Commutation sign that ensures that as the commutation angle advances from 0 to 360 degrees, the feedback device (e.g. the encoder) counts in the same direction. If this is not the case, one can modify the commutation sign to correct the error. If the commutation sign parameter was not available, the same effect could be accomplished by swapping any 2 of the 3 motor phase wires.

Total number of motor pole-pairs (not poles) within a motor revolution.

Commutation counts for an electrical cycle. Make sure that the fractional counts are included. For example, if the encoder counts per motor rev is 8192 counts, and the # of motor pole-pairs is 3, then the input value should be 2730.6667.

In U/f control mode use either the direct voltage command (open phase current loop), or the current command (closed phase current loop) to produce the PWM signals.

The current control evaluates a separate feedback loop for both the Iq and the Id current components.  For each feedback loop, the error between the commanded current and the actual current (as determined from the current feedback) is multiplied times the "Current loop proportional gain" to correct the output of the amplifier. This value is normally specific to a motor and independent of the axis in which the motor is utilized. Typical values for this parameter range from .004 to 0.04 but values outside of this range are also possible.

The current control evaluates a separate feedback loop for both the Iq and the Id current components.  For each feedback loop, the rate of change in the error between the commanded current and the actual current (as determined from the current feedback) is multiplied times the "Current loop damping gain" to correct the output of the amplifier.  If this gain is increased in magnitude, the current loop becomes more stable but at the expense of having the current loop more slowly react to changes in the current command. This value is normally specific to a motor and independent of the axis in which the motor is utilized. Typical values for this parameter range from .004 to 0.4 but values outside of this range are also possible.

This constant compensates the current loop control for the effect of motor back-EMF.  This compensation is computed by multiplying the "Filtered motor velocity, mcnt/sec" (DataID 12206) times this constant and adjusting the amplifier output appropriately based upon the velocity direction and other factors. 

This constant is in units of volts/(mcnts/sec). It can normally be computed directly from the motor and encoder specifications.  For example, if you have a motor that has a back-EMF of 40.8 volts/1000RPM and you are using an encoder with 4096 counts per revolution with a motor to encoder scaling factor of 1, this parameter would be computed as:

   (40.8/1000)*60/4096   ->   0.00059766 volts/(mcnts/sec)

The first time that motor power is enabled after the controller is restarted, the system determines the nominal motor DC bus voltage.  The actual bus voltage is continuously compared to the nominal bus voltage by the FPGA to determine if the voltage drops too low or rises too high.  If this parameter is set to 0 (the default value), an error is generated if the nominal bus voltage is below 10VDC.  If this parameter is set to 1, no error is generated at startup.

Independent of the setting of this parameter, the FPGA will always perform its comparison between the actual and the nominal bus voltage and will signal a low voltage error if the bus voltage falls by approximately 30%.

If the amplifier is in a fault state, the DC bus must be turned off before re-enabling motor power. This is to protect the amplifier from being damaged.   If no relay is available for the DC bus power supply, this value can be set to 1 to skip the DC bus check.

The default value is set to 0.

WARNING: Setting this value to 1 may potentially cause damage to the amplifier. It is recommended that a relay circuit controlled by the Guidance controller be used to control any DC motor bus power supply.

These parameters setup and enable the commutation phase advance function in the current loop control. In very high speed applications, this feature can mitigate the reduction in torque that will occur if the commutation angle is significantly phase delayed due the computational delay in closing the current loop and updating the commutation angle.

If this feature is enabled, the phase advance angle will be added to the current commutation angle. The phase advance angle is a linear function of speed (defined by the "gain") and is zero until the motor speed is higher than the activation speed. The maximum phase advance angle is limited by ID 10671.

Not all controller models and versions of the current loop control support this feature, please consult Precise support for more information.

Motor power supply over-voltage and under-voltage limits. Typically these two values are fixed once the amplifier type is selected when the system is restarted.

If a motor power supply over-voltage (or under-voltage) occurs, then the duration count is used by the FPGA to verify that the error occurs successively for the specified duration before declaring an error. The duration is in units of PWM update periods, which is set to 62.5 microseconds by default. If this value is 0 (or 1) then as soon as the over-voltage (or under-voltage) occurs an error is declared.

Current feedback sensor gain, which is used to match the current sensor readings of phase 1 and 2 or a motor. This parameter is set to 1 by default.

Current offset of phase 1 current feedback sensor in units of ccnt. Default value is 0. See "Disable auto phase offset adjustment" (DataID 10695) for automatic setting of this parameter.

Current offset of phase 2 current feedback sensor in units of ccnt. Default value is 0.  See "Disable auto phase offset adjustment" (DataID 10695) for automatic setting of this parameter.

A fixed scale factor between the current sensor ADC resolution and servo's internal full torque resolution. For example, the ADC resolution is +/- 1597 counts, which is scaled to the servo's internal torque range of +/- 32767 counts (which also corresponds to +/- max amplifier single phase current, DataID 10610).

Internal scale factor from the current feedback ADC count to actual current in units of amps.

Internal scale factor from the DCBus voltage feedback ADC count to actual voltage in units of volts.