Parameters related to the current, speed and position controllers [II]

The current, speed or position controllers parameters can be changed online through the following parameters:

1. Current controller

The formula used to compute the Kp parameter is:

 Kp = KPI / 32767 * 2^SFTKPI

  where: KPI = 0 .... 32767
            SFTKPI = 0 ... 14

The formula used to compute the Ki parameter is:

 Ki = KII / 32767 * 2^SFTKII

 where: KII = 0 .... 32767
           SFTKII = 0 ... 14

2. Speed controller

The formula used to compute the Kp parameter is: 

Kp = KPS / 32767 * 2^SFTKPS

 where: KPS = 0 .... 32767
           SFTKPS = 0 ... 14

The formula used to compute the Ki parameter is:

 Ki = KIS / 32767 * 2^SFTKIS

 where: KIS = 0 .... 32767
           SFTKIS = 0 ... 14

3. Position controller

The formula used to compute the Kp parameter is:

 Kp = KPP / 32767 * 2^SFTKPP

 where: KPP = 0 .... 32767
           SFTKPP = 0 ... 14

The formula used to compute the Ki parameter is:

 Ki = KIP / 32767 * 2^SFTKIP

 where: KIP = 0 .... 32767
           SFTKIP = 0 ... 14

The formula used to compute the Kd parameter is:

 Kd = KDP / 32767 * 2^SFTKDP

Remark: After the drive is reset, the controllers tuning parameters are set back to the values saved in the setup table from the drive non-volatile memory. If the newly obtained parameters need to be kept, then the "SAVE" instruction must be executed in order to copy them into the non-volatile memory. One can execute the "SAVE" instruction from the Command Interpreter window:

To update the EasyMotion Studio project with the new parameters, we need to press the "Upload from Drive/Motor" button in the Setup branch. Now the parameters from the drive memory will be transferred to the project.

Changing online the controllers tuning parameters is useful when the application requires to use two or more sets of tuning parameters for the current, speed or position controllers.