User Manual

Commands Reference
376 Advanced Digital Motor Controller User Manual V2.1, December 3, 2020
2: Flux Integral Gain for motor 2
3: Torque Integral Gain for motor 1
4: Torque Integral Gain for motor 2
nn = Gain * 1,000,000
Example:
^KIF 1 230000: Set motor channel 1 Flux Integral Gain to 0.23.
KPF - Current PID Proportional Gain
HexCode: 8D
Description:
Sets the Current PID’s Proportional Gain. The value is set as the gain multiplied by 10^6.
On brushless motor controller operating in sinusoidal mode, two gains can be set for each
motor channel, in order to control the Flux and Torque current. On DC brushed controllers
or in brushless motor controllers when operating in trapezoidal mode the gains for the
Torque current are used only.
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 Proportional Gain
2: Torque Proportional Gain
cc (dual channel) =
1: Flux Proportional Gain for motor 1
2: Flux Proportional Gain for motor 2
3: Torque Proportional Gain for motor 1
4: Torque Proportional Gain for motor 2
nn = Gain * 1,000,000
Example:
^KPF 4 230000: Set motor channel 2 Torque Proportional Gain to 0.23.
LD - Motor d-axis Inductance
HexCode: EC
Description:
Set the d-axis motor inductance. This configuration command is necessary for IPM motor
operation. If value is set to 0 then the motor operates as brushless dc motor with Id refer-
ence command set, by default, to 0.