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Curtis 1222 Manual, os 15
2 9 J A N U A R Y 2 0 1 3 D R A F T
3 — PROGRAMMABLE PARAMETERS: Motor Control Tuning Parameters
MOTOR CONTROL TUNING MENU
ALLOWABLE
PARAMETER RANGE DESCRIPTION
Position Kp 0.1 – 100.0 % Determines how aggressively the steer controller attempts to match
0x4047 0x00 1 – 32767 the steer position to the commanded steer position. Larger values
provide tighter control.
If the gain is set too high, you may experience oscillations as the
controller tries to control position. If it is set too low, the motor may
behave sluggishly and be difficult to control.
See Figure 14.
Position Kp can be fine-tuned using the Steering Sensitivity
parameters (page 54).
Velocity Kp 0 – 100.0 % Determines how aggressively the steer controller attempts to match
0x4065 0x00 0 – 32767 the steer velocity to the determined velocity to reach the desired position.
Larger values provide tighter control.
If the gain is set too high, you may experience oscillations as the
controller tries to control velocity. If it is set too low, the motor may
behave sluggishly and be difficult to control.
See Figure 15.
Velocity Ki 0 – 100.0 % The integral term (Ki) forces zero steady state error in the determined
0x4066 0x00 0 – 32767 velocity, so the motor will run at exactly the determined velocity. Larger
values provide tighter control.
If the gain is set too high, you may experience oscillations as the
controller tries to control velocity. If it is set too low, the motor may take
a long time to approach the exact commanded velocity.
See Figure 15.
PCF
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