Description
This parameter sets the value at the current index into the Current Loop Gain Scheduling Table. The table is 256 records long, spanning 0 A to 1.62 * DRV.IPEAK. The value can range from 0% to 100% and determines what percentage of IL.KP will be applied to the current loop.
If the feedback device supports motor memory (FB1.MEMVER >= 0.03 and MOTOR.AUTOSET = 1) this parameter is read only. Each index value is automatically calculated and set. This calculation depends on the value of MOTOR.LISAT.
If the feedback device does not support motor memory, this parameter is read/write. Each index value must be entered manually. Use the following equation to determine what level of current corresponds to a table index:
IL.CMD = (Table Index/157) * DRV.IPEAK
Example
Assume:
DRV.IPEAK = 9 A
IL.KPLOOKUPINDEX = 100
IL.KPLOOKUPVALUE = 50
IL.KP = 240
When IL.CMD = 100/157 * 9 = 5.73 A, IL.KP will not be 240, but will be 50% * 240 = 120.
General Information
|
Type |
R/W if motor memory not supported. R/O if motor memory supported. |
|
Units |
% |
|
Range |
0 to 100.000% |
|
Default Value |
0 |
|
Data Type |
Float |
|
See Also |
|
|
Start Version |
M_01-04-00-000 |
| Variant | Supported |
|---|---|
| MKD EtherCAT | Yes |
| AKD-N | Yes |
| MKD-N | Yes |
| MKD-C | No |
| Index/Subindex | Object Start Version |
|---|---|
|
5266h /0 |
M_01-04-00-000 |
Related Topics
