Menu 13 − Standard Motion Controller

Mode: RFC‑S

Motion controller format

The diagram below shows the format and interface for the standard motion controller.


Standard motion controller

The standard motion controller outputs are speed feed-forwards and position control loop output both in 0.1rpm or 0.1mm/s units that can be used directly by the drive. The conversion to the output speed is based on the set-up parameters of the position feedback selected to control the motor. The position control loop output is always fed into the Hard Speed Reference (03.022). The speed feed-forwards from the motion controller can be used as a profile input, with the drive ramp system as the profile generator, by setting Standard Motion Controller Mode (13.010) to a value of 1 or 3. Alternatively the speed feed-forwards can be derived from the speed reference if required.

Changing Standard Motion Controller Mode (13.010) affects other drive parameters as shown in the table below.

Standard Motion Controller Mode (13.010) Action
0

On changing from any value to 0:
Speed Feed-forwards (01.039) = 0
Speed Feed-forwards Select (01.040) = 0
Hard Speed Reference (03.022)
 = 0
Hard Speed Reference Select (03.023) = 0

1 or 3

Speed Feed-forwards (01.039) = speed feed-forward
Speed Feed-forwards Select (01.040)
= 1
Hard Speed Reference (03.022)
= position control loop output
Hard Speed Reference Select (03.023) = 1

2,4,5 or 6

Speed Feed-forwards (01.039) = 0
Speed Feed-forwards Select (01.040) = 0
Hard Speed Reference (03.022)
= position control loop output
Hard Speed Reference Select (03.023) = 1

 

Standard motion controller

The standard motion controller is compatible with the motion controller in Unidrive SP with a sample rate of 4ms. The drive ramp system (Menu 2) operates normally when the standard motion controller is enabled.

The Standard Motion Controller uses the full 48 bit position feedback from the position feedback interfaces (Turns, Position and Fine Position), and so it is not affected by the number of turns bits selected to normalise the position for the selected position feedback interface. If  Sensorless Position (03.080) is used for the feedback position the 16 fine position bits are zero. The motion controller outputs are converted from the internal speed units of the motion controller into a speed in rpm or mm/s (see Linear Speed Select (01.055)).


Parameter13.001  Standard Motion Revolutions Error
Short descriptionDisplays the revolutions error for the Standard Motion Controller
ModeRFC‑S
Minimum-32768Maximum32767
Default UnitsRevs
Type16 Bit VolatileUpdate Rate250µs write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

Standard Motion Revolutions Error (13.001), Standard Motion Position Error (13.002) and Standard Motion Fine Position Error (13.003) show the difference between the accumulated reference and feedback positions. The integrators are large enough to guarantee that the position controller can operate with a position error from -32768 to 32767 turns before rolling over. For orientation mode the error between the orientation position and the feedback position is shown in Standard Motion Position Error (13.002) only.


Parameter13.002  Standard Motion Position Error
Short descriptionDisplays the position error for the Standard Motion Controller
ModeRFC‑S
Minimum-32768Maximum32767
Default Units 
Type16 Bit VolatileUpdate Rate250µs write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See Standard Motion Revolutions Error (13.001).


Parameter13.003  Standard Motion Fine Position Error
Short descriptionDisplays the fine position error for the Standard Motion Controller
ModeRFC‑S
Minimum-32768Maximum32767
Default Units 
Type16 Bit VolatileUpdate Rate250µs write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See Standard Motion Revolutions Error (13.001).


Parameter13.004  Standard Motion Reference Source
Short descriptionDefines the input source for the Standard Motion Controller reference
ModeRFC‑S
Minimum0Maximum10
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0P1 Drive
1P2 Drive
2P1 Slot1
3P2 Slot1
4P1 Slot2
5P2 Slot2
10Local

The reference source can be selected from one of the drive position feedback interfaces, a position feedback interface in an option module or from the local reference. If the selected position feedback interface does not exist then it will not be possible to enable the motion controller.


Parameter13.005  Standard Motion Feedback Source
Short descriptionDefines the input source for the Standard Motion Controller feedback
ModeRFC‑S
Minimum0Maximum10
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0P1 Drive
1P2 Drive
2P1 Slot1
3P2 Slot1
4P1 Slot2
5P2 Slot2
10Sensorless

The feedback source can be selected from one of the drive position feedback interfaces, a position feedback interface in an option module or from the Sensorless Position (03.080). If the selected position feedback interface does not exist or Sensorless Position (03.080) is selected, but sensorless mode is not active then it will not be possible to enable the motion controller.


Parameter13.006  Standard Motion Reference Invert
Short descriptionSet to 1 to invert the Standard Motion Controller reference
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

If Standard Motion Reference Invert (13.006) = 1 the reference position direction is reversed.


Parameter13.007  Standard Motion Ratio Numerator
Short descriptionDefines the numerator for the Standard Motion Controller ratio
ModeRFC‑S
Minimum0.000Maximum10.000
Default1.000Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places3
CodingRW

A ratio of Standard Motion Ratio Numerator (13.007) / Standard Motion Ratio Denominator (13.008) can be applied to the change of reference position. The ratio cannot be changed when the drive is enabled without causing abrupt changes of position. Although it is possible to set up ratios with a high gain or even with a denominator of zero, the drive limits the resultant gain of the ratio block to 10.000.


Parameter13.008  Standard Motion Ratio Denominator
Short descriptionDefines the denominator for the Standard Motion Controller ratio
ModeRFC‑S
Minimum0.000Maximum4.000
Default1.000Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places3
CodingRW

See Standard Motion Ratio Numerator (13.007).


Parameter13.009  Standard Motion Proportional Gain Kp
Short descriptionDefines the Kp gain used by the Standard Motion Controller
ModeRFC‑S
Minimum0.00Maximum100.00
Default25.00Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places2
CodingRW

The gain of the position control loop is specified in position units/s / position unit. The speed units used in the drive (rpm or mm/s) are dependent on the type of feedback device used and the value of Linear Speed Select (01.055). If rpm are used then the gain units are rev/s / rev (60 x rpm / rev), or if mm/s are used then the gain units are mm/s / mm.


Parameter13.010  Standard Motion Controller Mode
Short descriptionDefines the mode of the Standard Motion Controller
ModeRFC‑S
Minimum0Maximum6
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Disabled
1Rigid Spd FF
2Rigid
3Non-rigid Spd FF
4Non-rigid
5Orientate Stop
6Orientate

0: Disabled
The Standard Motion Controller is disabled if Standard Motion Controller Mode (13.010) = 0. The Standard Motion Controller is also disabled if Reference On (01.011) = 0 (except for orientation control), or if the reference or feedback sources are not valid. When Standard Motion Controller Mode (13.010) is changed the Standard Motion Controller is disabled for one sample after the change.

1: Rigid lock with speed feed-forwards
The diagram below shows the effect of rigid lock. Once the motion controller has been started it will always try to match the position and speed of the reference source. If for example the slave shaft is slowed down due to excessive load, the target position will eventually be recovered by running at a higher speed when the load is removed.

The motion controller generates a speed feed-forward term from the speed of the reference source. This value is passed through Menu 1, and so the ramps (Menu 2) may be included if required. As the motion controller only has a proportional gain, it is necessary to use speed feed-forwards to prevent a constant position error.

2: Rigid lock without speed feed-forwards
Rigid lock without speed feed-forwards operates in the same way as rigid lock with speed feed-forwards except that the speed feed-forwards from the reference source is not provided. If speed feed-forwards is required then this should be supplied via Menu 1.

3: Non-rigid lock with speed feed-forwards
The position control loop is only active when At Speed (10.006) = 1. See At Speed Lower Limit (03.006) for details. This provides position locking once the feedback speed is close to the reference speed. Speed feed-forwards is generated from the reference source speed.

4: Non-rigid lock without speed feed-forwards
Non-rigid lock without speed feed-forwards operates in the same way as non-rigid lock with speed feed-forwards except that the speed feed-forwards from the reference source is not provided. If speed feed-forwards is required then this should be supplied via Menu 1.

5: Orientation on stop
The motion controller orientates the motor following a stop command. If hold zero speed is enabled (Hold Zero Speed (06.008) = 1) the drive remains in position control when orientation is complete and holds the orientation position. If hold zero speed is not enabled the drive is disabled when orientation is complete.

When orientating from a stop command the drive goes through the following sequence:

    1. The motor is decelerated or accelerated to the speed defined by the Standard Motion Speed Clamp (13.012), using ramps if these are enabled, in the direction the motor was previously running.
    2. When the ramp output reaches the set speed, ramps are disabled and the motor continues to rotate until the position is found to be close to the target position (i.e. within 1/32 of a turn). At this point the speed demand is set to 0 and the position loop is closed.
    3. When the position is within the Standard Motion Orientation Acceptance Window (13.014) the orientation complete indication is given by setting Standard Motion Orientation Complete (13.015) to 1.

The stop mode selected by Stop Mode (06.001) has no effect if orientation is enabled.

6: Orientation on stop and when the drive is enabled
This mode is the same as orientation on stop, except that orientation is performed whenever the drive is enabled and not just when a stop is required.


Parameter13.011  Standard Motion Absolute Mode Enable
Short descriptionEnables the Absolule mode for the Standard Motion Controller
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

If Standard Motion Absolute Mode Enable (13.011) = 0 the reference and feedback integrators are held at 0 while the motion controller is disabled, and so the controller operates in incremental mode when it is enabled. If Standard Motion Absolute Mode Enable (13.011) = 1 the reference and feedback integrators are preset with the position from the reference and feedback sources, and so the controller operates in absolute mode when it is enabled. It should be noted that Standard Motion Reference Invert (13.006), Standard Motion Ratio Numerator (13.007) and Standard Motion Ratio Denominator (13.008) are not applied to the value stored in the reference integrator. Therefore the inversion should not be applied and a ratio of unity should be used in absolute mode.


Parameter13.012  Standard Motion Speed Clamp
Short descriptionDefines the limit applied to the output of the position control loop
ModeRFC‑S
Minimum0Maximum250
Default150Unitsrpm
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, BU

Standard Motion Speed Clamp (13.012) is the limit applied to the output of the position control loop.


Parameter13.013  Standard Motion Orientation Position Reference
Short descriptionDefines the orientation position within a turn with a resolution of 1/65536ths of a turn
ModeRFC‑S
Minimum0Maximum65535
Default0Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, BU

Standard Motion Orientation Position Reference (13.013) defines the orientation position within a turn with a resolution of 1/216 of a turn. Standard Motion Orientation Acceptance Window (13.014) defines the acceptance window with a resolution of 1/216 of a turn. The orientation is complete when:

Standard Motion Orientation Position Reference (13.013) - Standard Motion Orientation Acceptance Window (13.014) ≤ feedback position ≤ Standard Motion Orientation Position Reference (13.013) + Standard Motion Orientation Acceptance Window (13.014)


Parameter13.014  Standard Motion Orientation Acceptance Window
Short descriptionDefines the acceptance window with a resolution of 1/65536ths of a turn
ModeRFC‑S
Minimum0Maximum4096
Default256Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See Standard Motion Orientation Position Reference (13.013).


Parameter13.015  Standard Motion Orientation Complete
Short descriptionShows when the orientation sequence is complete for the Standard Motion Controller
ModeRFC‑S
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

Standard Motion Orientation Complete (13.015) is set to 1 when the orientation sequence is complete.


Parameter13.016  Standard Motion Position Error Reset
Short descriptionResets the reference and feedback integrators
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, NC

If Standard Motion Position Error Reset (13.016) = 1 the reference and feedback integrators are held at their reset values (See Standard Motion Absolute Mode Enable (13.011)).


Parameter13.017  Standard Motion Relative Jog Reference
Short descriptionDefines the speed that the reference position is moved at
ModeRFC‑S
Minimum0.0Maximum4000.0
Default0.0Unitsrpm
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places1
CodingRW, BU

If Standard Motion Relative Jog Enable (13.018) = 1 the reference position is moved at the speed defined by Standard Motion Relative Jog Reference (13.017) and in the direction defined by Standard Motion Relative Jog Reverse (13.019). The relative jog is forwards if Standard Motion Relative Jog Reverse (13.019) = 0 and reverse if it is 1.


Parameter13.018  Standard Motion Relative Jog Enable
Short descriptionEnables the use of the relative jog reference
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, NC

See Standard Motion Relative Jog Reference (13.017).


Parameter13.019  Standard Motion Relative Jog Reverse
Short descriptionSets the direction of the relative jog reference
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, NC

See Standard Motion Relative Jog Reference (13.017).


Parameter13.020  Standard Motion Local Reference Revolutions
Short descriptionDefines the revolutions for the local reference
ModeRFC‑S
Minimum0Maximum65535
Default0UnitsRevs
Type16 Bit VolatileUpdate Rate250µs read
Display FormatStandardDecimal Places0
CodingRW, NC, BU

The local reference (Standard Motion Local Reference Revolutions (13.020)Standard Motion Local Reference Position (13.021) and Standard Motion Local Reference Fine Position (13.022)) can be used as the reference position. If Standard Motion Local Reference Disable (13.023) = 1 then the previously written value is used. This allows all three parts of the local reference position to be changed without data skew problems.


Parameter13.021  Standard Motion Local Reference Position
Short descriptionDefines the position for the local reference
ModeRFC‑S
Minimum0Maximum65535
Default0Units 
Type16 Bit VolatileUpdate Rate250µs read
Display FormatStandardDecimal Places0
CodingRW, NC, BU

See Standard Motion Local Reference Revolutions (13.020).


Parameter13.022  Standard Motion Local Reference Fine Position
Short descriptionDefines the fine position for the local reference
ModeRFC‑S
Minimum0Maximum65535
Default0Units 
Type16 Bit VolatileUpdate Rate250µs read
Display FormatStandardDecimal Places0
CodingRW, NC, BU

See Standard Motion Local Reference Revolutions (13.020).


Parameter13.023  Standard Motion Local Reference Disable
Short descriptionDisables the use of the local reference
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate Rate250µs read
Display FormatStandardDecimal Places0
CodingRW, NC

See Standard Motion Local Reference Revolutions (13.020).


Parameter13.024  Standard Motion Ignore Local Reference Revolutions
Short descriptionDisables the use of the local reference revolutions
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate Rate250µs read
Display FormatStandardDecimal Places0
CodingRW

If Standard Motion Ignore Local Reference Revolutions (13.024) = 0 all three parts of the local reference are used. If Std Standard Motion Ignore Local Reference Revolutions (13.024) = 1 and Standard Motion Absolute Mode Enable (13.011) = 0 only the position and fine position parts of the local reference are used as a 32 bit roll-over counter to define the local reference position.


Parameter13.026  Standard Motion Sample Rate
Short descriptionStandard Motion Sample Rate
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type8 Bit User SaveUpdate RateBackground Write
Display FormatStandardDecimal Places0
CodingRO, TE, NC

ValueText
0Not Active
14ms

Standard Motion Sample Rate (13.026) indicates whether the Standard Motion Controller is active or not, and the sample rate being used. The sample rate for the Standard Motion Controller is not selectable and will always be 4ms if the controller is active. It should be noted that both the Advanced and Standard motion controllers cannot be active at the same time. If both are selected at power-up then only the Advanced Motion Controller becomes active. If one controller is active and the other is subsequently enabled without disabling the active controller then the active controller remains active until the drive is powered down and back up again.