Screen page "Current" 

Use the default values for the motor. Please do not make any alterations to the settings for the current controller unless they have been discussed with our applications department.
Cycle time of the current controller: 62.5 µs
 

Irms 

Sets the rated output current that is required. The adjustment is usually made to I₀ , the standstill current for the motor that is connected. The value that can be entered is limited to the rated current of the amplifier or the standstill current of the motor Io (the lower of the two values). The function is used in the monitoring of the actual r.m.s. current that is drawn. The limit that is set by the Irms-setting reacts after approx. T_I2t = 5 sec at maximum load. The calculations for current settings other than the rated values are made according to the equation: 

Ipeak 

Sets the required pulse current (r.m.s. value). The value that can be entered is limited to the rated peak current of the motor or amplifier (the lower of the two values).
 

Ref.-Ipeak 

This sets the required pulse current (r.m.s. value) for Homing 7 (homing to the hardware stop, with zero-mark detection) and for "Wake & Shake" commutation with external encoder systems. The entry is limited by the lower value of the peak currents for the amplifier and motor.
 

I²t message 

Sets the level, as a percentage value of the r.m.s. current, above which a message will be sent to one of the programmable outputs DIGITAL-OUT1/2 (X3/16 or X3/17). A warning appears in the display.
 

KP 

Determines the proportional gain of the current controller.
Normalization: at KP=1 and at a control deviation I_cmd -I_act = peak armature current
the rated motor voltage will be output.
 

Tn 

Determines the integral-action time (integration time constant) of the current controller.