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the motor
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86
Unidrive User Guide
www.controltechniques.com Issue Number: 9
7.2.3 Servo
Permanent magnet motor with speed and position feedback
Action
Detail
Before power-
up
Ensure:
•
Enable signal is not given (terminal 30)
•
Motor thermistor is connected or terminal 8 is linked to 0V
•
Run signal is not given
•
Motor is connected
•
Feedback device is connected (U, V, W required for incremental encoders)
The motor must be uncoupled from any gearbox or load before an autotune is carried out.
Power-up the
drive
•
Change drive operating mode to servo
Set Pr
xx.00
to 1253 / 1254 (USA).
Change Pr
0.48
to ‘SErUO’
Press the
reset button
•
Ensure the drive displays ‘inh’ (‘SEP.EC’ trip if 8V SINCOS encoder feedback is being used)
If the drive trips, see Chapter 12
.
Set feedback
device
parameters
Encoder
•
Encoder power supply
Pr
3.23
= 0, 5V
Pr
3.23
= 1, 15V. (If Pr
3.23
= 1 then termination resistors should be disabled - Pr
3.24
=
1)
•
Encoder PPR (pulses per revolution)
Enter PPR in Pr
3.21
Resolver
•
The default setting is for a transformation ratio of 0.33 (3:1), if the resolver has a
transformation ratio of 0.5 (2:1), set Pr
16.10
= 1
SINCOS
•
Encoder power supply
Pr
16.15
= 0, 5V
Pr
16.15
= 1, 8V. (Save parameter and cycle power to clear ‘SEP.EC’ trip)
•
Encoder PPR (pulses per revolution)
Enter PPR in Pr
16.12
Enter motor
nameplate
details
Enter:
•
Motor rated current in Pr
0.46
(A)
•
Number of poles in Pr
0.42
Set maximum
speed
Enter:
•
Maximum speed in Pr
0.02
(rpm)
Set
acceleration /
deceleration
rates
Enter:
•
Acceleration rate in Pr
0.03
(s/1,000rpm)
•
Deceleration rate in Pr
0.04
(s/1,000rpm) (If braking resistor fitted, set Pr
0.15
= FAST)
Autotune
•
Set Pr
0.40
= 1, close the enable signal (terminal 30) and wait for the drive display to show
‘StOP’
If the drive trips, see Chapter 12
The motor must be uncoupled from any gearbox or load before an autotune is carried out.
Save
parameters
Enter 1000 in Pr
xx.00
Press the red
reset button or toggle the reset digital input (ensure Pr
xx.00
returns to 0)
Run
Drive is now ready to run
NOTE
Model No: 95UXXXXXXXXXXXX
Volts: 380/480
Cont: 7.7Nm:4.81Arms
Stall: 9.5Nm:5.91Arms
Speed: 3000rpm Poles:6
Kt: 1.6Nm/Arms
Ins Class: H
Brake: 12Nm
24V
0.67A
Serial No: XXXXXXXXXXX
Control Techniques
Dynamics Ltd
ANDOVER, HANTS.
ENGLAND. SP10 5AB
0.02
t
1000rpm
0.03
t
0.04
Once this parameter is set and the enable signal is given, the motor will rotate by part
of 1 revolution without a run command being given.
WARNING
NOTE
0
0
Summary of Contents for Unidrive 1 Series
Page 208: ......
