference SIN COS encoder connected to the UD52 Main feedback Quadrature encoder connected to the 15 way D type in the Drive Refer to Menus 3 13 16 Reference SIN COS encoder Main feedback encoder SIN COS SCDATA ...

Page 32: ...cope as in the case of standard encoders Warning During this procedure the motor shaft will be rotated suddenly to a new position Before starting make sure it will be safe for the motor shaft to be rotated 1 Disconnect the motor from the Drive 2 Ensure the shaft is unloaded and free to rotate 3 Apply a direct current of 50 of the motor rated current through the motor windings as shown in Figure B ...

Page 33: ...0 3 16384 5461 1 3 16384 10923 2 3 16384 If the encoder is not aligned with the motor windings 16 04 will indicate other values n will not be an integer To align the encoder continue to pass direct current through the motor windings and rotate the encoder relative to the motor until parameter 16 04 indicates one of the correct values When the SIN COS encoder is used for feedback Stand alone and Sl...

Page 34: ...UD52 User Guide Issue code 52nu3 B 4 ...

Page 35: ...n re connect the AC supply to the Drive in order to obtain absolute position information The trip could be due to any of the following Incorrect serial comms connections terminals 46 and 47 Encoder DC supply not connected terminals 44 and 45 Encoder DC supply voltage incorrect parameter 16 15 Encoder DC supply failed SEP EF 36 Fault in the SIN COS encoder SEP diS 180 The type of small option modul...

Page 36: ...UD52 User Guide Issue code 52nu3 C 2 ...

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