### CURRCOEF

sets direct parameter values for an extended current loop controller setting. Non zero values will override automatic current controller design, a CONFIG command is required following CURRCOEF. Setting the coefficients back to zero (their default), will return to the automatic current controller.
Command syntax:

CURRCOEF [d1] [d2] [d_shr] [r0] [r1] [h0] [h1] [round] [rh_shr] [out_shr]
d1 , d2 - negated coefficients of controller filter "d".
r0 , r1 - coeficients of forward filter "r" .
h0 , h1 - coefficients feedback filter "h" .
* The above parameters are in the range [ -32767 .. 32767 ]
round - not in effect.
Total shifts for the d coeffiicients is : rh_shr + d_shr.
Total shifts for the h,r coefficients is : rh_shr.
out_shr : should be set to (4,5,6,7) for (8,16,32,64) KHz respectively according to PWM frequency.

(*) Note: using this command without sufficient understanding of the system may create unstable controller and damage the system.

(**) Adaptive gain (MLGAINZ..) and Bemf compensation (MBEMFCOMP) , still operate for the user controller defined by CURRCOEF

Example:
CURRCOEF 0 0 3 0 0 0 0 2048 12 4; sets a zero controller (PWM=50%) for 8KHz PWM

Firmware Versions: all
Type: vector variable (R/W) Range: see above
Units: n/a , Default: 0 (all parameters)
Opmodes: all , Drive Status: dis , EEPROM: yes