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Control Techniques UD53, User Manual

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UD53 User Guide
Issue code:   53nu3

B-1

B

Aligning the Resolver Mechanically

Note

Use this procedure only when the procedure described in

Phase offset

 in Chapter 5 

Setting Up the UD53

 cannot be

performed.

Use the following procedure to precisely align the resolver with the motor
(for zero phase-offset).   Precise alignment can be achieved only when the
resolver is connected to the Drive.

The Drive detects the exact points of polarity reversal of the (sine wave)
outputs.   It would not be possible to identify these accurately on an
oscilloscope 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–1

 

 Figure B–1

Connecting a motor to a 

DC

 source for mechanically aligning the

resolver shaft

The motor shaft will rotate to one of several positions depending on the
number of pole-pairs.   For example, the shaft of a 6-pole motor will stop at
one of three places.

The resolver position is indicated by parameter 

16.03

 

Resolver position

.  

The value will be given by:

n

No pole pairs

[

.

]

××

16384

Summary of Contents for UD53

Page 1: ...User Guide UD53 UD53 Resolver interface small option module for Unidrive Part Number 0460 0040 Issue Number 3 ...

Page 2: ... 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 Drive complies with the Low Voltage Directive 73 23 EEC The installer is ...

Page 3: ...p the UD53 10 5 1 Initial setting up 10 5 2 Phase offset 10 5 3 Change in feedback resolution with change of maximum speed 12 5 4 Simulated encoder outputs terminals 40 41 43 44 12 5 5 Z marker pulse outputs terminals 46 47 14 6 Related Parameters 16 6 1 Introduction 16 6 2 Programmable software 16 6 3 Parameter descriptions 18 Appendix A Specifications A 1 B Aligning the Resolver Mechanically B 1...

Page 4: ...UD53 User Guide Issue code 53nu3 ...

Page 5: ...outputs produce quadrature AB signals corresponding to the line counts from the source encoder Alternatively these outputs can be configured for frequency and direction F D signals In both cases the outputs retain position infomation when direction is changed By default the resolver is used as the source for the simulated encoder outputs alternatively the main encoder Encoder 1 connected to the 15...

Page 6: ...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 7: ...the output of 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 ...

Page 8: ...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 9: ... for removal instructions see Installing the Drive and RFI filter in Chapter 2 of the Unidrive Installation Guide 4 Position the multi way connector on the rear of the UD53 over the connector in the Drive see Figure 1 and press on the thumb pad to push the UD53 into place 5 Re fit the terminal cover to the Drive 6 Connect the AC supply to the Drive 7 Set parameter 00 at 149 to unlock security 8 Ch...

Page 10: ...UD53 User Guide Issue code 53nu3 6 Figure 1 Installing the UD53 in the Unidrive ...

Page 11: ... 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 12: ...equency output F EIA485 serial link 42 0V 43 Simulated encoder phase quadrature output B or frequency output D EIA485 serial link 44 Simulated encoder phase quadrature output B or frequency output D EIA485 serial link 45 0V 46 Marker pulse Z output 47 Marker pulse Z output 48 SIN coil input low 49 SIN coil input high 50 COS coil input low 51 COS coil input high 52 Excitation output high 53 Excitat...

Page 13: ...UD53 User Guide Issue code 53nu3 9 Resolver UD53 high low high low high low SIN COS Excitation Resolver SIN COS Excitation Figure 3 Resolver connections to the UD53 ...

Page 14: ...et The phase offset can be entered in either of the following ways Performing a resolver phasing test The UD53 measures the phase offset 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 Appendix B Aligning the resolver mechanically Resolver phasing test Closed loop Servo mode Warning During the phasing test the mo...

Page 15: ...is attempted with a motor that has high inertia no damping or a small load on the shaft an incorrect value for the phase offset will be measured Refer to parameter 5 27 in the Unidrive Advanced User Guide Note If the Drive trips and the display indicates trip code ENC PH7 this indicates either of the following The SIN and COS connections from the resolver are incorrectly made The phase sequence of...

Page 16: ...000 10 bit Note that the simulated encoder outputs are affected by the value of 1 06 and or 1 07 See Simulated encoder outputs 5 4 Simulated encoder outputs terminals 40 41 43 44 The simulated encoder outputs can be connected to external equipment for monitoring the output of either a resolver connected to the UD53 or the main encoder Encoder 1 that is connected to the 15 way D type on the Drive B...

Page 17: ...n of the SIN and COS inputs Maximum pulses per revolution of the simulated encoder outputs RPM Quadrature Frequency and direction 0 3000 14 bit 4096 8192 3001 12000 12 bit 1024 4096 12000 10 bit 256 1024 The actual PPR is dependent on the resolution of the SIN and COS inputs as well as on the value of 16 07 Simulated encoder output scaling If a different PPR is required enter the required scaling ...

Page 18: ... Drive software version V03 xx 07 onward UD53 version 2 onward both present Synchronization of the Z marker pulse output can be disabled by setting parameter 16 12 Simulated encoder output marker pulse synchronization disable at 1 Synchronization is automatically disabled when parameter 16 07 Simulated encoder output scaling is set at either of the following At a value that would cause the resolut...

Page 19: ...on 3 or earlier either or both present The Z marker pulse outputs are sychronized to the simulated encoder quadrature AB outputs only when the resolution of the AB outputs is equal to or greater than 1 LPR Drive software V03 xx 04 or earlier No simulated encoder outputs are available ...

Page 20: ...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 21: ...er phase offset 16 05 Resolver phasing test 16 02 Resolver RPM 16 03 Resolver position 16 07 Simulated encoder output scaling 1 2 16 07 41 43 44 46 47 16 12 Simulated encoder Z marker pulse outputs synchronization disable 16 13 Simulated encoder Z marker pulse outputs synchronization inactive indicator Synchronization control logic Figure 6 Logic diagram for the UD53 ...

Page 22: ...52 SIN COS encoder 16 02 Resolver RPM ô 30 000 ð RPM RO Bi P 16 02 indicates the speed of rotation of the resolver 16 03 Resolver position ô 0 16383 ð rev 16384 RO Uni P 16 03 indicates the absolute position of the motor shaft the indication takes into account any phase offset entered in 16 09 Resolver phase offset 16 05 Resolver phasing test ô 0 1 ð 0 RW Bit Set 16 05 at 1 to initiate the resolve...

Page 23: ...r the simulated encoder outputs 16 06 Source 0 Resolver 1 Encoder 1 The simulated encoder outputs appear on the following terminals Terminal Function Quadrature AB Frequency and direction 40 A F 41 A F 43 B D 44 B D 46 Z Z 47 Z Z 16 07 Simulated encoder output scaling ô 0 15 ð 0 2 n RW Uni Enter the required value in 16 07 for scaling the simulated encoder output The scaling factor is as follows 1...

Page 24: ...5 Setting up the UD53 for ways in which the value is entered The value is saved at power down and is changed only when one of the procedures indicated in Phase offset is performed When the operating mode of the Drive is changed 16 09 is reset to zero Restoring default values does not affect the value of 16 09 16 10 Resolver turns ratio select ô 0 1 ð 0 RW Uni Note This parameter is available only ...

Page 25: ...ted encoder Z marker pulse output synchronization inactive indicator ô 0 1 ð RO Bit Note This parameter is available only with the following UD53 version 2 onward Drive software version V03 xx 07 onward 16 13 indicates as follows 16 13 set at 0 Z marker pulses are synchronized to the quadrant where the quadrature A and B outputs are both low 16 13 set at 1 Z marker pulses can be present in any of ...

Page 26: ...UD53 User Guide Issue code 53nu3 22 ...

Page 27: ...pplied to SIN high and COS high 12V Protection Series resistors and diode clamp Excitation outputs terminals 52 53 Output frequency 6kHz Output voltage 6V RMS or 4V RMS programmable Absolute maximum voltages that can be applied to terminal 52 Excitation output high 4V 24V Short circuit protection may occur Maximum current applied to terminal 53 200mA Protection Over current protection and ferrite ...

Page 28: ... 5V High 4 5V 4 0V 0V common terminals 42 45 54 55 Absolute maximum current that can be applied through each terminal 200mA A 2 Temperature and humidity Ambient temperature range 0 C to 50 C 32 F to 122 F Minimum temperature at power up 10 C 14 F Maximum humidity 95 non condensing at 40 C 104 F Storage temperature range 40 C to 50 C 40 F to 122 F A 3 Resolver The UD53 operates with resolvers havin...

Page 29: ...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 1 Figure B 1 Connecting...

Page 30: ...f 16 04 will then be one of the following 0 0 3 16384 5461 1 3 16384 10923 2 3 16384 If the resolver is not aligned with the motor windings 16 03 will indicate other values n will not be an integer To align the resolver continue to pass direct current through the motor windings and rotate the resolver relative to the motor until parameter 16 03 indicates one of the correct values Ensure the value ...

Page 31: ... Resolver phasing test or magnetizing current test prematurely ended ENC PH9 181 Closed loop Vector Loss of resolver output signals Servo mode Resolver and or motor phase connections incorrect causing reverse torque to be produced SEP diS 180 The type of small option module that the Drive has been programmed to operate with has been removed or is not fitted correctly Perform either of the followin...

Page 32: ...UD53 User Guide Issue code 53nu3 C 2 ...

Page 33: ...s the relationships between the resolver position and the SIN and COS outputs as well as the phase reversals in the carrier waveforms for forward rotation for a clearer indication of the phase reversals see Figure D 2 The diagram also shows the waveform of the U motor phase for a six pole motor when the motor and resolver are aligned for zero phase offset Resolver position SIN secondary COS second...

Page 34: ...es from being in anti phase with the excitation voltage on the primary to being in phase with the excitation voltage on the primary COS output The modulation is at maximum The carrier waveform is in phase with the excitation voltage on the primary Excitation primary SIN secondary COS secondary Carrier in anti phase with excitation Carrier in phase with excitation Carrier in phase with excitation Z...

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