Elife UNIDRIVE M series, Reference Manual

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TPD02 transmission type
It sets the type of transmission for TPDO2. It’s only
processed if configuration is CANopen
®
and can be programmable by CANopen
®
protocol also.
U
NIT
M
IN
V
ALUE
M
AX
V
ALUE
integer 1 255
RPD02 transmission type
It sets the type of transmission for RPDO2. It’s only
processed if configuration is CANopen
®
and can be programmable by CANopen
®
protocol also.
U
NIT
M
IN
V
ALUE
M
AX
V
ALUE
integer 1 255
In Advanced tab there is also Reset Alarm button which allows you to reset all
current alarms.
3.5 Auto-tuning UNIDRIVE Parameters
Telemetry Panel includes two functions which help you to estimate approximate
value of the following parameters:
•
The gain parameters for closed-loop current control.
•
The Offset Resolver/SinCos to sum to resolver/encoder position.
Warning
Please note that the suggested parameters are only a point of departure. They
must be adjusted according to system and you should run the motor only after
checking them.
3.5.1 Gain Parameters for closed-loop Current Control
In order to calculate the value of Kp and Ki for closed-loop current control you need
two basic motor information: Winding resistance and Winding inductance .
You should normally find these parameters on
data-sheet
of your
motor
, otherwise
you must ask the motor manufacturer to provide these data.
50
Chapter 3
Configuration