Rtelligent EP Series - 3.3.7. Closed-Loop Control of Motor Parameters [40~48]

EP Series User Manual
40
37
16
R/W
200
[0,2000]
Current loop integral gain
KI in the current loop PI algorithm. When the
automatic PI function is enabled, the ILOOPKI
is automatically generated. When the
automatic PI function is not enabled, the user
can modify the ILOOPKP.
38
10
R/W
256
[0,1024]
Current Loop PI Algorithm KC
39
16
R/W
0
[0,1]
Current loop step test
0: No effect, read always returns 0;
1: The current loop step test will be started.
At this time, the current of the motor winding is
first 0, and then increases to 1000mA.
3.3.7. Closed-loop control of motor parameters [40
～
48]
Table 3-14 Register details [40-48]
Register
address
Bits
Property
Default
Range
Description
40
16
R/W
4000
[256,65535]
Motor encoder resolution
The driver is capable of receiving a quadrature
encoder input signal and performing a
4-multiplication process.
Encoder Resolution = Encoder Lines * 4
41
16
R/W
2000
[100,65535]
Tracking error alarm threshold
The alarm threshold is in units of encoder
resolution.
42
16
R/W
10
[1,65535]
Positioning completion accuracy
The unit is the encoder resolution.
43
16
R/W
50
[1,65535]
Positioning completion duration
Set the time that the motor will last after
entering the completion precision.
Duration = set value * 50us
44
16
R/W
100
[1,65535]
Time from pulse stop to start detection of
positioning completion
Set the driver to stop receiving pulses, after