Revolutions Error; Position Error; Fine Position Error; Position Controller Reference Source - Emerson unidrive sp User Manual

Parameter Keypad and
Menu 13
structure display
13.01

Revolutions error

Drive modes Open-loop, Closed-loop vector, Servo
Bit SP
Coding
Range Open-loop, Closed-loop vector, Servo
Update rate 4ms write
13.02

Position error

Drive modes Open-loop, Closed-loop vector, Servo
Bit SP
Coding
Range Open-loop, Closed-loop vector, Servo
Update rate 4ms write
13.03

Fine position error

Drive modes Open-loop, Closed-loop vector, Servo
Bit SP
Coding
Range Open-loop, Closed-loop vector, Servo
Update rate 4ms write
For normal position control the position changes from the reference and the feedback are accumulated in an integrator during each sample. The
integrator is large enough to guarantee that the position controller will operate with a position error within the range -32,768 revolutions to +32,767
revolutions before rolling over. The position error is displayed in Pr 13.01, Pr 13.02 and Pr 13.03. Pr 13.01 shows the turns error, Pr 13.02 shows the
16
error within a revolution in 1/2
values are both positive and negative and so they can be used to show the following error with different levels of resolution.
For orientation mode the error between the orientation position and the position feedback source is shown in Pr 13.02.
13.04

Position controller reference source

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 Background read
13.05 Position controller feedback source
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 Background read
Source parameter Source
0 (drv) Drive encoder
1 (slot1)
2 (slot2)
3 (slot3)
4 (locAl) Local reference
The reference and feedback positions can be taken from the drive encoder or a position feedback Solutions Module in one of the Solutions Module
slots. The reference can also be taken from the local reference parameters. If the reference and feedback sources are the same the position
controller cannot be enabled. If a Solutions Module slot is selected as a source, but the module is not a position feedback category Solutions Module
the position controller cannot be enabled. Orientation mode can always be enabled in closed-loop modes.
238
Parameter Parameter
x.00 description format
FI DE Txt VM DP ND
1
FI DE Txt VM DP ND
1
FI DE Txt VM DP ND
1
counts per revolution units and Pr 13.03 shows the fine position error in 1/2
FI DE Txt VM DP ND
1
FI DE Txt VM DP ND
1
Slot 1
Slot 2
Slot 3
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Advanced parameter
Macros
descriptions
RA NC NV PT US RW BU
1 1
-32,768 to 32,767
RA NC NV PT US RW BU
1 1
-32,768 to 32,767
RA NC NV PT US RW BU
1 1
-32,768 to 32,767
RA NC NV PT US RW BU
1
0 to 4
0
RA NC NV PT US RW BU
1
0 to 3
0
Serial comms Electronic
Performance RFC mode
protocol nameplate
PS
PS
PS
32
counts per revolution units. These
PS
1 1
PS
1 1
Unidrive SP Advanced User Guide
Issue Number: 10