User`s manual

SECTION 5: DS2100 FUNCTIONAL OVERVIEW

DS2100 User's Manual

C27750-001

velf

vcmdsav

imax

-imax

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Anti-Windup

Figure 5.7 : Velocity Loop (When in position mode) Compensator Structure

The output of this compensator is limited to ± current_max (0x60F7/3), since it is used subsequently as a demand

for the current loop. The compensator has parameters are listed below:

Index Name Type Units

0x60F9/2 position_mode_velocity_loop_p-gain f32 Nm/rad/s

0x60F9/3 position_mode_velocity_loop_i-gain f32 Nm/rad

Table 5.24 List of Position Loop’s Velocity Loop Compensator Gains

Index Name Type Units

0x60F9/4 position_mode_velocity_loop_error f32 incs/Tsamp

0x6510/15 velocity_filtered f32 incs/Tsamp

0x60F7/10 current_demand_velocity_comp_output f32 Amps.

0x60F7/3 current_max f32 Amps

Table 5.25 List of Position Loop’s Velocity Loop Read-only Parameters

5.11.1.4 Position Loop Tuning

TBA