Menu
4
Parameter
Parameter description
protocol
Performance
The
proportional
gain
Kp
(Pr
4.13)
is
the
most
critical
value
in
controlling
the
performance
of
the
current
controllers.
The
value
can
be
set
by
auto-
Pr
4.16
=
0
-
Drive
trips
when
estimated
motor
temperature
reaches
100
%.
I
/(1.05*Motor
Rated
Current)
2
structure
Keypad
and
format
Advanced
parameter
descriptions
Serial
comms
tuning
(see
Pr
5.12
{SE13,
0.34}).
Pr
4.14
=
1697
x
L
x
f
x
Imax
/
V
rms
Where
:
L
is
the
load
inductance
in
Henries
R
is
the
load
resistance
in
ohms
f
is
the
supply
frequency
in
Hertz
Imax
is
the
peak
load
current
(including
any
overload)
in
amps
V
rms
is
the
line-to-line
supply
voltage
in
volts.
The
gain
values
that
are
calculated
by
the
autotune
system
give
the
best
response
with
minimal
overshoot.
If
required
the
gains
can
be
adjusted
to
improve
performance
as
follows:
1.
The
integral
gain
(Ki)
can
be
used
to
improve
the
performance
of
the
current
controllers
by
reducing
the
effects
of
non-linearity.
These
effects
will
be
more
significant
for
drives
with
higher
current
ratings
and
higher
voltage
ratings.
If
Ki
is
increased
by
a
factor
of
4
it
is
possible
to
get
up
to
10
%
overshoot
in
response
to
a
step
change
of
current
reference.
For
high
performance
applications,
it
is
recommended
that
Ki
is
increased
by
a
factor
of
4
from
the
autotuned
values.
2.
It
is
possible
to
increase
the
proportional
gain
(Kp)
to
reduce
the
response
time
of
the
current
controllers.
If
Kp
is
increased
by
a
factor
of
1.5
then
the
response
to
a
step
change
of
reference
will
give
12.5
%
overshoot.
It
is
recommended
that
Ki
is
increased
in
preference
to
Kp.
Pr
4.16
=
1
-
Drive
current
limit
is
limited
to
100
%
when
estimated
motor
temperature
reaches
100
%.
Pr
4.16
=
2
-
Drive
trips
when
estimated
motor
temperature
reaches
100
%
and
accumulator
is
reset
at
power-up.
Pr
4.16
=
3
-
Drive
current
limit
is
limited
to
100
%
when
estimated
motor
temperature
reaches
100
%
and
accumulator
is
reset
at
power-up.
The motor is modelled thermally in a way that is equivalent to the
electrical
circuit
shown
as
follows.
2
C
R
Temp
The
temperature
of
the
motor
as
a
percentage
of
maximum
temperature,
with
a
constant
current
magnitude
of
I,
and
constant
value
of
motor
rated
current
(set
by
Pr
5.07
{SE07,
0.28}
or
Pr
21.07)
after
time
t
is
given
by
Temp
=
[I
2
/
(1.05
x
Motor
rated
current)
2
]
(1
-
e
-t/
)
x
100
%
64
Mentor
MP
Advanced
User
Guide
www.onxcontrol.com
Issue
Number:
4
4.14
Continuous
current
controller
Ki
gain
Coding
Bit
SP
FI
DE
Txt
VM
DP
ND
RA
1
NC
NV
PT
US
1
RW
1
BU
1
PS
Range
0
to
4000
Default
50
Second
motor
Pr
21.14
parameter
Update
rate
Background
read
4.15
Thermal
filter
Coding
Bit
SP
FI
DE
Txt
VM
DP
ND
RA
NC
NV
PT
US
RW
BU
PS
1
1
1
Range
0.0
to
3000.0
Default
89.0
Second
motor
parameter
Pr
21.16
Update
rate
Background
read
4.16
Thermal
protection
mode
Coding
Bit
SP
FI
DE
Txt
VM
DP
ND
RA
NC
NV
PT
US
RW
BU
PS
1
1
1
1
Range
0
to
3
Default
0
Update
rate
Background
read
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