User Manual

PD-x-1670 TMCL

™

Firmware Manual • Firmware Version V2.0 | Document Revision V1.0 • 2018-Oct-29

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1. Set the velocity I parameter to zero.

2. Start the motor by using a medium target velocity (e.g. 2000 rpm).

3. Modify the current P parameter.

(a)

Start from a low value and go to a higher value, until the actual motor speed reaches 80 or 90%

of the target velocity.

(b)

The lasting 10 or 20% speed diﬀerence can be reduced by slowly increasing the velocity I

parameter.

6.4 Velocity Ramp Generator

For a controlled startup of the motor’s velocity, a velocity ramp generator can be activated/deactivated

by axis parameter 146. The ramp generator uses the maximal allowed motor velocity (axis parameter 4),

the acceleration (axis parameter 11) and the desired target velocity (axis parameter 2) to calculate a ramp

generator velocity for the following velocity PI regulator.

6.5 Position Regulation

Based on current and velocity regulators, the PD-x-1670 supports a positioning mode based on encoder

or hall sensor position. During positioning the velocity ramp generator can be activated to enable motor

positioning with controlled acceleration or it can be disabled to support motor positioning with max

allowed speed.

The PID regulation uses two basic parameters: the P regulation parameter and a timing control value.

6.5.1 Timing Control Value

The timing control value PID regulation loop parameter (axis parameter 133) determines how often the

PID regulator is invoked. The value is given in multiple of 50µs, following the next formula:

P I DDELAY

= x

P I DRLD

· 50µs

P I DDELAY

= resulting delay between two position regulation loops

P I DRLD

= P ID regulation loop multiplier parameter

For most applications it is recommended to leave the timing control value unchanged at its default of 1

50µs. Higher values may be necessary for very slow and less dynamic drives.

6.5.2 Structure of the Position Regulator

Figure 4: Positioning Regulation (See parameter descriptions in Table 16)

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