Control Techniques unidrive sp Advanced User's Manual page 322

Parameter Keypad and Parameter
structure display x.00
Pr 21.15 does not have an equivalent normal motor parameter, but shows when motor 2 is active.
21.16 Thermal time constant
Drive modes Open-loop, Closed-loop vector, Servo, Regen
Bit SP
Coding
Open-loop, Closed-loop vector, Servo,
Range
Regen
Open-loop, Closed-loop vector, Regen
Default
Servo
Normal motor Open-loop, Closed-loop vector, Servo,
parameter Regen
Update rate Background read
21.17 Speed controller Kp gain
Drive modes Closed-loop vector, Servo
Bit SP
Coding
Range Closed-loop vector, Servo
Default Closed-loop vector, Servo
Normal motor
Closed-loop vector, Servo
parameter
Update rate Background read
21.18 Speed controller Ki gain
Drive modes Closed-loop vector, Servo
Bit SP
Coding
Range Closed-loop vector, Servo
Default Closed-loop vector, Servo
Normal motor
Closed-loop vector, Servo
parameter
Update rate Background read
21.19 Speed controller Kd gain
Drive modes Closed-loop vector, Servo
Bit SP
Coding
Range Closed-loop vector, Servo
Default Closed-loop vector, Servo
Normal motor
Closed-loop vector, Servo
parameter
Update rate Background read
When the second motor is selected the gains defined in Pr 21.17 to Pr 21.19 are used directly by the speed controller. The speed controller set-up
method defined by Pr 3.13 is ignored.
Unidrive SP Advanced User Guide
Issue Number: 7
Parameter Advanced parameter
description format descriptions
FI DE Txt VM DP ND
0.0 to 400.0
89.0
20.0
Pr 4.15
FI DE Txt VM DP ND
2
0.00 to 6.5335 (1/rad s
0.0100
Pr 3.10
FI DE Txt VM DP ND
2
0.00 to 653.35 s/rad s
1.00
Pr 3.11
FI DE Txt VM DP ND
5
0.00000 to 0.65335 s
0.00000
Pr 3.12
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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
-1
)
RA NC NV PT US RW BU
1 1
-1
RA NC NV PT US RW BU
1 1
-1 -1
/ rad s
Electronic Feature look-
Performance
nameplate up table
PS
1
PS
1
PS
1
PS
1
Menu 21
321