6-4 TUNING THE CONTROL LOOPS
SB1391 Hardware and Setup Guide - Document revision no. 1.14
Mnemonic Meaning Effect Comment
3. SXQP##<cr>
Set, for the X axis, the
value of the QDSPL
parameter to the
number ##.
Restores the protection. For the number (##) use
the value displayed in step
1 (QP's original value).
Restoring the protection prevents unintentional changes to sensitive control parameters held by
the arrays.
Manually removing and restoring protection is not required when using ACS Adjuster.
6.1.2. Reporting and Setting D and K Array Values
Examples of reporting and setting array values are given in TABLE 6-4 and TABLE 6-5.
TABLE 6-4 Displaying and setting values of D array elements
Command
mnemonic
Meaning Effect of command
ADXRE4<cr>
For Array D, for axis X: report
the value of element 4
Display the value of D4.
ADXSE8 50<cr>
For Array D, for axis X: set the
value of element 8 to 50
Set D8 to 50.
TABLE 6-5 Displaying and setting values of K array elements
Command
mnemonic
Meaning Effect of command
AKXRE2<cr>
For Array K, for axis X: report
the value of element 2
Display the value of K2.
AKXSE3 100<cr>
For Array K, for axis X: set the
value of element 3 to 100
Set K3 to 1000.
6.2. Control Loop Block Diagrams
FIGURE 6-1 is the control block diagram. The primary control components are shown in greater
detail in subsequent figures. These components are
• Plant (motor + load) (FIGURE 6-2)
• Commutation and power amplifier (FIGURE 6-3)
• Velocity loop (FIGURE 6-4)
• Position loop (FIGURE 6-5)
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