Baldor MN1274 06/2001 A.1.3 Speed loop, A.1.4 Current loop, A.1.5 MintDrive operational modes

A.1.3 Speed loop

The speed loop uses a Proportional and Integral (PI) algorithm. The PI algorithm is as follows:

Command = KVP.e + KVI.Σe

where:

KVP Proportional speed loop gain

KVI Integral gain

eSpeed error

A.1.4 Current loop

The current loop uses a Proportional and Integral (PI) algorithm. The PI algorithm is as follows:

Command = KIP.e + KII.Σe

where:
KIP	Proportional current loop gain
KII	Integral gain

eCurrent error

A.1.5 MintDrive operational modes

The MintDrive can be configured to operate in 3 different modes:

Has a servo drive, where speed and position loops are active and the motion profiler produces a speed demand (CONFIG=1);

Has a velocity servo drive, similar to the servo drive configuration above (CONFIG=1) but only the Velocity Feedforward term KVELFF is used in the position loop;

Has a torque servo drive, where the speed loop is bypassed and the motion profiler produces a current demand (CONFIG=6).

These modes are selected using the Mint keyword CONFIG. The default is the servo drive mode, CONFIG=1 .

The loops are sampled at different rates:

HCurrent loop: 12.012kHz H Speed loop: 8kHz

H Position loop: 1kHz (optionally configurable as 500Hz and 2kHz).

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