Curtis 1353 - Driver Proportional Gain; Driver Integral Gain; PI Controller Gains (Kp and Ki)

5 — SDO COMMUNICATIONS
pg. 33
Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017
Application EEPROM Space
1353 provides 40 EEPROM spaces (32-bit) to store miscellaneous data for application use. ese
spaces can be accessed by SDO command as follows.
NAME R/W INDEX SUB-INDEX RANGE CAN
VALUE
DESCRIPTION
Data 1
RW
0x3400
0 32bit
EEPROM spaces which can be used
to store miscellaneous data
Data 2 0x3401
Data 3 0x3402
Data 4 0x3403
Data 5 0x3404
Data 6 0x3405
….. ….
….. ….
Data 39 0x3426
Data 40 0x3427
Driver Proportional Gain / Driver Integral Gain
e 1353 uses a Proportional/Integral (PI) controller to minimize the error between the command
and the actual output in Constant Current mode and Constant Voltage mode. e PI controller works
with two parameters, proportional gain (Kp) and integral gain (Ki). Normally, the default settings
of these gains are sucient to control the load. However, there may be times when they need to be
adjusted to increase or decrease the responsiveness of the 1353.
If the 1353 over-reacts to changes in battery or load, lower these gains. If it is too slow to react,
increase them. If the gains are set too high, the output may oscillate. Normally, the Proportional and
Integral gains are increased or decreased together. It is not recommended to have one gain very high
while the other is very low.