Current controller
The current controller represents the inner controller of the cascading control loop structure. Based on field-oriented control, a PI controller provides the required current components. The q-current is proportional to the torque (for linear motors it is proportional to the force). The settings for the current controller parameters Kp and TN are based on the motor winding data and the optimum bandwidth (compromise between dynamics and noise generation).
For Beckhoff motors the settings for the optimum bandwidth are taken from the electronic identification plate. For the most applications these settings can be left unchanged.