Datasheet

6.5. Tuning the initial Current Pi Gains
Current PI parameters allow a proper current control of the motor and the system.
The software offers a particular procedure to help the tuning of the current PI gains. An oscilloscope is needed to
see the response of the system to the stimulation; the figure below is showing the Test Point TP1 to be used for the
calibration.
Current Pi Gain Setting – Monitor point Signal Connections
First of all it is necessary to enable the “current PI tuning mode”, and this can be done entering the magic value “22” in
the first parameter (“Default parameters setting”) in the “setup” and click on the button “Write”.
Now perform a hardware reset on the RL78G14, so the calibration procedure of the Current PI coefficient is enabled.
In the parameters list, please set the current PI coefficients: Kp and Ki to “1” as shown below:
Initial Setting of the Current Kp and Ki gains for motor tuning
TEST
POINTS
GROUND
REFERENCE