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184
Unidrive User Guide
www.controltechniques.com Issue Number: 9
ramp to stop with a reference defined by the user speed demand. This
causes the speed to increase towards the reference and then ramp to
stop.
3: Coiler/uncoiler mode
Positive final speed demand: a positive resultant torque will give torque
control with a positive speed limit defined by the final speed demand. A
negative resultant torque will give torque control with a negative speed
limit of -5rpm.
Negative final speed demand: a negative resultant torque will give
torque control with a negative speed limit defined by the final speed
demand. A positive resultant torque will give torque control with a
positive speed limit of +5rpm.
Example of coiler operation
This is an example of a coiler operating in the positive direction. The final
speed demand is set to a positive value just above the coiler reference
speed. If the resultant torque demand is positive the coiler operates with
a limited speed, so that if the material breaks the speed does not exceed
a level just above the reference. It is also possible to decelerate the
coiler with a negative resultant torque demand. The coiler will decelerate
down to -5rpm until a stop is applied.
The operating area is shown below:
Example of uncoiler operation
This is an example for an uncoiler operating in the positive direction. The
final speed demand should be set to a level just above the maximum
normal speed. When the resultant torque demand is negative the
uncoiler will apply tension and try and rotate at 5rpm in reverse, and so
take up any slack. The uncoiler can operate at any positive speed
applying tension. If it is necessary to accelerate the uncoiler a positive
resultant torque demand is used. The speed will be limited to the final
speed demand. The operating area is the same as that for the coiler and
is shown below:
In this mode ramps are not active whilst the drive is in the run state.
When the drive is taken out of the run state, but not disabled, the
appropriate stopping mode is used. It is recommended that only coast or
stopping without ramps is used. If ramp stop mode is used the drive
changes to speed control mode to ramp to stop with a reference defined
by the user speed demand. This causes the speed to increase towards
the reference and then ramp to stop.
4: Speed control with torque feed-forward
The drive operates under speed control, but a torque value may be
added to the output of the speed controller. This can be used to improve
the regulation of systems where the speed loop gains need to be low for
stability.
10.22.4 Stop Modes
Open Loop
0 COASt
Coast
stop
1 rP
Ramp
stop
2
rP-dcI
Ramp stop + 1 second dc injection
3
dcI
Injection braking stop with detection of zero speed
4
td.dcI
Timed injection braking stop
Stopping is in two distinct phases: decelerating to stop, and stopped.
Once modes 3 or 4 have begun the drive must go through the ready
state before being restarted either by stopping, tripping, or being
disabled.
Closed loop
0
COASt
Coast stop
1
rP
Ramp stop
2
no.rP
Stop without ramps
3
rP-POS
Stop and orientate
In the closed loop mode the two stopping phases do not exist and the
ready state is entered as soon as the single stopping action is complete.
Torque
Area for normal coiler operation
Speed is limited to the final speed
demand and torque is positive
Final speed
demand
Area for decelerating the coiler
Reverse speed is limited to 5rpm
and torque is negative
Speed
−
5rpm
Torque
Area for accelerating the uncoiler
Speed is limited to the final speed
demand and torque is positive
Final speed
demand
Area for normal uncoiler operation
Reverse speed is limited to 5rpm
and torque is negative
Speed
−
5rpm
6.01
Stop mode
selector
RW
Txt
OL
Ú
COASt (0), rP (1), rP-dcl (2),
dcl (3), td.dcl
Ö
rP (1)
VT
Ú
COASt (0), rP (1), no.rP (2),
rP-POS (3)
Ö
SV
Ú
Ö
no.rP (2)
Stopping
Mode
Phase 1
Phase 2
Comments
COASt
(0)
Inverter
disabled
Drive cannot
be re-enabled
for 2s
Delay in phase 2 allows rotor
flux to decay in induction
motors
rP (1)
Ramp down
to zero
frequency
Wait for 1s
with inverter
enabled
rP.dcl (2)
Ramp down
to zero
frequency
Inject DC at
level specified
by Pr
6.06
for
1s
dcl (3)
Low
frequency
current
injection with
detection of
low speed
before next
phase.
Inject DC at
level specified
by Pr
6.06
for
1s
The drive automatically
senses low speed and
therefore it adjusts the
injection time to suit the
application. If the injection
current level is too small the
drive will not sense low speed
(normally a minimum of 50-
60% is required).
td.dcl (4)
Inject DC at
level
specified by
Pr
6.06
for
time
specified by
Pr
6.07
- 1s.
Inject DC at
level specified
by Pr
6.06
for
1s
The minimum total injection
time is 1s for phase 1 and 1s
for phase 2, i.e. 2s in total.
Stopping
Mode
Action
Comments
COASt (0)
Inhibits the inverter
rP (1)
Stop with ramp
no.rP (2)
Stop with no ramp
td.dcl (3)
Stops with ramp and
then rotates to a
preset position.
The position system controlled by
menu 13 is used to orientate the
motor. Pr
13.08
must be set up
correctly for use, and the hard speed
reference enabled, Pr
3.19
.
Summary of Contents for Unidrive 1 Series
Page 208: ......
