Control Techniques Unidrive Servo Series Product Data page 10

introduction to macros
Macro 5 – PID control
This macro configures the drive to control a motor
with reference to PID control signal. In PID control, the
error resulting from differences between the PID
feedback and PID reference is passed through a limiter,
a scaling stage and finally the error is added to the
frequency / speed signal.
Setpoint
Source
Drive Connections
Torque Ref.
Main Ref.
PID Reference
PID Feedback
Speed Output
Load Output
Drive At Speed Output
Drive Reset Input
Run Forward Input
Run Reverse Input
PID Enable Input
External Trip Input
Speed
Run Forward
& Current
& Reverse
x 1
0-10V DC
Input for
PID Enable &
PID Ref
At Speed O/P
PID F/bk
10
Output
PID
Source
Feedback
Source
1
2
3
4
5
6
7
8
9
10
11
21
22
23
24
25
26
27
28
29
30
31
x 2
External
Reset Input
PID Ref
P
I
D
PID F/bk PID
Enable
Macro 6 – Axis Limit control
Using this macro enables two digital inputs to be
re-programmed so providing limit switch lockout for
axis position control systems. The drive would normally
be run from a +/- 10v reference and controlled forward
/ backwards from this. If a limit switch level is reached
the drive will be forced to stop independent of the
speed setting.
Drive Connections
Torque Ref.
Main Ref.
PID Reference
PID Feedback
Speed Output
Load Output
Drive At Speed Output
Drive Reset Input
Run Forward Input
Run Reverse Input
PID Enable Input
External Trip Input
x 2
Speed
Run Forward
& Current
& Reverse
x 1
0-10V DC
2 Inputs
for Forward &
Thermistor
Reverse limits
1
2
3
4
5
6
7
8
9
10
11
21
22
23
24
25
26
27
28
29
30
31
External
Reset Input