Local Reference Turns; Local Reference Position; Local Reference Fine Position; Local Reference Disable - Control Techniques unidrive sp Advanced User's Manual

Parameter Keypad and Parameter
structure display x.00
13.20

Local reference turns

Drive modes Open-loop, Closed-loop vector, Servo
Bit SP
Coding
Range Open-loop, Closed-loop vector, Servo
Default Open-loop, Closed-loop vector, Servo
Update rate 4ms read
13.21

Local reference position

Drive modes Open-loop, Closed-loop vector, Servo
Bit SP
Coding
Range Open-loop, Closed-loop vector, Servo
Default Open-loop, Closed-loop vector, Servo
Update rate 4ms read
13.22

Local reference fine position

Drive modes Open-loop, Closed-loop vector, Servo
Bit SP
Coding
Range Open-loop, Closed-loop vector, Servo
Default Open-loop, Closed-loop vector, Servo
Update rate 4ms read
13.23

Local reference disable

Drive modes Open-loop, Closed-loop vector, Servo
Bit SP
Coding
1
Default Open-loop, Closed-loop vector, Servo
Update rate 4ms read
The local reference can be used to control the position of the motor shaft. If the local reference disable parameter is one the previously written value
is used. This allows all three parts of the local reference position to be changed without data skew problems. The local reference position is sampled
within 250µs of the level 2 task beginning that initiates the level 4 (4ms) task that operates the position controller. Therefore the reference may be
written synchronously from an application category module provided it is not written within 250µs of a level 2 task RMINT transition that will initiate a
level 4 task.
13.24 Ignore local reference turns
Drive modes Open-loop, Closed-loop vector, Servo
Bit SP
Coding
1
Default Open-loop, Closed-loop vector, Servo
Update rate 4ms read
The local reference consists of a turns, a position and a fine position value. When Pr 13.24 is zero the reference is a 48bit position made from these
three values.
If Pr 13.24 is set to one the local reference is a 32bit position made from the position and fine position values. The position delta, used as the input to
the position controller, is calculated correctly even when the turns are ignored as the 32bit position is treated as a roll-over/roll-under counter. This
feature can be used, for example, with the local reference when only the position (and not the turns or fine position) is available. This feature is not
available when absolute mode is selected (Pr 13.11 = 1).
Unidrive SP Advanced User Guide
Issue Number: 7
Parameter Advanced parameter
description format descriptions
FI DE Txt VM DP ND
0 to 65,535
0
FI DE Txt VM DP ND
0 to 65,535
0
FI DE Txt VM DP ND
0 to 65,535
0
FI DE Txt VM DP ND
0
FI DE Txt VM DP ND
0
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Serial comms
Macros
protocol
RA NC NV PT US RW BU
1 1
RA NC NV PT US RW BU
1 1
RA NC NV PT US RW BU
1 1
RA NC NV PT US RW BU
1 1
RA NC NV PT US RW BU
1 1
Electronic Feature look-
Performance
nameplate up table
PS
1
PS
1
PS
1
PS
PS
Menu 13
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