Servo - Control Techniques unidrive sp Advanced User's Manual

Parameter Keypad and Parameter
structure display x.00
Where:
R is the motor stator resistance (Pr 5.17)
s
f is the rated frequency (Pr 5.06)
R
σL
s is the transient inductance (H) (
V is the rated voltage (Pr 5.09)
R
I and I are the currents in the x and y axes of the rotor flux reference frame under rated load
sxR syR
I and I are derived as I
sxR syR sxR
result that is reasonably accurate for most purposes.
ϕ
rated active current = cos(
rated magnetising current = √(1 - cos(
In this mode of operation the drive requires the following parameters to set the maximum current limits, scale the current limits correctly and calculate
the rated active and magnetising currents.
Parameters
Motor rated current, power factor at rated load
and σL
(R are zero)
s s
Motor rated current, power factor at rated load,
and σL
measured values of R
s
Motor rated current, power factor at rated load,
, σL
measured values of R and L
s s

Servo

In this mode the drive operates in the rotor flux reference frame. The maximum normal operating current is controlled by the current limits.
DRIVE_CURRENT_MAX is full scale current feedback, i.e. rated drive current / 0.45.
The relationship between the voltage and current for Servo operation is shown in the following vector diagram.
R i
s sx
Servo mode
R i
s sy
v
s
v
ϕ
i
s
Definitions:
v = motor terminal voltage vector
s
i = motor current vector
s
ϕ
V = voltage produced by the rotor magnets
MOTOR1_CURRENT_LIMIT_MAX is used as the maximum for some parameters such as the user current limits. The current maximum current limit
is defined as follows (with a maximum of 1000%):
CURRENT_LIMIT_MAX =
Where:
Motor rated current is given by Pr 5.07
(MOTOR2_CURRENT_LIMIT_MAX is calculated from the motor map 2 parameters)
The Maximum current is either (1.75 x Rated drive current) when the rated current set by Pr 5.07 (or Pr 21.07 if motor map 2 is selected) is less
than or equal to the maximum Heavy Duty current rating, otherwise it is (1.1 x Maximum rated current).
Unidrive SP Advanced User Guide
Issue Number: 7
Parameter Advanced parameter
description format descriptions
Pr 5.24
/
1000)
2
= Pr 5.07 x √(1 - Pr 5.10
) and I
) x motor rated current
1
ϕ
2
) ) x motor rated current
1
s
Exact current limits based on all measured values
s
Rotor flux
Maximum current
------------------------------------------------------ - ×
100%
Motor rated current
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Serial comms
Macros
protocol
= Pr 5.07 x Pr 5.10 for the purposes of calculating
syR
Current limit accuracy
Moderate accuracy
Good accuracy
Electronic Feature look-
Performance
nameplate up table
ϕ
. This calculation gives a
2
Menu 4
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