### MLGAINP

sets the current loop adaptive gain value at peak motor current (MIPEAK). MLGAINC, MLGAINP, and MLGAINZ define the adaptive gain algorithm that is based on motor current.

The current-based adaptive gain algorithm is a gain calculation method that increases current loop stability by reducing the current loop gain as the motor current increases. The current-based adaptive gain algorithm is set up by defining the gains at peak motor current (MLGAINP), at continuous motor current (MLGAINC), and at zero motor current (MLGAINZ). All other gains between zero, continuous, and peak current are interpolated linearly.

This variable is typically set to 4 for motors that don’t have a lot of iron in their construction and peak currents within the boundaries of the drive. If the motor is rated for much more than what the drive can deliver, and/or if there is a lot of iron in the motor, saturation has less of an effect, and there may be an opportunity to increase this variable. The range for this variable is typically 4 to 7. When this variable is changed, the drive will enter a no-comp state, requiring a CONFIG command (see CONFIG).

Firmware Versions: all
Type: variable (R/W) Range: 1 to 100
Units: % *10 Default: 4
Opmodes: all Drive Status: dis EEPROM: yes