The current, speed or position controllers parameters can be changed online through the following parameters:
1. Current controller
| The proportional gain components | Address |
| KPI |
0x0271 |
| SFTKPI |
0x0272 |
The formula used to compute the Kp parameter is:
Kp = KPI / 32767 * 2^SFTKPI
where: KPI = 0 …. 32767
SFTKPI = 0 … 14
| The integral gain components |
Address |
| KII | 0x0273 |
| SFTKII |
0x0274 |
The formula used to compute the Ki parameter is:
Ki = KII / 32767 * 2^SFTKII
where: KII = 0 …. 32767
SFTKII = 0 … 14
2. Speed controller
| The proportional gain components |
Address |
| KPS | 0x0267 |
| SFTKPS |
0x0268 |
The formula used to compute the Kp parameter is:
Kp = KPS / 32767 * 2^SFTKPS
where: KPS = 0 …. 32767
SFTKPS = 0 … 14
| The integral gain components |
Address |
| KIS |
0x0269 |
| SFTKIS |
0x026A |
The formula used to compute the Ki parameter is:
Ki = KIS / 32767 * 2^SFTKIS
where: KIS = 0 …. 32767
SFTKIS = 0 … 14
3. Position controller
| The proportional gain components |
Address |
| KPP | 0x025E |
| SFTKPP |
0x025F |
The formula used to compute the Kp parameter is:
Kp = KPP / 32767 * 2^SFTKPP
where: KPP = 0 …. 32767
SFTKPP = 0 … 14
| The integral gain components |
Address |
| KIP |
0x0260 |
| SFTKIP |
0x0261 |
The formula used to compute the Ki parameter is:
Ki = KIP / 32767 * 2^SFTKIP
where: KIP = 0 …. 32767
SFTKIP = 0 … 14
| The derivative gain components |
Address |
| KDP | 0x0262 |
| SFTKDP |
0x0263 |
The formula used to compute the Kd parameter is:
Kd = KDP / 32767 * 2^SFTKDP
where: KDP = 0 …. 32767
SFTKDP = 0 … 14
Remark: After the drive is reset, the controllers tuning parameters are set back to the values saved in the setup table from the drive non-volatile memory. If the newly obtained parameters need to be kept, then the “SAVE” instruction must be executed in order to copy them into the non-volatile memory. One can execute the “SAVE” instruction from the Command Interpreter window:
To update the EasyMotion Studio project with the new parameters, we need to press the “Upload from Drive/Motor” button in the Setup branch. Now the parameters from the drive memory will be transferred to the project.
Changing online the controllers tuning parameters is useful when the application requires to use two or more sets of tuning parameters for the current, speed or position controllers.