ACS Tech80 SB1391 - Page 137

TUNING THE CONTROL LOOPS 6-9
SB1391 Hardware and Setup Guide - Document revision no. 1.14
+
DA
command
(% of nominal amplifier current)
Current
command
+
+
-
D4
1/S
Key:
R
m
- Motor resistance [Ohm]
L - Motor inductance [Henry]
I
p
- Peak current [A]
+/-K4
Vbus
512
+
+
PWM
1
R
m
+LS
Back EMF
-
D3
Current
to motor
A/D
1638
I
p
2
1
FIGURE 6-4 Current loop and filter