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186
Unidrive User Guide
www.controltechniques.com Issue Number: 9
The DC Bus voltage controller cannot be adjusted, but it may be
necessary to adjust the current controller gains to obtain the required
performance. If the gains are not suitable it is best to set up the drive in
torque control first. Set the gains to a value that does not cause
instability around the point at which field weakening occurs. Then revert
back to open loop speed control in standard ramp mode. To test the
controller the supply should be removed whilst the motor is running. It is
likely that the gains can be increased further if required because the DC
Bus voltage controller has a stabilising effect, provided that the drive is
not required to operate in torque control mode.
Closed-loop
The P and I gains are used in the voltage based current controller. The
default values give satisfactory operation with most motors. However it
may be necessary to change the gains especially for low inductance
motors. The following procedure should be used:
Unless a particularly high bandwidth is required the proportional gain (Pr
4.13
) should be set to a value of:
1800 x Pr
5.24
x 10
-3
x Pr
11.32
Where:
Pr
5.24
= per phase motor leakage inductance (mH).
Pr
11.32
= Drive rated current (A)
The inductance value is stored in Pr
5.24
after the autotune test is
carried out. If an autotune cannot be carried out the leakage inductance
can be found by other means:
For an induction motor this is the per phase total leakage inductance
(Ls') which can be calculated from the steady state per phase equivalent
circuit of the motor, L
s
' = L
1
+ (L
2
.L
m
/ (L
2
+ L
m
)). For a servo motor this
is half the phase to phase inductance that is normally specified by the
manufacturer. This will give a response with minimum overshoot after a
step change of current reference and a current loop bandwidth of
approximately 500Hz. If some overshoot can be tolerated then gain can
be increased by a factor of 1.5, giving a bandwidth of 800Hz and 12.5%
overshoot after a step change of current reference.
The integral gain (Pr
4.14
) should be set to a value of:
0.044 x Pr
4.13
x R / (Pr
5.24
x 10
-3
)
Where:
Pr
4.13
= current loop proportional gain calculated above
R = per phase stator resistance
Ω
Pr
5.24
= per phase motor leakage inductance (mH).
10.22.6 Sequencing Modes
There are five sequencing modes available as shown below. Any
terminal can be used for any of the functions provided in each mode
(see the following sequencing bits). The connection diagrams below
show a possible method of using each sequencing mode and the
parameter changes required (from defaults). Any terminals shown with
no connection are as at default.
By default the Unidrive uses sequencing mode 4 (Wire Proof PLC
mode), where the necessary terminals are assigned as required. If any
other sequencing mode is enabled the corresponding sequencing bits
(Pr
6.30
to Pr
6.34
) must also be programmed as destination for the
specific input using the parameters in menu 8.
0 CD
type
interface
1
Mentor type interface
2
Wire proof mode
3 PLC
mode
4
Wire proof PLC mode
Sequencing mode 0: CD type
Run permit or /Stop (Pr
6.34
)
Run permit or 'not stop' input
Sequencing bit 0
(Pr
6.30
) Run
(Latching)
Sequencing bit 1
(Pr
6.31
)
Jog
Sequencing bit 2
(Pr
6.32
) Forward/Reverse
Sequencing bit 3
(Pr
6.33
) Not
used
To be able to run in this mode the Run Permit signal must be closed.
Momentarily closing of the Run contact will make the drive latch in the
run state. Opening the Run Permit contact will cause the drive to stop. It
is also possible to enable the keypad buttons (Pr
6.11
to Pr
6.13
). If any
keypad button is enabled the corresponding terminal input is ignored.
Any jog command received will only be accepted in the ‘rdY’ or ‘StoP’
states. Run commands override jog commands.
Sequencing mode 1: Mentor type
Run permit or /Stop (Pr
6.34
)
Run permit or 'not stop' input
Sequencing bit 0
(Pr
6.30
)
Run forward (latching)
Sequencing bit 1
(Pr
6.31
) Jog
forward
Sequencing bit 2
(Pr
6.32
)
Run reverse (latching)
Sequencing bit 3
(Pr
6.33
) Jog
reverse
To be able to run in this mode the Run Permit signal must be closed.
Momentary closing of the Run Forward or Run Reverse contact will
6.04
Sequencing mode selector
RW
Uni
P
Ú
0 to 4
Ö
4
4.13 Proportional gain
4.14 Integral gain
DC bus
Active current
Frequency
reference
Current
demand
DC-bus voltage
controller
DC-bus
capacitors
NOTE
30
31
28
29
26
27
24
25
23
21
22
Run permit
Jog
Run
Fwd/Rev
0V
Parameter changes required
Parameter
Value
8.10
6.34
8.12
0
30
31
28
29
26
27
24
25
23
21
22
Run permit
Jog
Run Fwd
Run Rev
0V
Jog Rev
Parameter changes required
Parameter
Value
8.10
6.34
8.12
0
8.23
6.33
Summary of Contents for Unidrive 1 Series
Page 208: ......
