Mode/cmd change limiters

These limiters are used to smoothen the transitions in case of step (or rapid) change of drive command. It also smooths transitions from one drive mode to another.

info

The following variables are located in the /driver/limiter folder.

Parameters

Sweep rate limiter

Sweep rate limiter is a special limiter that reacts to changes in the drive command or the drive mode. It aims to smoothen the transitions in case of step (or rapid) change of drive command. It also smooths transitions from one drive mode to another. If this limiter is turned off, command steps and transitions between modes could cause mechanical shocks and vibrations.

Sweep rate limiter reaction:

Influence of ccgain on limitation (ccdamp = 0,001):

ccdamp [lpf]

Command Change damping limiter. Phase current is limited during the transition when there is a change in the command. This parameter defines for how long the limiter is active. The lower the value is, the longer the limitation is (the response is slower).

ccgain [-]

Command Change damping gain. Phase current is limited during the transition if there is a change in the command. This parameter defines the starting value of the limitation percentage.

Mode change limiter

mctim [ms]

Mode change limiter. Smoothens the motor torque during a drive mode change.

• After a mode change request, current limitation is ramped up to 100% for the mctim milliseconds
• Then, the mode is changed (e.g. current mode -> voltage mode)
• Then, current limitation is ramped back down to 0% (limitation released) for the mctim milliseconds

mcflags [-]

Reserved for future use.