# 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)).

Parameter | 13.001 Standard Motion Revolutions Error
--- | ---
Short description | Displays the revolutions error for the Standard Motion Controller
Mode | RFC‑S
Minimum | -32768 | Maximum | 32767
Default |  | Units | Revs
Type | 16 Bit Volatile | Update Rate | 250µs write
Display Format | Standard | Decimal Places | 0
Coding | RO, 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.

Parameter | 13.002 Standard Motion Position Error
--- | ---
Short description | Displays the position error for the Standard Motion Controller
Mode | RFC‑S
Minimum | -32768 | Maximum | 32767
Default |  | Units |
Type | 16 Bit Volatile | Update Rate | 250µs write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Standard Motion Revolutions Error (13.001).

Parameter | 13.003 Standard Motion Fine Position Error
--- | ---
Short description | Displays the fine position error for the Standard Motion Controller
Mode | RFC‑S
Minimum | -32768 | Maximum | 32767
Default |  | Units |
Type | 16 Bit Volatile | Update Rate | 250µs write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Standard Motion Revolutions Error (13.001).

Parameter | 13.004 Standard Motion Reference Source
--- | ---
Short description | Defines the input source for the Standard Motion Controller reference
Mode | RFC‑S
Minimum | 0 | Maximum | 10
Default | 6 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
2 | P1 Slot1
3 | P2 Slot1
4 | P1 Slot2
5 | P2 Slot2
6 | P1 Slot3
7 | P2 Slot3
10 | Local

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.

Parameter | 13.005 Standard Motion Feedback Source
--- | ---
Short description | Defines the input source for the Standard Motion Controller feedback
Mode | RFC‑S
Minimum | 0 | Maximum | 10
Default | 10 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
2 | P1 Slot1
3 | P2 Slot1
4 | P1 Slot2
5 | P2 Slot2
6 | P1 Slot3
7 | P2 Slot3
10 | Sensorless

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.

Parameter | 13.006 Standard Motion Reference Invert
--- | ---
Short description | Set to 1 to invert the Standard Motion Controller reference
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

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

Parameter | 13.007 Standard Motion Ratio Numerator
--- | ---
Short description | Defines the numerator for the Standard Motion Controller ratio
Mode | RFC‑S
Minimum | 0.000 | Maximum | 10.000
Default | 1.000 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW

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.

Parameter | 13.008 Standard Motion Ratio Denominator
--- | ---
Short description | Defines the denominator for the Standard Motion Controller ratio
Mode | RFC‑S
Minimum | 0.000 | Maximum | 4.000
Default | 1.000 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW

See Standard Motion Ratio Numerator (13.007).

Parameter | 13.009 Standard Motion Proportional Gain Kp
--- | ---
Short description | Defines the Kp gain used by the Standard Motion Controller
Mode | RFC‑S
Minimum | 0.00 | Maximum | 100.00
Default | 25.00 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW

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.

Parameter | 13.010 Standard Motion Controller Mode
--- | ---
Short description | Defines the mode of the Standard Motion Controller
Mode | RFC‑S
Minimum | 0 | Maximum | 6
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

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

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.

Parameter | 13.011 Standard Motion Absolute Mode Enable
--- | ---
Short description | Enables the Absolule mode for the Standard Motion Controller
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

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.

Parameter | 13.012 Standard Motion Speed Clamp
--- | ---
Short description | Defines the limit applied to the output of the position control loop
Mode | RFC‑S
Minimum | 0 | Maximum | 250
Default | 150 | Units | rpm
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, BU

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

Parameter | 13.013 Standard Motion Orientation Position Reference
--- | ---
Short description | Defines the orientation position within a turn with a resolution of 1/65536ths of a turn
Mode | RFC‑S
Minimum | 0 | Maximum | 65535
Default | 0 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, 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)

Parameter | 13.014 Standard Motion Orientation Acceptance Window
--- | ---
Short description | Defines the acceptance window with a resolution of 1/65536ths of a turn
Mode | RFC‑S
Minimum | 0 | Maximum | 4096
Default | 256 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Standard Motion Orientation Position Reference (13.013).

Parameter | 13.015 Standard Motion Orientation Complete
--- | ---
Short description | Shows when the orientation sequence is complete for the Standard Motion Controller
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

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

Parameter | 13.016 Standard Motion Position Error Reset
--- | ---
Short description | Resets the reference and feedback integrators
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, 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)).

Parameter | 13.017 Standard Motion Relative Jog Reference
--- | ---
Short description | Defines the speed that the reference position is moved at
Mode | RFC‑S
Minimum | 0.0 | Maximum | 4000.0
Default | 0.0 | Units | rpm
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW, 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.

Parameter | 13.018 Standard Motion Relative Jog Enable
--- | ---
Short description | Enables the use of the relative jog reference
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Standard Motion Relative Jog Reference (13.017).

Parameter | 13.019 Standard Motion Relative Jog Reverse
--- | ---
Short description | Sets the direction of the relative jog reference
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Standard Motion Relative Jog Reference (13.017).

Parameter | 13.020 Standard Motion Local Reference Revolutions
--- | ---
Short description | Defines the revolutions for the local reference
Mode | RFC‑S
Minimum | 0 | Maximum | 65535
Default | 0 | Units | Revs
Type | 16 Bit Volatile | Update Rate | 250µs read
Display Format | Standard | Decimal Places | 0
Coding | RW, 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.

Parameter | 13.021 Standard Motion Local Reference Position
--- | ---
Short description | Defines the position for the local reference
Mode | RFC‑S
Minimum | 0 | Maximum | 65535
Default | 0 | Units |
Type | 16 Bit Volatile | Update Rate | 250µs read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC, BU

See Standard Motion Local Reference Revolutions (13.020).

Parameter | 13.022 Standard Motion Local Reference Fine Position
--- | ---
Short description | Defines the fine position for the local reference
Mode | RFC‑S
Minimum | 0 | Maximum | 65535
Default | 0 | Units |
Type | 16 Bit Volatile | Update Rate | 250µs read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC, BU

See Standard Motion Local Reference Revolutions (13.020).

Parameter | 13.023 Standard Motion Local Reference Disable
--- | ---
Short description | Disables the use of the local reference
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 250µs read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Standard Motion Local Reference Revolutions (13.020).

Parameter | 13.024 Standard Motion Ignore Local Reference Revolutions
--- | ---
Short description | Disables the use of the local reference revolutions
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 250µs read
Display Format | Standard | Decimal Places | 0
Coding | RW

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.

Parameter | 13.026 Standard Motion Sample Rate
--- | ---
Short description | Standard Motion Sample Rate
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background Write
Display Format | Standard | Decimal Places | 0
Coding | RO, TE

Value | Text
0 | Not Active
1 | 4ms

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.