Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 508 of 909
KPI=formula
Current Control Loop: Proportional
APPLICATION: Motion control
DESCRIPTION: Current control loop proportional gain
EXECUTION: Immediate
CONDITIONAL TO: MDC commutation active
LIMITATIONS: D-style motor does not support this command
READ/REPORT: RKPI
WRITE: Read/write
LANGUAGE ACCESS: Assignment, formulas and conditional testing
UNITS: N/A
RANGE OF VALUES: 0 to 32767
TYPICAL VALUES: 0 to 16000
DEFAULT VALUE: From factory settings in EEPROM
FIRMWARE VERSION: 5.97.x or 5.98.x series only
COMBITRONIC: N/A
DETAILED DESCRIPTION:
NOTE: The D-style motor does not support this command.
The KPI command sets or reports the current-loop proportional gain when operating in field-
oriented, current-control mode (i.e., MDC).
There are two PI current-control loops when operating in field-oriented control: one loop
controls the torque-producing current "Iq", and the other loop nullifies currents that do not
produce torque "Id". Both loops use the parameters KPI and KII to control proportional and
integral response.
The default (factory) settings for KPI and KII will work in most applications. These should only
be changed if necessary and if the effects on the application are understood.
EXAMPLE: (Shows use of KIIand KPI)
KPI=2000 'Set proportional gain for MDC mode
KII=1500 'Set integral gain for MDC mode
F 'Initiate gains
MDC 'Change to Current mode commutation
RELATED COMMANDS:
R
KII=formula Current Control Loop: Integrator (see page 503)
Part 2: Commands: KPI=formula

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English