Elmo HARSFEN0602, HARmonica software manual 119, 32768

HARSFEN0602ElmoHARmonicaSoftwareManual				PRELIMINARYDRAFT
	−106	log	XP[6]
Torque command filter bandwidth =				Hz where TS is the sampling time
	2π ⋅ TS		32768

in usec.

The output the filter cannot change in steps greater than XP[5]. The units of XP[5] are internal torque command units, not Amperes. The ratio between the internal torque commands and Amperes is given by WS[22]. The role of XP[6] for small torque commands is plotted in the figure below.

Torque Cmd Vs. Torque Controller Input

	300
	250			XP[6]=4096
	200			XP[6]=8196
Amp	150		XP[6]=16384
	100
	50
	0
	0	2	4	6	8	10	12
			Current Controller Sampling Times

Figure 12: Time constant selection (Small signal) for the torque input filter

The automatic current tuner of the Composer program optimizes the gains of the current controller for XP[6]=16000.

The parameter XP[6] is set to larger values for very high inductance motors, for which the current cannot rise rapidly, or if additional low-passing is required.

The role of XP[5] is shown in the figure below. In the example, the torque command is 5000 internal units (5000/WS[22] Amperes). XP[6] is set to its default of 16000.

XP[5] is factory-set to 1000.

Use lower values of XP[5] for very high inductance motors, for which the current cannot rise rapidly.

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