Control Techniques

Division of Nidec Motor Corporation

7078 Shady Oak Road
Eden Prairie, MN 55344-3505 USA
T: +1 952 995-8000
www.controltechniques.com
This Application Note applies to UnidriveSP and Digitax ST

Digital Locking Basics

In many applications it is necessary to have two or more motors match speed or position. To achieve
digital locking there will need to be speed feedback devices attached to all of the motors. With the
Unidrive SP drive you can add additional feedback modules to any of the three on-board expansion
slots with the exception of only one Resolver Module per drive. These modules allow a drive to accept
a speed feedback signal from the motor along with a speed/position reference from a master drive.
The speed reference to be followed can be received in as a simulated encoder signal. This
configuration will allow the slave drive(s) to lock on to the master and follow it 1:1 or with a specific
ratio. To achieve this functionality, we have several option modules designed for this purpose.

The SM-Universal Encoder Plus module provides the Unidrive SP with the ability to monitor speed
and/or position of an additional encoder. Typically this module would be used to enable the
UnidriveSP (operating in the closed loop Vector or Servo modes) to follow an external frequency in
Digital Lock with ratio adjustability. This application note will provide some basic information to get
started with a Digital Lock application.

The SM-Universal Encoder Plus module accepts many types of encoders and also creates a
simulated encoder output.

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Typical Applications - Parallel Ratio Application

The reference frequency could be a simple differential frequency (or frequency and direction) or a
reference frequency from a quadrature source. In the example above, the master reference frequency
would be received and then repeated out of the 1st Universal Encoder Plus to the input of the next
Universal Encoder Plus so that the reference source would experience only a single load.

The above application would be a “parallel” ratio control scheme where each drive is ratioed to a
master line speed reference and would follow this line speed at its designated ratio but each drive ratio
would be independent of each other.

Typical Applications – Master/Salve “Cascaded Ratio” Situations

In this example, the source could be from another machine section that has an encoder as is desired
to be followed such as a Master and Slave situation. The speed of other drives further downstream are
dependent upon the ratios of drives before it in the cascaded ratio control method. The Master drive is

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using a Universal Encoder Plus to repeat the motor encoder quadrature signals. The Slave drive has a
Universal Encoder Plus to receive the quadrature input. If desired, the slave can follow the master 1:1
or at some ratio (between 0.001-4.000) that can be controlled by the machine Operator.

Note: To facilitate wiring of the reference frequency into the Unidrives on-board encoder feedback or
reference input 15-pin D connector, an adapter board is available as shown below that so that
soldering is not necessary.

Connecting the Hardware

The UnidriveSP encoder feedback wiring must all be connected properly to achieve correct operation.
Even one wire on the wrong terminal will cause problems. The SM-ETC terminal strip breakout
connector is a good choice for the drive feedback port. Molded encoder feedback cables can also be
purchased but they do not permit measurement of signals in the event troubleshooting or polarity
swapping becomes necessary.

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Listed below are a few notes concerning conceptual hook-up and initial setup of the Unidrive
performing Digital Lock operating in the a closed loop mode with encoder feedback.

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7078 Shady Oak Road, Eden Prairie, MN 55344-3505
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7078 Shady Oak Road, Eden Prairie, MN 55344-3505
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Making Physical Connections

The UnidriveSP encoder feedback wiring must all be connected properly to achieve correct operation.
Even one wire on the wrong terminal will cause problems. The SM-ETC terminal strip breakout
connector is a good choice for the drive feedback port. Molded encoder feedback cables can also be
purchased but they do not permit measurement of signals in the event troubleshooting or polarity
swapping becomes necessary.

For Inc/Dec Control of Ratio, see Example 2 on AN0114

For Analog Control of Ratio, see AN0115

Resources: can be found on our website: www.controltechniques.com

For help contact techsupport.cta@mail.nidec.com, or
call Technical Support at 952-995-8000, 24/7/365

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