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Optimization CT MODBUS RTU Technical Data
Installation and System Design Guide 295
Issue Number: 1
10.2 Control loop gain adjustment
10.2.1 Current control loop gains
Current control loop gains
P Gain parameters I03 (Start), I08 (Run), I13 (Stop)
I Gain parameters I04 (Start), I09 (Run), I14 (Stop)
Current control loop filter
Current loop filter, parameters I05 (Start), I10 (Run), I15 (Stop)
The current control loop gains proportional (P) and integral (I) control the response of the current loop to a change in current (torque) demand during
start stop (brake control) and operation. The default values give satisfactory operation with most motors, however for best performance an autotune
should be carried out to achieve optimum values, this being either a static or rotating autotune.
The proportional current control loop gain parameter I03 (Start), I08 (Run) are the most critical in controlling the performance.
Manual adjustment of the current control loop gains are not recommended from the autotune values;
• During a static or rotating autotune the drive measures both the resistance and inductance of the motor and sets up Stator Resistance (B35) and
Transient Inductance (B34) from these values the current loop gains are calculated.
• Once the autotune has been completed and the current loop gains set-up these can be manually adjusted if required where for example motor
acoustic noise may be an issue.
The current loop filter defines the time constant of a first order filter that can be applied to the final current reference. The filter is provided to reduce
acoustic noise and vibration produced as a result of position feedback quantisation. The filter introduces a lag in the speed control loop, and so the
speed controller gains may need to be reduced to maintain stability as the filter time constant is increased. The current control loop filter is not
available in Open loop mode.
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