6-2 TUNING THE CONTROL LOOPS
SB1391 Hardware and Setup Guide - Document revision no. 1.14
Block diagrams of the control loops are followed by descriptions and fine tuning instructions. Slip
constant optimization and polishing are also covered.
6.1. About D And K Arrays
Some of the control unit parameters are assigned mnemonics, for example, GA (Gain) and GF
(Gain Factor). The unit also has arrays (D and K) that are used for communication between the
main CPU and the Servo Processor(s).
The D array holds some of the control parameters, for example, D4 is the current loop gain and
D8 is the velocity loop gain.
The K array is used for some limitation setups, for example, K2 limits the velocity loop error to
prevent overflow and K3 limits the current loop errors.
The elements of the D and K arrays are listed in TABLE 6-2.
TABLE 6-2 D and K arrays
Element Function
D0
Internal use.
D1
Internal use.
D2
Internal use.
D3
Programmable parameter. Used in current loop - integral gain.
D4
Programmable parameter. Used in current loop - current gain.
D5
Programmable parameter.
D6
Programmable parameter
D7
Programmable parameter. Used in velocity loop - integral gain (Ki).
D8
Programmable parameter. Used in velocity loop - velocity gain (Kv).
D9
Programmable parameter. Used in velocity loop -- integrator limit.
D10
Programmable parameter.
D11
Internal use.
D12
Internal use.
D22
Determines the scaling factor for the velocity feedback and the velocity feed
forward.
K1
Internal use.
K2
Internal use.
K3
Internal use.
K4
Internal use.
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