Position Control forUnidrive SP
Part Number: 0471-0034-03Issue Number: 3General InformationThe manufacturer accepts no liability for any consequences resulting from inappropriate,negligent or incorrect installation or adjustment of the optional operating parameters ofthe equipment or from mismatching the variable speed drive (drive) with the motor.The contents of this guide are believed to be correct at the time of printing. In the interestsof a commitment to a policy of continuous development and improvement, themanufacturer reserves the right to change the specification of the product or itsperformance, or the contents of this guide, without notice.All rights reserved. No parts of this guide may be reproduced or transmitted in any formor by any means, electrical or mechanical including photocopying, recording or by aninformation storage or retrieval system, without permission in writing from the publisher.
Drive software versionThis product is supplied with the latest version of user-interface and machine controlsoftware. If this product is to be used in a new or existing system with other drives, theremay be some differences between their software and the software in this product. Thesedifferences may cause this product to function differently. This may also apply to drivesreturned from a Control Techniques Service Centre.If there is any doubt, contact a Control Techniques Drive Centre.
Copyright © 22 June 2004 Control Techniques Drives LtdIssue Code: 3Hardware: SM-Applications Issue 03.00Firmware: 01.03.03
Advanced Position Controller User Guide www.controltechniques.com Issue Number: 3 Contents 1 Using This Manual 5 2 Safety Information 6 2.1 Warnings, Cautions and Notes 6 2.2 Electrical Safety - General Warning 6 2.3 System Design and Safety of Personnel 6 2.4 Environmental Limits 7 2.5 Compliance with Regulations 7 2.6 Motor 7 2.7 Adjusting Parameters 7
3 Introduction 8 3.1 Overview 9 3.2 Motion Fundamentals 10 3.3 Clarification of Terms 10 3.4 Positional Feedback/References 11 3.5 Positioning Modes 12 3.6 Resolution 12 3.7 Hardware 14 3.8 High Speed Position Capture 16 3.9 Task model 16 3.10 Performance 16 3.11 Interfacing 17
4 Functional Description 20 4.1 APC Overall Diagram 20 4.2 Operational Overview 22 4.3 Reference and Feedback Encoder Positions 24 4.4 Stop Reference 33 4.5 Position Reference 33 4.6 Speed Reference 35 4.7 CAM Reference 36 4.8 Digital Lock Reference 53 4.9 Position Loop 57 4.10 CTSync 62 4.11 APC Output Channel 64
5 APC Command Descriptions 66 5.1 APC Functions 66 5.2 DPL Commands 66 5.3 Conversion Functions 127
Advanced Position Controller User GuideIssue Number: 3 www.controltechniques.com6 Getting Started 1346.1 Hardware Selection 1346.2 Drive and Encoder setup 1366.3 SM-Applications Setup for APC 1376.4 User Program 1386.5 Using the example code in this section 1446.6 Final Performance Checks. 144
7 Program Examples 1457.1 Position Reference 1457.2 Digital Lock - Simple Flying Shear 1487.3 CAM 1527.4 Speed and Position - Homing 1587.5 CTSync Master and Digital Lock 1637.6 CTSync Slave and Digital Lock 168
8 Application Notes 1728.1 Compensation For Overshoot With High Inertia Load 1728.2 Position Loop Control on Open Loop Unidrive SP 1758.3 Conversion and Word Manipulation 178
9 Migration and Software changes 1819.1 Migration from V01.02.01 Firmware 1819.2 APC Software Changes 182
10 Glossary of Terminology 18411 Quick Reference 18911.1 APC Command Reference 18911.2 APC Read Parameters 19511.3 SM-Applications Virtual Parameters 19911.4 CTSync Command Reference 20111.5 APC Definitions 20111.6 SM-Applications Setup Parameters 20611.7 Conversion Factors 20711.8 Documentation 20811.9 Overview 209
Advanced Position Controller User Guide www.controltechniques.com Issue Number: 3Using This Safety Functional Command Getting Program Application Migration Glossary of Quick Introduction Manual Information Description Description Started Examples Notes Guide Terminology Reference
1 Using This Manual This manual provides complete information on the setup and operation of the SM- Applications on board Advanced Position Controller. The manual has been written assuming that the user has the following knowledge: • Setup and tuning of Unidrive SP • Experience with programming SM-Applications with Sypt • Motion applications experience The sections within this manual are in a logical order, and will progress the user from basic safety information through to code examples. These sections are described in the table below: Table 1-1
Section Section Name What the section is for Number Safety 2 This section describes basic drive, and drive system safety Information This section gives simple over view of the APC’s structure, background Introduction 3 information, features, and hardware, together with additional basic information on the units used within the APC. This section provides a detailed description of the various functions of Functional 4 the APC, like the references, what they do and how to set them up. Description Additional application information is also given. APC Command This section gives detailed information on each individual APC function 5 Description command, and any other applicable commands. This section shows how to get a very simple program working using the Getting Started 6 default settings. The user can construct a program from “building block” code examples given in this chapter. This section provides several code examples, each with detailed Program notation, describing the action of the code. These examples may be 7 Examples copied and pasted into Sypt from the PDF version of this manual, to form the basis of new programs. Application This section provides application notes on solving common industrial 8 Notes problems such as high load inertia overshoot. This Section Details the parameter changes introduced with SM- Migration Guide Applications firmware version >=V01.03.00, and the new features And Software 9 introduced with firmware version >V01.03.02. It also gives information Changes on common problems encountered when transferring code written for previous versions of the SM-Applications firmware. Glossary of This section gives definitions for general motion terminology, which is 10 Terminology also used throughout this manual. This section contains short form description of all the command calls for the APC, read parameters, aliases, diagrams, menu 90 virtual Quick 11 parameters, and all the relevant SM-Applications parameters. This Reference section is intended for users who are familiar with the APC to refer to whilst coding.
Text shown in Italics are cross reference links e.g. APCSetRunMode() is a link to that commands description in the APC Command Description section. These links can be used when the document is in PDF format. Numbers shown in square brackets e.g.  are read parameter numbers, and can be used with the command APCReadPar() to return the value of that read parameter.
Advanced Position Controller User Guide 5Issue Number: 3 www.controltechniques.com