4 Quick-start guide
The maximum current limits may depend on the clock frequency of the output stage. To
parameterise the clock frequency, click the Power stage button.
The I²t time is the time interval in which the I²t value increases to 100%. The I²t value
describes the current load of the motor. The I²t value increases when the actual current
value is higher than the nominal current. The value decreases when the actual current
value is lower than the nominal current. When the I²t value reaches 100%, the current
setpoint will be limited to the nominal current value. This limitation remains active until the
I²t integral has reached 0% once.
I²t value
When the I²t value reaches 100%, the motor current will be limited to the nominal
current value. In positioning applications, this may cause a following error as the drive
cannot perform the motion profile as intended.
In critical cases, perform a test under full load to see whether the I²t value reaches
100%.
In addition, you can enter the number of poles (Number of poles) of your specific motor.
There is also an automatic identification function which determines the number of poles
and the offset angle of the angle encoder automatically. To use this function, simply click
the Auto detect button. The Torque constant is used to specify the torque in Nm. You can
calculate it as the quotient of rated torque/rated current.
Product manual BL 4000-C Page 48 of 298
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