User Manual

Commands Reference
338 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Syntax Scripting: setconfig(_KIF, cc)
Number of Arguments:
Argument 1: AmpsChannel
Min: 1 Max: 2 * Total Number of Motors
Argument 2: Gain Type: Unsigned 32-bit
Min: 0 Max: 2,000,000,000 Default: 0
Where:
cc (single channel) =
1: Flux Gain
2: Torque Gain
cc (dual channel) =
1: Flux Gain for motor 1
2: Flux Gain for motor 2
3: Torque Gain for motor 1
4: Torque Gain for motor 2
nn = Gain * 1,000,000
Example:
^KIF 1 230000: Set motor channel 1 Flux Integral Gain to 0.23.
KPF - FOC PID Proportional Gain
HexCode: 8D
Description:
On brushless motor controller operating in sinusoidal mode, this parameter sets the Pro-
portional gain in the PI that is used for Field Oriented Control. Two gains can be set for
each motor channel, in order to control the Flux and Torque current. When operating in
trapezoidal mode the gains for the Torque current are used for closed loop torque mode.
Syntax Serial: ^KPF cc nn
~KPF [cc]
Syntax Scripting: setconfig(_KPF, cc)
Number of Arguments:
Argument 1: AmpsChannel
Min: 1 Max: 2 * Total Number of Motors
Argument 2: Gain Type: Unsigned 32-bit
Min: 0 Max: 2,000,000,000 Default: 0
Where:
cc (single channel) =
1: Flux Gain
2: Torque Gain