User guide

64 Unidrive SP Short Form Guide
www.controltechniques.com Issue Number: 2
7.2.4 Servo
Permanent magnet motor with a speed and position feedback device
For simplicity only an incremental quadrature encoder with commutation outputs will be
considered here. For information on setting up one of the other supported speed
feedback devices, refer to Setting up a feedback device in the Unidrive SP User Guide
on the CD Rom supplied with the drive
Action Detail
Before
power-up
Ensure:
• Drive Enable signal is not given (terminal 31)
• Run signal is not given
• Motor is connected
• Feedback device is connected
Power-up the
drive
Verify that Servo mode is displayed as the drive powers up. If the mode
is incorrect see section 5.6 Changing the operating mode on page 45.
If a motor thermistor is not connected and the drive trips on ‘th’ set
Pr 0.21 = VOLt and press the red reset button.
Ensure:
• Drive displays ‘inh’
If the drive trips, see Chapter 10 Diagnostics on page 107.
Size 0 only: If no internal braking resistor is installed then the drive will
trip ‘br.th’. If no internal braking resistor is required then set Pr 0.51 to 8
to disable the trip.
Set motor
feedback
parameters
Incremental encoder basic set-up
Enter:
• Drive encoder type in Pr. 3.38 = Ab.SErVO (3): Quadrature encoder
with commutation outputs
• Encoder power supply in Pr. 3.36 = 5V (0), 8V (1) or 15V (2)
• Drive encoder Pulses Per Revolution in Pr. 3.34 (set according to
encoder)
• Drive encoder termination resistor setting in Pr. 3.39:
0 = A-A\, B-B\, Z-Z\ termination resistors disabled
1 = A-A\, B-B\, termination resistors enabled, Z-Z\ termination
resistors disabled
2 = A-A\, B-B\, Z-Z\ termination resistors enabled
Enter motor
nameplate
details
Enter:
• Motor rated current in Pr 0.46 (A)
• Number of poles in Pr 0.42
Set
maximum
speed
Enter:
• Maximum speed in Pr 0.02 (rpm)
Setting the encoder voltage supply too high for the
encoder could result in damage to the feedback device.
CAUT ION
Model No: 95UXXXXXXXXXXXX
Volts: 380/480
Cont: 7.7Nm: 4.81Arms
Stall: 9.5Nm:5. 91Arms
Speed: 3000rpm Poles:6
Kt: 1.6Nm/Arms
Ins Class: H
Brake: 12Nm
24V
0.67A
Serial No: XXXXXXXXXXX
Control Techniq ues
Dynamics Ltd
ANDOVER, HANTS.
ENGLAND. SP10 5AB
0.02
t