STEP ET Series - P61 Group Current Loop PID

Chapter 7 Parameter Explanation
ET/EP/EH Series Intelligent Flexible Driver Manual
- 125 -
Reference curve
Feedback curve I is large
Figure 7-31 Effect of integration constant I on feedback tracking
Function code
Name
Setting range
Factory setting
P60.11
Speed loop period
0~50
0
The default is 0, generally not modified. The greater the value, the slower the speed loop execution
period.
Function code
Name
Setting range
Factory setting
P60.12
Torque command filtering (ms)
0~1000
1
The torque command filtering time, generally not modified
Function code
Name
Setting range
Factory setting
P60.13
Speed loop suspension P
0.00~655.35
8.00
P60.14
Speed loop suspension Ti
0~65535
73
When configuring SSI board, after enabling suspension function, the PI parameters at zero speed.
7.8.2 P61 group Current loop PID
Function code
Name
Setting range
Factory setting
P61.00
Current loop Kp
0.00~655.35
0.30
P61.01
Current loop Ki
0.00~655.35
0.50
P61.02
Current loop bandwidth (Hz)
0.00~655.35
200.0
P61.03
Current loop selection
0~65535
4
P61.00- P61.01 mainly adjust the PID of current loop, generally, it is not adjusted but set according
to default values.
P61.02 is the current loop bandwidth. When current fluctuation is large, reduce the bandwidth
accordingly.
PI parameters selection for P61.03 current loop, default is 4, PI parameters using self-learning results.
Setting it to 0, then use P61.00~P61.01
Function code
Name
Setting range
Factory setting
P62.00
Torque preset (%)
0.0~400.0
0.0
P62.01
Torque direction
0~1
0
P62.02
Torque increase time (s)
0.01~655.35
1.00
P62.03
Torque decrease time (s)
0.01~655.35
1.00
P62.00 - P62.03 Corresponding parameters in torque control mode, by setting P62.01, torque