Position Loop Diagram

RELATEDPARAMETERSUNIDRIVE#01.06-UnidriveMax.SpeedClamp.#01.10-BipolarSpeedref.select.(1)#01.14-Referenceselector.(3)#01.15-PresetSpeedselector.(1)#02.02-EnableUnidriveRamps.(0)#02.04-Decel.rampmode.(1)#06.01-Stoppingramps.(2)#17.12-PositionLoopUpdate/synchronisation.(1or2)#17.13-UD70Auto-runenable.(1)#17.19-Non-volatile,singleshot,saverequest.#17.20-Non-volatilesaverequestonPowerDown.UD70#91.03-Fastupdateenable,thisisabit-mappedparameter:(3)Bit#.ValueFunction01Fastkeyenable(mustbeset)12Settoenablefastfrequencyref.(#91.2)24Settoenablefasthardspeedref.(#91.3)38Settoenablefasttorqueref.(#91.4)#91.05-Allowsmax.useofthe16bitresolutionofthespeedsetpoint.Setinunitsof1rpm,CLOSEDLOOPonly.(MaxSpeed)General_Q5%-Definestheamountofproportionalgain.Foranerrorof1,andagainof1000,theoutputofthePtermwillbe1.(1000)_Q6%-Definestheamountofintegralgain.Foraconstanterrorof1,andagainof1000,theoutputoftheItermwillreach1after1second.(0)_Q7%-Definestheamountofderivativeorfeed-forwardgain.Foraconstantrateofchangeoferrorof1countpersecondandagainof1000,theoutputoftheDtermwillbe1.(1000)_Q16%-PIClamp.(Aprox.10%ofmaxspeedincps)._Q20%.8-Enablesautomaticmulti-turninitialisationoftheSinCosencoderpositionatpower-up._Q19%-thisparametercanbeusedtoextendtheSinCosencoderresolutionfrom14bitupto18bit(262144counts/rev).Range0-4.(..)-Denotesrecommendedparametersettings._Q32%.2FinalPositionLoopReferenceSlavePositionOffset_Q9%_Q26%_Q27%10+++EnablePositionReferenceProfileinProgress_Q31%.111010PIDRefSpeedOffsetPositionOffset++++_Q10%+10-_Q8%Servoerror_Q31%.1_Q1%_Q37%10ddt_Q7%10_Q5%_Q6%_Q16%_Q0%#91.0210_Q20%.0PositionErrorFeedbackpositionAuxiliarypositionMaximumFollowingErrorWindowPIDOutputClampIntegralGainProportionalGainDerivativeGainSpeedDemandFastupdateSpeedReferencetoUnidriveParameter#1.21FeedforwardPathDerivativePathDigitalLockSelectPositionReferenceSelectProfileinProgressTargetPosition101010_Q31%.10ò_Q3%SlaveSpeedReference10AuxiliaryEncoder_Q34%CamindexMarkerpulse10CamtableSelectSet1010_Q2%_Q40%HomepositionwritedisableDigital-LockselectΔx0Δx1Δx2Δx3Δx4Δy0Δy1Δy2Δy3Δy4MSCamTable_Q35%_Q36%SlaveStartPositonMasterStartPositionReturnPositionSpeedRef.PositionRef.CAM++10ProfileinProgress_Q31%.9_Q31%.121010*-1*_Q11%AuxiliaryencoderpositionAuxiliaryencoder10PositionlostduringaccelerationPhasedDigital-LockRatioInvertDirectionSystemLocked(energisedwhenSlavepositionislockedwithMaster)10RigidorNon-RigidLock.PositionRef.DirectMasterfollowingReferencefollowingReferenceSlaveSpeedSlaveSpeedRamp-UpRamp-UpPositionPositionRecoveryRecoveryòòAdvancedPositionControllerEncEncFilter_Q20%.2_Q20%.6_Q20%.7_Q20%.1_Q32%.29_Q32%.8_Q32%.3_Q32%.2Set_Q32%.4S-ramps_Q13%Accel/DecelLinearramps_Q12%Accel._Q13%Decel.S-ramps_Q13%Accel/DecelLinearramps_Q12%Accel._Q13%Decel._Q14%MaxSpeed_Q32%.12_Q32%.14_Q32%.19_Q32%.1_Q32%.19_Q32%.28_Q32%.27S-ramps_Q13%Accel/DecelLinearramps_Q12%Accel._Q13%Decel.Linearramps_Q12%Accel._Q13%Decel._Q15%RecoverySpeed_Q14%MaxSpeedS-ramps_Q13%Accel/DecelLinearramps_Q12%Accel._Q13%Decel.S-ramps_Q13%Accel/DecelLinearramps_Q12%Accel._Q13%Decel._Q32%.20_Q32%.8SlaveSpeedOffsetSlavePositionReference_Q4%EncoderSourcesUnidriveFbk(DType)UD51-2ndEncoderUD52-SinCosEncoderUD53-Resolver10Slave(orfeedbackEncoder)_Q8%EncMarkerpulse_Q21%_Q20%.310ddt10_Q25%_Q17%_Q20%.5Reset10Auxiliary(orreferenceEncoder)_Q1%Markerpulse_Q22%_Q20%.410ddt10_Q24%_Q18%Reset1010FreezepulseResetAuxiliaryMarkerPulsePositionFeedbackMarkerPulsePositionAuxiliaryFreezePositionFeedbackFreezePositionFeedbackSpeedAuxiliarySpeedAuxiliaryPositionFeedbackPositionInputfromSmallOptionModuleSecondEncoderandSINCOSEncoderModulesOnly.MarkerPulseFreezeEnc15June1999ResetPIDLoopRampsDisable(DirectPositionalFollower)S-rampSelect(Speed)S-rampSelect(Speed)S-rampSelect(Position)MarkerTriggerEnableMarkerTriggerEnableS-rampSelect(Position)S-rampSelect(Speed)FeedbackSelectDerivativePathSelect1stOrderFilterEnableCPStoRPMEnableIntegratorIntegratorIntegrator*1500#3.21ResetUNIDRIVEONLY