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Controller User’s Manual
HiDS location:
Description:
Units/Bounds:
Variable name:
Summary:
HiDS location:
Description:
Units/Bounds:
Variable name:
Summary:
HiDS location:
Description:
Units/Bounds:
Variable name:
Summary:
HiDS location:
Description:
Units/Bounds:
7.6
Shown on CAN page in Advanced tab.
Read / Write. For Controllers using CAN communication for control, this
variable sets the address / message ID of the incoming CAN command
packet.
Integer, the valid values are 1 to 2047 (11 bits).
CANFeedbackMsgEnable
A Boolean; enables (1) the CAN status message or disables (0) it.
Shown on CAN page in Advanced tab.
Read / Write. For Controllers using CAN communication for status, this
variable enables or disables that message. Setting this variable to 0
disables the message and 1 enables it.
Boolean, the valid values are 0 or 1.
CANFeedbackMsgID
The message ID of the CAN feedback/status packet.
Shown on CAN page in Advanced tab.
Read / Write. For Controllers using CAN communication for status, this
variable sets the address / message ID of the outgoing CAN feedback /
command packet.
Integer, the valid values are 1 to 2047 (11 bits).
CANFeedbackMsgInterval
The message ID of the CAN feedback/status packet.
Shown on CAN page in Advanced tab.
Read / Write. For Controllers using CAN communication for status, this
variable sets the interval in milliseconds between CAN status packet
transmissions.
Milliseconds, the valid values are 1 to 65535.
Compensation
7.6.1 Current Loop
Variable name: Mx.Kp
Summary:
Motor X current-loop gain compensation.
HiDS location: Shown on Loop Gains tab in Current Loop frame.
Description:
Read / Write. Used to adjust the Proportional Gain component for
reducing the error between the Iq command (Mx.IqCmd) and Iq actual
(Mx.Iq), and in addition reducing the error between the Id command
(Mx.IdCmd), which is typically zero and Id actual (Mx.Id).
See also:
Mb.Kp is the Motor B equivalent.
Units/Bounds: Volts per Amp, positive values only.
Variable name:
Summary:
HiDS location:
Description:
Mx.Ki
Motor X current-loop integral compensation.
Shown on Loop Gains tab in Current Loop frame.
Read / Write. Used to adjust the Integral Gain component for reducing
the error between the Iq command (Mx.IqCmd) and Iq actual (Mx.Iq),
ESI Motion Document 100266 Revision B
10/23/2015
Page 51