ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 217)

• The controller parameters are 0.001 [2] , 0
ˆ ˆ
.001 [2]
I P
KP K KI K
= = if gain scheduling is
not used (GS[2]=0) or equivalently defined on the KG[N] parameters if gain scheduling
is used.
• Normally one should set FF[2]=1.
• For closed loop stepper mode, use PN[4]=1024.
• The parameter K1 = CA[19]/CA[18] converts encoder counts to electrical
revolutions.
• The high order filter is defined in the chapter on filters .
3.4.3 The Stepper Mode Position and Current
Command Generator
The position and the torque command in the stepper mode is shown in the figure below.
The position command, generated in a similar way to other position modes, depends on
the value of PN[9]:
• If PN[9]=0 (open loop) the position command is actually a reference for
the electrical angle.
• If PN[9]=1 (closed loop) The position command is a reference for the
closed position control loop.
For position command generation, refer to the Position Reference Generator .
The HT[N] command sets the torque ; torque additions may be by analog input (refer to
the AG[1], AS[1], and RM commands).
SimplIQ for Steppers Application Note Unit Modes
MAN-STECR (Ver. 1.1)
18