TUNING THE CONTROL LOOPS 6-3
SB1391 Hardware and Setup Guide - Document revision no. 1.14
Element Function
K5
Programmable parameter.
K5 = 0: Sets the velocity loop output to DA. Enables open loop operation: When
GA is set to zero (which zeroes the position error (PE)), the DA parameter is used
to command the motor.
K5 = 1: Default.
K5 = 2: Used only by ACS Adjuster during the commutation setup.
K5 = 3: Used only by ACS Adjuster in the current loop setup for data collection.
K5 = 4: Used only by ACS Adjuster in the velocity loop setup for data collection.
NOTE: It is recommended not change K5 (default value is 1).
K6
Programmable parameter. Commutation indicator - used only by ACS Adjuster
(during commutation setup).
K6 = 0: Positive.
K6 = 1: Negative.
NOTE: It is recommended not to change K6.
K7
Programmable parameter. Commutation offset from index - used only by ACS
Adjuster (during commutation setup).
K8
Internal use.
K9
Internal use.
K10
Internal use.
6.1.1. D and K Array Protection
Before a D and K array element value can be changed, the protective mechanism must be
removed. Failing to do so will result in a communication error 44 when trying to set a D or K
parameter. The process for removing and restoring array protection is described in TABLE 6-3.
TABLE 6-3 Removing and restoring Z and K array protection
Mnemonic Meaning Effect Comment
1. RXQP<cr>
Report, for the X axis,
the value of the
QDSPL parameter.
Display the present
(default) value of QP.
Record this value.
2. SXQP0<cr>
Set, for the X axis, the
value of the QDSPL
parameter to 0.
Remove the protection
by setting QP to zero.
Set the array parameters
as necessary.
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