Sequencer Flow Diagram - Control Techniques unidrive sp Advanced User's Manual

Menus 15 to 17 Parameter Keypad and
SM-SLM structure display
0
Turn off torque short-cut
Fixed location transfer of torque demand
Speed feedback is not vaild
Encoder not initialised
Feedback not ready
Turn off drive stack
Set basic speed mode
Take time stamp for wait period
Straight
1 Normal mode comms set-up
Delay
Clear and check Drivelink for SLM modules
Wait for a SLM module to be present
Store the current payload in SLM 62
Call the required page
Issue call page command and wait 100ms
Take time stamp for wait period
Trip drive on link error
2 Normal mode comms set-up wait
Delay for 100ms
Reset the drive
Restore host flags value (for back-up)
Get current page from SLM 100 - 2xxx
Start SP comms and go to run if page is
2 - Axis Initialisation
Power up
3 Axis initialisation
Reset tuning valid flags
Identify the SLM module
Trip the drive on SLM version too low
Return to power up state to try again
Initialise single period sine absolute
position by writing to number of pole
pairs command
Go to the wait state
Take time stamp for wait period
308
Parameter Parameter
x.00 description format

Sequencer Flow Diagram

Encoder only mode
Power up
Payload:
Exit
Payload:
Exit - Pass
Exit - Fail
Payload:
Exit - Pass
Exit - Fail
Payload:
Exit - Fail
Exit - Pass
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Advanced parameter Serial comms
Macros
descriptions
4 Axis initialisation wait
Payload:
Delay for 500ms
Write I scale update command to switch to normal
Test for encoder quadrant errors using SLM 28
Exit - Pass
No errors
Option module encoder is initialised
Exit - Fail
Trip the drive on encoder error
5 SP mode comms set-up
Payload:
Dummy read of SLM EEPROM
to clear buffers 9SLM Spec
Save parameters to SLM EEPROM
Reset the flag
Transfer data SLM EEPROM
Set page 2
Store the current payload in SLM 62
Call the required page
Issue call page commend then wait 100ms
Time stamp for wait period
Exit
Straight
6 SP mode comms set-up wait
Payload:
Delay for 100ms
Reset drive
Restore host flags value (for back-up)
Check that page has changed
Exit - Pass
Get the current page from SLM 100 - 2xxx
Start SP comms and go to run if page is 2
Set basic speed mode
Speed and position user parameters can be updated
Exit - Fail
Power up
15 Running
Payload:
Check link error
16 Trip
Exit - Fail
Go to trip
Electronic
Performance
protocol nameplate
(CT Coder)
(CT Coder)
(CT Coder)
to drive
Unidrive SP Advanced User Guide
Issue Number: 7
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