User`s manual

CHAPTER 5.0 Functional Overview 5-37
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
Kp
Ki
1
s
velf
vcmdsav
+
-
imax
-imax
iqdv
Anti-Windup
Figure 5.7 : Velocity Loop (When in position mode) Compensator Structure
The output of this compensator is limited to ± current_max (1093), since it is used subsequently as a demand for
the current loop. The compensator has parameters are listed below:
Field
Number
Name Type Units
1305 position_mode_velocity_loop_p-gain f32 Nm/rad/s
1306 position_mode_velocity_loop_i-gain f32 Nm/rad
Table 5.26 List of Position Loop’s Velocity Loop Compensator Gains
Field
Number
Name Type Units
1307 position_mode_velocity_loop_error f32 incs/Tsamp
1165 velocity_filtered f32 incs/Tsamp
1120 current_demand_velocity_comp_output f32 Amps.
1093 current_max f32 Amps
Table 5.27 List of Position Loop’s Velocity Loop Read-only Parameters