Copley Controls Xenus Plus Series User Manual page 21

Xenus Plus User Guide
Current Loop Gains
The current loop uses these gains:
Gain
Cp - Current loop proportional
Ci - Current loop integral
Current Loop Output
The output of the current loop is a command that sets the duty cycle of the PWM output stage.
Auto Tune
CME provides a current loop Auto Tune feature, which automatically determines optimal Cp and Ci
values for the motor. For more information, see the CME User Guide.
Copley Controls
Description
The current error (the difference between the actual and the limited commanded
current) is multiplied by this value. The primary effect of this gain is to increase
bandwidth (or decrease the step-response time) as the gain is increased.
The integral of the current error is multiplied by this value. Integral gain reduces
the current error to zero over time. It controls the DC accuracy of the loop, or the
flatness of the top of a square wave signal. The error integral is the accumulated
sum of the current error value over time.
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