Control Techniques Unidrive 1 Series User Manual page 75

Safety Product Mechanical
Information Information Installation
0.16 {6.01} Stop mode selector
RW Txt
OL 0 to 4 (see below)
CL 0 to 3 (see below)
Select the required stop mode as follows:
COASt (0) The motor is allowed to coast
rP (1) Ramp to a stop
rP-dcI (2) Ramp followed by 1 second
AC injection braking followed by 1 second DC injection
dcI (3)
braking
DC injection braking for an adjustable time (see the
td-dcI (4)
Unidrive Advanced User Guide).
Closed loop
COASt (0) The motor is allowed to coast
rP (1) Ramp to a stop
no.rP (2) Stop under current limiting (no ramp)
rP-POS (3) Ramp, orientate and stop
For more information, see Pr 6.01 in section 10.22 Advanced
Features on page 182.
0.17 {4.11} Torque mode select
RW Uni
OL 0 to 1
CL 0 to 4
Set Pr 0.17 as follows:
Setting Open-loop
0 Frequency control
1 Torque control
2
3
4
For more information, see Pr 4.11 in section 10.22 Advanced
Features on page 182.
6.2.7 S-ramp
0.18 {2.06} S-Ramp enable
RW Bit
0 or 1
Setting this parameter enables the S ramp function. S ramp is disabled
during deceleration using Standard ramp with P control (Pr 2.04 = 2).
When the motor is accelerated again after decelerating in standard ramp
with P control the acceleration ramp used by the S ramp function is reset
to zero.
0.19 {2.07} S-ramp da/dt limit
RW Uni
2
OL
0.0 to 3,000.0s /100Hz
0.000 to 30,000
CL
2
s /1,000rpm
This parameter defines the maximum rate of change of acceleration/
deceleration that the drive will operate with. The default values have
been chosen such that for the default ramps and maximum speed, the
Unidrive User Guide
Issue Number: 9
Electrical Getting
Menu 0
Installation Started
rP (1)
VT rP (1)
SV no.rP (1)
Open loop
injection
DC
0
0
Closed-loop
Speed control
Torque control
Torque control with speed over-ride
Coiler/uncoiler mode
Speed control with torque feed-forward
0
3.1
VT 1.5
SV
0.03
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Running
Optimisation Macros
the motor
curved parts of the S will be 25% of the original ramp if S ramp is
enabled.
Demanded
speed
Programmed
ramp rate
Rate of change
of S-ramp
acceleration
Since the ramp rate is defined in s/100Hz or s/1000rpm and the S ramp
parameter is defined in s2 /100Hz or s2 /1,000rpm, the time T for the
'curved' part of the S can be determined from:
S ramp rate of change
-------------------------------------------------------------- -
T =
Ramp rate
Enabling S ramp increases the total ramp time by the period T since an
additional T/2 is added to each end of the ramp in producing the S.
6.2.8 Skip bands
0.20 {1.29} Skip frequency/speed 1
0.22 {1.31} Skip frequency/speed 2
RW Uni
OL 0.0 to 1,000.0Hz
CL 0 to 30,000rpm
See Pr 0.21 and Pr 0.23 Skip bands.
0.21 {1.30} Skip band 1
0.23 {1.32} Skip band 2
RW Uni
OL 0 to 5.0Hz
CL 0 to 50rpm
Use skip frequencies/speeds and skip bands to prevent the motor from
running at speeds that cause mechanical resonances in the machine.
During acceleration and deceleration, the drive passes through the skip
bands, but it does not stabilize in a skip band.
Up to two skip frequencies/speeds can be programmed.
Enter the centre frequency/speed of the band in Pr 0.20 (or Pr 0.22) Skip
frequency/speed, then enter the width of each sideband in Pr 0.21 (or Pr
0.23) Skip band.
When the value of a skip frequency is zero, the related skip band is
disabled.
Advanced Technical
Diagnostics
Parameters Data
0.0
0
0.5
5
UL Listing
Information
time
75