Important parameters

The most important parameters in FOC Positioning mode are:

Parameter

Meaning

stIN.diRapidStopDeceleration

Defines the stop ramp with which the motor decelerates when the operating mode is stopped (xStart := FALSE).

Unit: Increments/s2

stIn.diPosition

Specification of the setpoint position.

Unit: Increments

stIn.diAcceleration

Acceleration for the operating mode

Unit: Increments/s2

stIn.diDeceleration

Deceleration for the operating mode

Unit: Increments/s2

stConfig.diCurrentControllerCurrentLimit

This parameter specifies the current that controls the motor in this operating mode. The current set here must not exceed the maximum current of the motor (uiMaxMotorCurrent ).

Unit: mA

In addition, the subsection stConfig also contains the PID control parameters and the parameter uiPositionControllerShiftFactor that has additional influence on the speed control of the motor. An effect that can be seen after blocking the shaft and then releasing it again.