User Manual

PD-x-1670 TMCL
™
Firmware Manual • Firmware Version V2.0 | Document Revision V1.0 • 2018-Oct-29
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Figure 2: Current Regulation (See parameter descriptions in Table 14)
Current Regulation Parameters
Parameter Description
I
ACT U AL
Actual motor current (GAP 150)
I
T ARGET
Target motor current (SAP 155)
I
M ax
Max. motor current (SAP 6)
e
SU M
Error sum for integral calculation (GAP 201)
P
P ARAM
Current P parameter (SAP 172)
I
P ARAM
Current I parameter (SAP 173)
Table 14: Current Regulation Parameters
6.2.2.1 Parametrizing the Current Regulator Set
In order to parameterize properly the current regulator set, do as follows:
1. Set the P parameter and the I parameter to zero.
2. Start the motor by using a low target current (e.g. 1000mA).
3. Modify the current P parameter. Start from a low value and go to a higher value, until the actual
current nearly reaches 50% of the desired target current.
4. Do the same with the current I parameter.
For all tests, set the motor current limitation to a realistic value, so that your power supply does not
become overloaded during acceleration phases. If your power supply reaches current limitation, the unit
may reset or undetermined regulation results may occur.
6.3 Velocity Regulation
Based on the current regulation the motor velocity can be controlled by the velocity PI regulator.
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