Enabling The Position Controller - Control Techniques UD70 User Manual

8.5

Enabling the position controller

The position controller must be enabled by setting #17.12.
#17.12
0
1
2
The REINIT command does not read #17.12. To disable the position
controller while the Drive is running, set
Example calculations
The position loop is to be used to run the motor at a maximum of 2700rpm,
with 300rpm headroom allowed for position recovery. The feedback device
from the motor is a 1024 pulse per revolution encoder. The minimum linear
acceleration time for the machine axis is 0.6 seconds go from zero to 2700
rpm.
Maximum speed,
Lines per second
Digital Lock Speed,
Lines per second
Acceleration rate
Lines per second
The settings for the position loop speed and acceleration parameters would be:
_ _Q14% = 184320
_ Q15% = 204800
_ Q12% = 307200
_ Q13% =
UD70
Issue code: 70nu2
Position Loop
Disabled
Synchronous with ENCODER task
5.52ms (3, 6 or 12kHz switching frequency)
7.36ms (4.5 or 9kHz switching frequency)
Synchronous with SPEED task
1.38ms (3, 6 or 12kHz switching frequency)
1.84ms (4.5 or 9kHz switching frequency)
_ Q14%
2700 * 1024 * 4
= =
_ Q15%
3000 * 1024 * 4
= =
_ Q12%
2700 * 1024 * 4
2
= =
maximum speed during position profile.
maximum digital lock speed. This provides
300rpm headroom to recover position lost
during acceleration.
rate of acceleration.
_ Q12% set acceleration and deceleration rates to the
same value.
_ Q20%.31 to 1.
= =
184320
60
= =
204800
60
= =
307200
0.6 * 60
Features 8-5