Drive Topic
Use the Drive topic to manually configure drive-related parameters. This topic and its
Current Loop Module
WARNING: If the CurrentLoopGainK and CurrentLoopGainKi parameters are not set correctly, unsatisfactory performance and system instability can occur.
IMPORTANT: The CurrentLoopFeedforwardBackEmf, CurrentLoopFeedforwardBusVoltage, CurrentLoopFeedforwardGainLff, and CurrentLoopFeedforwardGainRff parameters apply only when you enable the Use Feedforward setting of the CurrentLoopSetup parameter.
The Current Loop module lets you configure settings related to the current loop, which include Current Loop Gains, High Resolution Feedback, and more. You can also apply a voltage command with a scale factor and set the back-EMF feedforward, motor bus voltage, inductance, and resistance feedforward gains.
For more information, see the Digital Current Loop Block Diagram. Also see the parameters that follow:
- CurrentLoopSetup Parameter
- CurrentLoopGainK Parameter
- CurrentLoopGainKi Parameter
- CurrentLoopFeedforwardBackEmf Parameter
- CurrentLoopFeedforwardBusVoltage Parameter
- CurrentLoopFeedforwardGainLff Parameter
- CurrentLoopFeedforwardGainRff Parameter
Current Offsets Module
The Current Offsets module lets you set the parameters that compensate for steady-state offset error in phase A and phase B current feedback. Then the drive uses this feedback to calculate phase C current feedback.
For more information, see the parameters that follow:
Current Command Coupling Module
The Current Command Coupling module lets you enable the current command coupling mode. You can also specify the axis index of the leader axis and invert the direction of motion on one or more follower axes.
For more information, see Gantry Control Methods. Also see the parameters that follow:
Virtual Module
WARNING: Do not change these parameters from an AeroScript program. Change them only in the Configure Workspace of Automation1 Studio.
The Virtual module lets you select the drive type, Servo or Galvo, that the virtual drive will behave as. You can also select the starting axis index for the virtual drive.
For more information about virtual axes, see Virtual Axis Overview. Also see the parameters that follow:
Galvo Module
WARNING: The GalvoScannerInterface parameter applies only when used with the GI4.
The Galvo module lets you specify the communication protocol of the connected scanner. You must set this parameter to the same value on all the axes of the GI4.
For more information about how to configure galvo scanners, see Galvo and IFOV Functions. Also, see the GalvoScannerInterface Parameter.
