Digital Lock - Control Techniques UD70 User Manual

The freeze pulse is only available with the second generation of Second
Encoder Module fitted to a Unidrive with V3.00.00 software and later. The
freeze pulse must be enabled by setting #16.10 = 1. (Refer to Unidrive User's
Guide.)
8.9

Digital Lock

The digital lock function allows the slave axis position and speed to be
locked rigidly or non-rigidly to the master encoder. A digital lock ratio
( _ Q11%) can also be introduced between the reference and feedback,
accurate to 8 decimal places.
Rigid Digital Lock
Rigid digital lock is a position lock between the master reference and the
slave axis. It is selected by setting
is enabled (
digital lock speed (
are selected when digital lock is enabled, the slave will ramp up to the
master speed using S-ramps, and recover position using linear ramps.) The
axis will run at the maximum speed until any position error that built up
during acceleration is recovered.
When position has been recovered, the slave speed will then lock to the
master speed, multiplied by the ratio,
position lock has been achieved.
NOTE: the maximum digital lock speed (
value greater than the maximum line speed multiplied by the ratio (
If this condition is not met, the axis may never achieve absolute position
lock.
Speed
_Q15%
_Q31%.12
The effect of rigid digital lock on slave motor speed
UD70
Issue code: 70nu2
_ Q32%.27 = 0. When digital lock control
_
Q32%.2 = 1), the slave axis will accelerate to the maximum
_ Q15%) using linear ramps or S-ramps. (NOTE: if S-ramps
Slave
speed
_ Q11%. _ Q31%.12 is set once absolute
_
Q15%) should always be set to a
Time
Features
_ Q11%).
8-25