The MCF83xx products operates the motor utilizing Field Oriented Control (FOC), with current and speed regulation accomplished through Proportional-Integral (PI) controllers. The device automatically calculates the current PI control loop coefficients based on the motor electrical parameters, specifically resistance and inductance. These calculated values are displayed in the CURRENT_PI register.

To change the current loop gains, users can copy the device calculated [CURRENT_LOOP_KP] and [CURRENT_LOOP_KI] values from the CURRENT_PI register and input the modified values into the corresponding [CURR_LOOP_KP] and [CURR_LOOP_KI] settings within the CLOSED_LOOP3 register.

MotorStudio Close loop tuning page provides functionality to adjust current loop coefficients through the "Time Domain Graph". User can adjust the loop coefficients "Kp coefficient for current Iq and Id loop" and "Ki coefficient for current Iq and Id loop", while monitoring Current(Amps) vs Time (sec) through the "Time Domain Graph" by selecting the "Plot Current Response" button.

Speed PI loop coefficients are calculated based on motor mechanical parameters, including motor inertia and friction coefficients. In cases where users lack access to these motor mechanical parameters, the Closed Loop Tuning page offers functionality to determine the speed loop Kp [SPD_LOOP_KP] and Ki [SPD_LOOP_KI] coefficients for a specified motor. Follow the procedure outlined below to calculate the speed loop coefficients.

1. Set the motor to current control mode using PERI_CONFIG1 -> [CTRL_MODE] = "Current Control" configuration.
2. Complete the "Current (Ipeak-Amps)" vs "Speed Feedback(Hz)" table provided in the Motor Characteristics tab by issuing I2C speed commands that span the entire motor operating speed range. Both the "Current (Ipeak-Amps)" and "Speed Feedback (Hz)" data can be obtained from the "Iq feedback" and "Motor Speed Based on FG" parameter within the MOTOR STATUS window.
3. While stopping the motor, record the motor coasting "Time (sec)" along with the "Initial Speed(hz)" and "Final Speed (Hz)", then enter these captured values into the designated text fields.
4. Select the "Measure Motor Characteristics" button, the software will calculate the motor mechanical characteristics and display these parameters in the Motor Characteristics window.

Navigate to the Speed Loop tab, enter the desired motor "Initial Speed (Hz)" and "Final Speed (Hz)" with "Maximum Simulation Time (sec)" and select the "Plot Speed Response" button in the "Time Domain Graph" to generate a Speed (Hz) vs Time(sec) response plot for the calculated speed loop coefficients.

User can adjust "Kp coefficient for speed loop" and "Ki coefficient for speed loop" values and monitor the response again through the "Time Domain Graph" for further tuning.