Parameter settings
Motor¶
Parameter M-Inull – continuous effective motor current¶
\[
M_{I,null} = 1000 \cdot I_{n} (A)
\]
, where In is the nominal motor current.
Parameter M-Ipeak – peak motor current¶
\[
M_{I,peak} = 1414 \cdot I_{max} (A) \approx 2 \cdot 1414 \cdot I_{n} (A)
\]
, where In is the nominal motor current, Imax is maximum efective motor current.
Current regulator¶
Parameter C-K – current controller proportional gain¶
\[
C_K = \frac{L_{2PH} (mH) \cdot 100000}{V_{DC}}
\]
, where L2PH is two phase motor inductance, VDC is working DC bus voltage of the servo amplifier.
Parameter C-Ti – current controller integration time constant¶
\[
C_{Ti} = 1000 \cdot \tau_{el} (ms) = 1000 \cdot \frac{L_{2PH} (mH)}{R_{2PH} (Ω)}
\]
, where L2PH is two phase motor inductance, R2PH is two phase motor resistance, τel is electrical winding time constant.
Parameter C-LimN – speed controller output negative current limit¶
Limit calculation in mA
\[
\frac{- C_{Lim,N} \cdot M_{I,null}}{1000}
\]
Example: MI,null = 2000 mA, CLim,N = 3000 ‰
Peak negative current is limited to:
\[
\frac{3000 \cdot 2000}{1000} = -6000 mA
\]
Parameter C-LimP – speed controller output positive current limit¶
Limit calculation in mA
\[
\frac{C_{Lim,P} \cdot M_{I,null}}{1000}
\]
Example: MI,null = 2000 mA, CLim,P = 3000 ‰
Peak positive current is limited to:
\[
\frac{3000 \cdot 2000}{1000} = 6000 mA
\]