Inertia Compensation Torque - Control Techniques unidrive sp Advanced User's Manual

Parameter Keypad and Parameter
structure display x.00
2.32 Acceleration select bit 0
2.33 Acceleration select bit 1
2.34 Acceleration select bit 2
2.35 Deceleration select bit 0
2.36 Deceleration select bit 1
2.37 Deceleration select bit 2
Drive modes Open-loop, Closed-loop vector, Servo
Bit SP
Coding
1
Update rate 4ms read
These bits are provided for control by logic input terminals for external ramp selection (see Pr 2.22 to Pr 2.25 on page 42).
2.38

Inertia compensation torque

Drive modes Closed-loop vector, Servo
Bit SP
Coding
Range Closed-loop vector, Servo
Update rate 4ms write
The motor and load inertia (Pr 3.18), motor torque per amp (Pr 5.32) and the rate of change of the ramp output (Pr 2.01) are used to produce a torque
feed forward value that should accelerate or decelerate the load at the required rate. This value can be used as a feed forward term that is added to
the speed controller output if Pr 4.22 is set to one. Pr 2.38 shows the torque value as a percentage of rated active current.
Unidrive SP Advanced User Guide
Issue Number: 7
Parameter Advanced parameter
description format descriptions
FI DE Txt VM DP ND RA NC NV
FI DE Txt VM DP ND RA NC NV
1 1
±1,000.0 %
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Serial comms Electronic
Macros
protocol nameplate
PT US RW BU
1 1
PT US RW BU
1 1
Feature look-
Performance
up table
PS
PS
Menu 2
43