User Manual

PD-x-1670 TMCL
™
Firmware Manual • Firmware Version V2.0 | Document Revision V1.0 • 2018-Oct-29
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6 Motor Regulation
6.1 Structure of Cascaded Motor Regulation Modes
The PD-x-1670 supports a current, velocity, and position PID regulation mode for motor control in different
application areas. These regulation modes are cascaded as shown in Figure 1. Individual modes are
explained in the following subsections.
Figure 1: Cascaded Regulation
6.2 Current Regulation
The current regulation mode uses a FOC current and flux regulator to adjust a desired motor current. The
target current can be set by axis parameter 155. The maximal target current is limited by axis parameter 6.
The current regulation uses three basic parameters: The P and I value as well as the timing control value.
6.2.1 Timing Control Value
The timing control value (current regulation loop multiplier, axis parameter 134) determines how often the
current regulation is invoked. The value is given in multiple of 50µs, following the next formula:
t
P I DDELAY
= x
P I DRLD
· 50µs
t
P I DDELAY
= resulting delay between two current regulation loops
x
P I DRLD
= current regulation loop multiplier parameter
For most applications it is recommended to leave this parameter unchanged at its default of 1 × 50 µ s.
Higher values may be necessary for very slow and less dynamic drives.
6.2.2 Structure of the Current Regulator
.
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