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A.1.3 Speed loop
The speed loop uses a Proportional and Integral (PI) algorithm. The PI algorithm is as follows:
Command =
KVP.e + KVI.Σe
where:
KVP Proportional speed loop gain
KVI Integral gain
e Speed error
A.1.4 Current loop
The current loop uses a Proportional and Integral (PI) algorithm. The PI algorithm is as follows:
Command =
KIP.e + KII.Σe
where:
KIP Proportional current loop gain
KII Integral gain
e Current error
A.1.5 MintDrive operational modes
The MintDrive can be configured to operate in 3 different modes:
H as a servo drive, where speed and position loops are active and the motion profiler produces a
speed demand (CONFIG=1);
H as a velocity servo drive, similar to the servo drive configuration above (CONFIG=1) but only the
Velocity Feedforward term KVELFF is used in the position loop;
H as a torque servo drive, where the speed loop is bypassed and the motion profiler produces a
current demand (CONFIG=6).
These modes are selected using the Mint keyword CONFIG. The default is the servo drive mode,
CONFIG=1 .
The loops are sampled at different rates:
H Current loop: 12.012kHz
H Speed loop: 8kHz
H Position loop: 1kHz (optionally configurable as 500Hz and 2kHz).
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