Datasheet

Connect the oscilloscope probes to the Test Point (TP1) and to the Ground of the board.
The next step is to generate a current step and capture the current PI controller response in order to tune the current PI
coefficients. To generate the current step and check the response on the oscilloscope, please enter “1” in the parameter
17, “PI Tuning trigger” and click on the button “Write”. This will generate a current step reference which amplitude is
equal to the value specified as start-up current. In the oscilloscope you will observe the internal measurement of the
obtained current, normalized in such a way that when the signal is equal to 4V the current is equal to the requested one.
So the tuning procedure consists in varying the PI gains in order to make the signal equal to 4V in the fastest possible
way, without oscillation.
Please find below in the picture some examples of the different responses you may obtain.
Test Point 1 (TP1) Oscilloscope Tuning Outputs
Keep in mind that the proportional gain is the responsible of the “reactivity” of the system, while the integral gain
allows reducing to zero the steady state error. An excess of proportional gain will produce high frequency
oscillations (usually with audible noise), while an excess of integral action will produce lower frequency
oscillations. Note also that if the gains are too low, no answer is produced; increasing the parameters, at a certain
level, the current obtained will be enough to move the rotor, which will “align”; from this point in advance, don’t
move the rotor by hand, and you will see valid answers in the oscilloscope. The final rise time will depend on the
motor you are using, but usually a rise time lesser than 1ms can be obtained.
After tuning the current PI parameters manually reset the board in order to return to the “normal” operation mode.