3 — PROGRAMMABLE PARAMETERS
Curtis Model 1351 – December 2018
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pg. 60
PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION
Kp
Driver_X_Kp
Parameter’s CAN Index by
Driver_X_Kp
5 = 0x3194 0x00
6 = 0x3195 0x00
7 = 0x3196 0x00
8 = 0x3197 0x00
9 = 0x3198 0x00
10 = 0x3199 0x00
1 – 100 %
20 – 2048
8 %
163
The proportional section of the PI (Proportional/Integral) current
regulator within the 1351 system controller.
X= 5 – 10 for the VCL name Driver_X_Kp
This parameter determines how aggressively the PI controller
attempts to match the driver current command. Larger values
provide tighter control.
If the gain is set too high, oscillations can occur as the controller
tries to control the Driver current. If it is set too low, the Driver
current may behave sluggishly and be difcult to control.
Ki
Driver_X_Ki
Parameter’s CAN Index by
Driver_X_Ki
5 = 0x31A4 0x00
6 = 0x31A5 0x00
7 = 0x31A6 0x00
8 = 0x31A7 0x00
9 = 0x31A8 0x00
10 = 0x31A9 0x00
1 – 100 %
20 – 2048
8 %
163
Integral section of the PI (Proportional/Integral) current regulator
(controller).
X= 5 – 10 for the VCL name Driver_X_Ki
The integral term (Ki) forces zero steady state error so the Driver
will run at exactly the commanded current in conjunction with the
Kp parameter (above). Larger values provide tighter control.
If the gain is set too high, oscillations can occur as the controller
tries to control the Driver current. If it is set too low, the Driver
may take a long time to approach the exact commanded current.
Test
Command
Driver_X_Command
Variable’s CAN Index by Driver_X_
Command
5 = 0x3364 0x00
6 = 0x3365 0x00
7 = 0x3366 0x00
8 = 0x3367 0x00
9 = 0x3368 0x00
10 = 0x3369 0x00
0.0 – 100.0 %
0 – 1000
0 % The Driver command. It corresponds to the driver’s control mode
type setting. This is the steady-state input command, ramping,
and initial levels are applied after and upon this command.
X= 5 – 10 for the VCL name Driver_X_Command
OUTPUTS — PWM DRIVERS, cont’d
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