Baldor MN1274 06/2001 Tuning a Introduction, Purpose Name Abbreviation / keyword

A Tuning A

A.1 Introduction

Within the MintDrive control software, instantaneous axis position demands produced by the MintDrive software must be translated into motor currents. This is achieved by closed loop control of the motor. The motor is controlled to minimize the error between the demanded and measured positions (often known as the following error). An incremental encoder or a resolver is used to measure the motor position. Every 1ms* the MintDrive compares demanded and measured positions and calculates the correct demand for the motor. The corrective signal is calculated by a PIDVF (Proportional, Integral, Derivative and Velocity Feed Forward) algorithm.

On the following page, Figure A.1 shows the MintDrive’s positional, speed and current control loops. These are internal MintDrive control loops which can be tuned using the following keywords:

Purpose	Name	Abbreviation / keyword
Position Control	Proportional gain	KPROP
	Integral gain	KINT
	Velocity Feedback	KVEL
	Velocity Feedfoward	KVELFF
	Derivative gain	KDERIV
	Acceleration Feedforward	KACCEL
Velocity Control	Proportional gain	KVPROP
	Integral gain	KVINT
Current Control	Proportional gain	KIPROP
	Integral gain	KIINT

*The 1ms sampling interval can be changed using the LOOPTIME keyword.

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